Urban air mobility parking robot and parking operation system using same

Abstract

An urban air mobility parking robot according to one embodiment of the present invention comprises: a robot main body; a traveling unit including traveling wheels coupled to the robot main body, and a traveling driving unit rotating the traveling wheels; a mounting unit including a mounting member for having the lower portion of a support unit of an urban air mobility craft mounted thereon in order to lift, lower, and support the urban air mobility craft, and a mounting driving unit for moving the mounting member; and a control unit including a sensing unit for checking the support unit.

Description

Urban air mobility parking robot and parking operation system using the same

[0001] The present invention relates to an urban air mobility parking robot and a parking operation system using the same.

[0002]

[0003] The demand for exhaust gas reduction to prevent global warming and the global UAM market are rapidly forming.

[0004] In other words, new technology development and a revolution in the transportation sector are needed to reduce emissions from ground transportation systems, which account for approximately 16% of carbon dioxide emissions. In addition, the construction of an urban air transportation system and its linkage with the ground transportation system are necessary to improve the problem of ground traffic congestion and the resulting deterioration of the urban environment, which is worsening due to urban development.

[0005] A vertical takeoff and landing airfield (Vertiport), which is a takeoff and landing area for urban air mobility, includes a landing pad and a hangar.

[0006] Meanwhile, urban air mobility must be moved from the airfield to the hangar for charging, maintenance, etc.

[0007] For this purpose, an automated guided vehicle (AGV) can be applied, but in the case of a skid type rather than a wheel type, it has the problem of being difficult to accurately load and move safely.

[0008]

[0009] The present invention provides an urban air mobility parking robot that can move urban air mobility quickly and safely by using a mounting member and a support member.

[0010] The present invention provides a parking operation system capable of providing more efficient parking management through operation information and charging management of a vertiport.

[0011]

[0012] An urban air mobility parking robot according to one embodiment of the present invention comprises a robot body,

[0013] It includes a driving unit including a driving wheel coupled to the robot body and a driving driving unit that rotates the driving wheel, a mounting unit including a mounting unit that supports the lower part of the support unit of the urban air mobility to raise, lower and support the urban air mobility, and a mounting unit that moves the mounting unit, and a control unit including a sensing unit that confirms the support unit.

[0014] In addition, in the urban air mobility parking robot, the driving unit further includes auxiliary wheels coupled to the robot body, and the auxiliary wheels can be coupled so that the direction of the wheels can be changed according to the moving direction of the robot body.

[0015] In addition, in the urban air mobility parking robot, the mounting portion further includes a support member that supports the upper portion of the urban air mobility support member, and the support member can be moved by the mounting drive member.

[0016] Additionally, in the urban air mobility parking robot, the support member can be protruded outward from the robot body by the operation of the mounted driving unit while being embedded in the robot body.

[0017] In addition, in the urban air mobility parking robot, the mounting member of the mounting unit is coupled to a rotating member, the rotating member is coupled to the mounting drive unit, and the mounting member can protrude outward from the robot body by the mounting drive unit rotating the rotating member.

[0018] In addition, in the urban air mobility parking robot, the driving unit may further include a driving body on which the driving wheels and the driving driving unit are mounted, and a driving body driving unit that rotates the driving body.

[0019] Additionally, in the urban air mobility parking robot, the control unit further includes a laser scanner sensor, and the control unit can check for obstacles and map a driving path through the laser scanner sensor.

[0020] In addition, in the urban air mobility parking robot, the mounting part includes a rack gear that moves the mounting member, and a rotation gear meshed with the rack gear, and the rotation gear can be coupled to the mounting drive part.

[0021]

[0022] A parking operation system using an urban air mobility parking robot according to one embodiment of the present invention includes an urban air mobility runner robot, the urban air mobility runner robot includes a wireless communication module, and includes a hangar management unit that sets and manages a parking space for urban air mobility transported through the urban air mobility parking robot, and the urban air mobility runner robot can transmit and receive information to and from the hangar management unit through the wireless communication module.

