System for automatic landing of drone at airport

Abstract

A system for automatic landing of a drone at an airport, of the present invention, comprises: a control center which allocates any one landing pad from among a plurality of landing pads, when a drone that identifies its position through a plurality of position detection sensors reaches a preset mission point area; and the plurality of landing pads, wherein a landing pad permitted to be landed on by the control center communicates with its allocated drone and guides it to a landing position .

Description

Drone Airport Automatic Landing System

[0001] The present invention relates to drone landing control, and more particularly, to a drone airport automatic landing system.

[0002]

[0003] Unmanned aerial vehicles, or drones, are attracting attention in various fields, including military and industrial applications, because they can easily collect information from the ground and air at high altitudes without the risk of being exposed to others.

[0004] These drones can be remotely controlled from the ground without a pilot directly on board, can fly autonomously in an automatic or semi-automatic manner along a pre-programmed route, or can be equipped with artificial intelligence to perform missions based on their own environmental judgment.

[0005] Drones have a very high degree of freedom, as they measure their own position, speed, and attitude, independently create the optimal path for a given mission, fly along it, and independently diagnose and respond to malfunctions. Recently, civilian drones equipped with satellite navigation devices, sensors, and cameras have been developed, and their scope of use is expanding to areas such as material transport, traffic control, and security.

[0006] However, the user is still responsible for judging exceptional situations that occur during the flight, and appropriate responses to exceptional situations are very important.

[0007] In particular, these exceptional circumstances mainly occur when drones take off and land, and unlike in the air, there are more risk factors on the ground. In cases where the ground situation is constantly changing rapidly, such as on a ship, if a quick response is not possible, the drone may crash during takeoff or landing, and a secondary collision accident caused by the drone crash or another collision with a person or object on the ground may occur, resulting in loss of life or property.

[0008] Accordingly, to solve the above problems, a drone takeoff and landing assistance device and system have been developed, and such assistance device and system are disclosed in Korean Patent No. 10-2223190, 'Drone Landing System'.

[0009] Conventional auxiliary devices and systems rely on video to assist drone landings, which can lead to variations in landing accuracy depending on weather or surrounding conditions. Furthermore, the need for multiple video cameras to capture footage in each direction leads to high costs.

[0010]

[0011] The present invention has been proposed to solve the above technical problems, and provides a drone airport automatic landing system in which a landing pad communicates with a drone assigned to it and directly guides the assigned drone to a landing location.

[0012] According to one embodiment of the present invention for solving the above problem, a drone airport automatic landing system is provided, including a control center that assigns a drone, which determines its own location through a plurality of position detection sensors, to one of a plurality of landing pads when it reaches a preset mission point area, and a landing pad that is permitted to land by the control center communicates with the drone assigned to it and guides the assigned drone to a landing location.

[0013] In addition, the present invention is characterized in that the drone moves to a preset mission point area using satellite location information.

[0014] In addition, in the present invention, a plurality of landing pads are characterized in that, when a drone assigned to them reaches a predetermined distance, they are granted landing control of the drone and directly control the movement of the drone.

[0015] In addition, in the present invention, a plurality of landing pads are characterized in that they receive sensing data from the position detection sensor of the drone assigned to them, thereby identifying the current position and direction of the assigned drone and controlling its movement.

[0016] The drone airport automatic landing system of the present invention can guide the assigned drone directly to a landing location while the landing pad communicates with the assigned drone, and in particular, when the drone reaches the landing pad, it detects an obstacle through a sensor and generates a path to avoid the obstacle using a preset path planner.

[0017] When an obstacle approaches the landing pad, the landing pad guides the drone to land. The sensor attached to the bottom detects the obstacle and transmits it to the landing pad, which then creates a new path to avoid the obstacle on the pad and controls the drone accordingly.

[0018] Figure 1 is a configuration diagram of a drone airport automatic landing system (1) according to an embodiment of the present invention.

[0019] Figure 2 is an example of a drone airport automatic landing system (1).

[0020] Figure 2a is an example of calculating the distance between the drone and the landing pad.

[0021] Figure 3 is a configuration diagram according to an embodiment of a position detection sensor module (11) equipped with a heat dissipation function.

[0022] Figure 4 is a detailed configuration diagram of the position detection sensor module (11) of Figure 3.

[0023] Hereinafter, in order to explain in detail to a degree that a person having ordinary skill in the art to which the present invention pertains can easily practice the technical idea of ​​the present invention, an embodiment of the present invention will be described with reference to the attached drawings.

[0024]

[0025] FIG. 1 is a configuration diagram of a drone airport automatic landing system (1) according to an embodiment of the present invention, and FIG. 2 is an exemplary diagram of a drone airport automatic landing system (1).

[0026] The drone airport automatic landing system (1) according to this embodiment includes only a brief configuration to clearly explain the technical idea to be proposed.

[0027]

[0028] Referring to FIGS. 1 and 2, the drone airport automatic landing system (1) is configured to include a drone (10), a control center (20), and a plurality of landing pads (30).

[0029]

[0030] The main operations of the drone airport automatic landing system (1) configured as above are as follows.

[0031] The present invention proposes an autonomous landing system for a drone airport. When an autonomous drone completes its mission and arrives at a nearby drone airport, the drone airport control tower (control center (20)) communicates with the drone and assigns a suitable landing pad. Control of the drone is then transferred to the landing pad, which guides the drone to perform a precision landing.

[0032]

[0033