[0023] In addition, in a parking operation system using an urban air mobility parking robot, an operation management unit that manages the operation schedule of the urban air mobility that lands at or takes off from a vertiport may be further included, and a charging management unit that manages the charging of the urban air mobility parked in the hangar of the vertiport.

[0024]

[0025] According to the present invention, efficient and safe movement and parking of urban air mobility are made possible.

[0026] According to the present invention, a parking operation system capable of parking management, charging management, and operation management of urban air mobility can be obtained.

[0027]

[0028] FIG. 1 is a schematic diagram illustrating the technical concept of an urban air mobility parking robot and a parking operation system using the same according to one embodiment of the present invention.

[0029] FIG. 2 is a schematic first configuration diagram of an urban air mobility parking robot according to one embodiment of the present invention.

[0030] FIG. 3 is a second schematic configuration diagram of an urban air mobility parking robot according to one embodiment of the present invention.

[0031] Figure 4 is a schematic diagram of the driving unit of the urban air mobility parking robot illustrated in Figure 3.

[0032] FIG. 5 is a first schematic diagram of the loading unit of the urban air mobility parking robot illustrated in FIG. 3.

[0033] FIG. 6 is a second schematic diagram illustrating the loading unit of the urban air mobility parking robot illustrated in FIG. 3.

[0034] Figure 7 is a schematic first usage state diagram of an urban air mobility parking robot according to one embodiment of the present invention.

[0035] Figure 8 is a schematic diagram of a second usage state of an urban air mobility parking robot according to one embodiment of the present invention.

[0036] Figure 9 is a schematic diagram of a third use state of an urban air mobility parking robot according to one embodiment of the present invention.

[0037] FIG. 10 is a schematic diagram of a mounting unit in an urban air mobility parking robot according to another embodiment of the present invention.

[0038]

[0039] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

[0040] And in order to clearly explain the present invention in the drawings, parts unrelated to the explanation are omitted, and similar parts are given similar drawing reference numerals throughout the specification.

[0041] Throughout the specification, whenever a part is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise stated.

[0042] It should be understood that the present invention is not intended to be limited to a particular embodiment, but rather encompasses various modifications, equivalents, and / or alternatives of the embodiments of the present invention.

[0043] The expression "configured to" as used in the present invention can be used interchangeably with, for example, "suitable for", "having the capacity to", "designed to", "adapted to", "made to", or "capable of" depending on the context. The term "configured to" may not necessarily mean only something "specifically designed to" in terms of hardware. Instead, in some contexts, the expression "a device configured to" may mean that the device is "capable of" together with other devices or components.

[0044] The prior art documents described in the present invention are incorporated herein by reference in their entirety, and it will be understood that the contents of the prior art documents can be applied to the briefly described portions of the present invention by a person having general knowledge in the art.

[0045] A vertical takeoff and landing airfield (Vertiport), which is a takeoff and landing area for urban air mobility, includes a takeoff field, landing field, and hangar.

[0046] More specifically, a vertical take-off and landing airfield (Vertiport) can be constructed on the roof of a building.

[0047] Additionally, the hangar of the vertical take-off and landing airfield may be composed of multiple floors, and the take-off and landing pads may be selectively located on the roof of the building or the roof of the hangar.

[0048] Meanwhile, urban air mobility moves between landing pads, hangars, and takeoff fields.

[0049] To achieve this, urban air mobility can move between floors using parking robots and vertically move to other floors using lifts.

[0050] The vertical takeoff and landing airfield can be equipped with multiple lifts, each corresponding to a hangar. Additionally, the vertical takeoff and landing airfield can be equipped with two lifts, corresponding to the size of the urban air mobility system.

[0051] The parking robot can selectively board one of two lifts depending on the size of the urban air mobility vehicle and then transport the urban air mobility vehicle.

[0052]

[0053] FIG. 1 is a schematic diagram illustrating the technical concept of an urban air mobility parking robot and a parking operation system using the same according to one embodiment of the present invention.

[0054] As shown, the urban air mobility parking robot (100) enables more efficient parking operation through linkage with the parking operation system (200).

[0055] More specifically, the urban air mobility parking robot (100) includes a driving unit (110), a loading unit (120), and a control unit (130).

[0056] The driving unit (110) is for driving the parking robot.

[0057] The driving unit (110) may include a wheel (111) and a driving drive unit (112).

[0058] The driving drive unit (112) is for driving the wheel (111) and may include a motor.

[0059] The payload (120) is for ascending, descending and supporting urban air mobility.

[0060] The mounting part (120) may include a mounting member (121), a support member (122), and a mounting driving part (123).

[0061] The support member (121) is for supporting the lower part of the support part of the urban air mobility, and the support member (122) is for supporting the upper part of the support part of the urban air mobility.

[0062] The mounting drive unit (123) is for moving the mounting member (121) and the support member (122).

[0063] The mounting drive unit (123) may include a mounting drive unit (123a) that moves the mounting member (1310) and a support drive unit (123b) that moves the supporting member (1320).

[0064] The control unit (130) is for controlling the operation of the driving unit (110) and the loading unit (120).

[0065] For this purpose, the control unit (130) includes a sensing unit (131) and a wireless communication module (132).

[0066] The sensing unit (131) is for efficiently mounting the support unit of urban air mobility through the mounting unit (120).

[0067] The sensing unit (131) can detect the location and spacing of the support unit of urban air mobility.

[0068] Meanwhile, the support of urban air mobility may be of the skid type.

[0069] In this case, the sensing unit (131) can detect the position of the skid, the distance between the skids, and the shape of the skid in order to mount the skid.

[0070] That is, the mounting unit (120) can operate the mounting member (121) and the support member (122) using information obtained through the sensing unit (131).

[0071] Additionally, the sensing unit (131) may further include a laser scanner sensor. The laser scanner sensor is for checking for obstacles and mapping the driving path.

[0072] The wireless communication module (132) is for providing information of the urban air mobility parking robot (100) to the parking operation system (200).

[0073] In addition, the parking robot according to the present invention can be applied to various types of air mobility as well as urban air mobility.

[0074] The parking operation system (200) may include an operation management unit (210), a charging management unit (220), and a hangar management unit (230).

[0075] The flight management unit (210) is intended to manage the flight schedule of urban air mobility that lands at or takes off from a vertiport.

[0076] The charging management unit (220) is for managing the charging of urban air mobility vehicles parked in the hangar of the vertiport.

[0077] The hangar management unit (230) is for setting up and managing parking spaces for urban air mobility transported via an urban air mobility parking robot (100).

[0078] The urban air mobility parking robot (100) can transmit and receive information with the hangar management unit through a wireless communication module.

[0079] The hangar management department (230) can assign the hangar garage location by considering the operation information of the operation management department (210) and the charging schedule of the charging management department (220).

[0080]

[0081] FIG. 2 is a schematic first configuration diagram of an urban air mobility parking robot according to one embodiment of the present invention, and FIG. 3 is a schematic first configuration diagram of an urban air mobility parking robot according to one embodiment of the present invention.

[0082] As shown, the urban air mobility parking robot (1000) includes a robot body (1100), a driving unit (1200), a loading unit (1300), and a sensor (1400).

[0083] More specifically, the driving unit (1200) is for driving the parking robot and may include a driving wheel (1210) and a driving driving unit (1220).

[0084] The driving part (1200) may further include auxiliary wheels (1240).

[0085] The driving drive unit (1220) is for rotating the driving wheel (1210).

[0086] The driving wheel (1210) and the driving driving unit (1220) can be mounted on the driving body (1230, see FIG. 4).

[0087] The driving body (1230) is connected to the robot body (1100) so that it can rotate.

[0088] The auxiliary wheel (1240) is for supporting the load of the urban air mobility mounted on the urban air mobility parking robot (1000).

[0089] Depending on the direction of movement of the robot body (1100), the auxiliary wheels (1240) can be coupled to the robot body (1100) so that the direction of the wheels can be changed.

[0090] Since driving performance may be reduced due to overload when supporting urban air mobility with only the driving wheels (1210), the urban air mobility parking robot (1000) can distribute and support the load of the urban air mobility and improve the driving performance by using the auxiliary wheels (1240).

[0091] The payload (1300) is for ascending, descending and supporting urban air mobility.

[0092] The mounting part (1300) includes a mounting member (1310), a support member (1320), and a mounting driving part (123, see FIG. 1).

[0093] The support member (1310) is for lifting and lowering a parked urban air mobility vehicle.

[0094] The support member (1320) is for supporting the upper part of the support member (e.g., skid) of the urban air mobility mounted on the mounting member (1310).

[0095] That is, the mounting part (1300) supports the upper part of the skid with the support member (1320) while lifting the lower part of the skid with the mounting member (1310), thereby enabling stable mounting, support, and movement of urban air mobility.

[0096] To this end, the mounting member (1310) can be positioned to face the lower part of the robot body (1100), and the support member (1320) can be positioned to face the upper part of the robot body (1100). In addition, the mounting drive unit (123) is for moving the mounting member (1310) and the support member (1320) for the operation of the mounting unit (1300).

[0097] That is, the mounting member (1310) and the support member (1320) are embedded in the robot body (1100), and when the urban air mobility is moved, the urban air mobility can be loaded by being pulled out to the outside of the robot body (1100). As described above, the loading drive unit (123) may include a mounting drive unit (123a, see FIG. 1) that moves the mounting member (1310), and a support drive unit (123b, see FIG. 1) that moves the support member (1320).

[0098] In addition, the mounting drive unit (123a) can rotate and elevate the mounting member (1310), and the support drive unit (123b) can protrude the support member (1320).

[0099] The gap between the mounting member (1310) and the support member (1320) can be set to be larger than the thickness of the skid of the urban air mobility.

[0100] At this time, a driving device such as a hydraulic motor may be further included to more effectively load and support urban air mobility.

[0101] The sensor (1400) is composed of a laser scanner sensor and can detect obstacles and map the driving path.

[0102]

[0103] Hereinafter, with reference to FIGS. 4 to 6, the detailed technical configuration, organic coupling structure, and operational relationship of the urban air mobility parking robot according to the present invention will be described in more detail.

[0104]

[0105] Figure 4 is a schematic diagram of the driving unit of the urban air mobility parking robot illustrated in Figure 3.

[0106] More specifically, the driving wheel (1210) and the driving driving unit (1220) of the driving unit (1200) can be mounted on the driving body (1230).

[0107] The driving body (1230) can be rotatably mounted on the robot body (1100).

[0108] The driving unit (1200) may further include a driving body driving unit (not shown).

[0109] The driving body drive unit is for selectively rotating the driving body (1230) to a desired angle (as shown by arrow A).

[0110] To this end, a gear unit (1231) is formed in the driving body (1230), and the driving body driving unit may include a stepping motor (not shown). The stepping motor may be engaged with the gear unit (1231) to rotate the driving body (1230).

[0111] Additionally, a plurality of driving bodies (1230) equipped with driving wheels (1210) and driving driving units (1220) can be mounted on the robot body (1100).

[0112] Figure 3 illustrates an embodiment in which a driving body (1230) is mounted on the front and rear of the robot body (1100), respectively.

[0113] Accordingly, the urban air mobility parking robot can move in the desired direction while minimizing the turning radius.

[0114]

[0115] FIG. 5 is a first schematic diagram of the loading unit of the urban air mobility parking robot illustrated in FIG. 3.

[0116] As shown, the mounting member (1310) of the mounting part can be rotatably coupled to the robot body (1100).

[0117] For this purpose, a rotating member (1311) is coupled to a mounting member (1310), and the rotating member (1311) is coupled to a mounting drive unit (123a).

[0118] Before the mounting part is operated, the mounting member (1310) is built into the robot body (1100), and when the mounting drive part (123a) is operated, the mounting member (1310) can protrude outward from the robot body (1100) in conjunction with the rotation of the rotation member (1311).

[0119] The support member (1310) may be rotated to form an inclined portion corresponding to the skid (see Fig. 7, 3100) of the urban air mobility to lift the urban air mobility.

[0120]

[0121] FIG. 6 is a second schematic diagram illustrating the loading unit of the urban air mobility parking robot illustrated in FIG. 3.

[0122] More specifically, (a) of FIG. 6 is a schematic diagram of a mounting member, and (b) of FIG. 6 is a schematic rear view of the mounting member illustrated in (a) of FIG. 6.

[0123] As shown, a first friction member (1312) that provides frictional force can be formed on the mounting member (1310) of the mounting part.

[0124] A second friction member (1321) that provides frictional force to the support member (1320) may also be formed.

[0125] The first friction part (1312) and the second friction part (1321) may be formed of friction pads, and the friction pads may be formed of various materials capable of providing frictional force.

[0126] Additionally, the first friction part (1312) may be positioned on the upper surface of the support member (1310), and the second friction part (1321) may be positioned on the lower surface of the support member (1320).

[0127] Accordingly, when the payload is operated, the first friction part (1312) and the second friction part (1321) can be arranged on both sides centered on the support part of the urban air mobility.

[0128] And the support of the urban air mobility is supported more stably and firmly by the first friction part (1312) and the second friction part (1321).

[0129]

[0130] Figure 7 is a schematic first usage state diagram of an urban air mobility parking robot according to one embodiment of the present invention.

[0131] As shown, the urban air mobility parking robot (1000) moves between the supports of the parked urban air mobility (3000) to move the parked urban air mobility (3000).

[0132] At this time, if the support of the urban air mobility (3000) is implemented as a skid (3100), the urban air mobility parking robot (1000) moves between the skids (3100).

[0133] At this time, the sensing unit (see 131 in Fig. 1) of the urban air mobility parking robot (1000) checks the distance between the location of the urban air mobility (3000) and the skid (3100).

[0134] The driving unit (1200) of the urban air mobility parking robot (1000) moves the urban air mobility parking robot (1000) between skids (3100) using real-time information acquired through the sensing unit (131).

[0135]

[0136] Figure 8 is a schematic diagram of a second usage state of an urban air mobility parking robot according to one embodiment of the present invention.

[0137] More specifically, FIG. 8 illustrates a state in which the urban air mobility parking robot (1000) operates the payload (1300) while moving between the skids (3100) of the urban air mobility (3000) as illustrated in FIG. 7.

[0138] As shown, the support member (1310) is rotated by the support drive member (123a, see FIG. 1) to support the lower part of the skid (3100).

[0139] At this time, a groove (not shown) may be formed on the ground where the skid (3100) is positioned and corresponds to the movement area of ​​the supporting member (1310) to facilitate support of the skid (3100) using the supporting member (1310).

[0140] Additionally, the support member (1320) is moved forward to support the upper portion of the skid (3100) by the operation of the mounted driving unit.

[0141] The support member (1320) can be protruded outward from the robot body by the operation of the mounted driving unit while being embedded in the robot body.

[0142] Accordingly, while the lower part of the skid (3100) is supported and raised by the mounting member (1310), the upper part of the skid (3100) is supported by the supporting member (1320), so that the skid (3100) is supported under pressure by the mounting member (1300).

[0143] Additionally, the mounting unit (1300) may further include a pressure sensor (not shown).

[0144] If it is confirmed through the pressure sensor that the support member (1310) is no longer rising, the support drive unit may no longer operate the rising motion of the support member.

[0145]

[0146] Figure 9 is a schematic diagram of a third use state of an urban air mobility parking robot according to one embodiment of the present invention.

[0147] More specifically, FIG. 9 illustrates a state in which an urban air mobility parking robot (1000) moves an urban air mobility (3000) by operating a driving unit while carrying an urban air mobility (3000) as illustrated in FIG. 8.

[0148]

[0149] FIG. 10 is a schematic diagram of a mounting unit in an urban air mobility parking robot according to another embodiment of the present invention.

[0150] As shown, the mounting part (2300) includes a rack gear (2311) and a rotation gear (2312) that move the mounting member.

[0151] The rack gears (2311) can be meshed with each other in a symmetrical state with the rotation gears (2312).

[0152] The rotary gear (2312) can be coupled to the mounted driving unit.

[0153] In addition, the mounting members are each connected to a rack gear (2311), and the mounting drive unit rotates the rotation gear (2312) to move the mounting members.

[0154] The mounting member can be extended outward from the robot body by a length equal to the extension length of the rack gear (2311) while being embedded in the robot body.

[0155] Accordingly, even when the length between the support parts of urban air mobility, i.e., the skids, is long, the loading part can efficiently load urban air mobility.

[0156] Fig. 10 illustrates an embodiment in which two rack gears (2311) are moved by one mounted driving unit and one rotary gear (2312), and may also be implemented in a structure in which one rack gear is combined with one rotary gear.

[0157]

[0158] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the above. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0159] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. Robot body; A driving unit including a driving wheel coupled to the robot body and a driving driving unit that rotates the driving wheel; A mounting unit including a mounting member that supports the lower part of the support unit of the urban air mobility to raise, lower, and support the urban air mobility, and a mounting drive unit that moves the mounting member; and A control unit including a sensor for checking the above support. Urban air mobility parking robot.

2. In paragraph 1, The above driving unit further includes auxiliary wheels coupled to the robot body, The above auxiliary wheels are combined so that the direction of the wheels can be changed according to the direction of movement of the robot body. Urban air mobility parking robot.

3. In paragraph 1, The above-mentioned mounting portion further includes a support member that supports the upper portion of the support portion of the urban air mobility, The above support member is moved by the above-mentioned mounting driving unit. Urban air mobility parking robot.

4. In paragraph 3, The above support member is built into the robot body and protrudes outward from the robot body by the operation of the mounted driving unit. Urban air mobility parking robot.

5. In paragraph 1, The above-mentioned mounting member of the above-mentioned mounting part is coupled to a rotating member, and the above-mentioned rotating member is coupled to the above-mentioned mounting driving member, The above-mentioned mounting member is protruded to the outside of the robot body by the above-mentioned mounting driving unit rotating the above-mentioned rotating member. Urban air mobility parking robot.

6. In paragraph 1, The above driving part A driving body equipped with the above driving wheel and the above driving driving unit, Further comprising a driving body driving unit that rotates the above driving body Urban air mobility parking robot.

7. In paragraph 1, The above control unit It further includes a laser scanner sensor, and the control unit checks for obstacles through the laser scanner sensor and maps the driving path. Urban air mobility parking robot.

8. In paragraph 1, The above-mentioned mounting part includes a rack gear that moves the mounting member and a rotation gear meshed with the rack gear, and the rotation gear is coupled to the mounting drive part. Urban air mobility parking robot.

9. Including an urban air mobility runner robot of any one of paragraphs 1 to 8, The above urban air mobility runner robot includes a wireless communication module, Includes a hangar management unit that sets up and manages parking spaces for urban air mobility transported through the above urban air mobility parking robot, The above urban air mobility runner robot transmits and receives information with the hangar management unit through the wireless communication module. Parking operation system using urban air mobility parking robots.

10. In paragraph 9, An operation management department that manages the operation schedule of the urban air mobility that lands at or takes off from the vertiport, Further comprising a charging management unit that manages charging of the urban air mobility parked in the hangar of the above-mentioned vertiport. Parking operation system using urban air mobility parking robots.

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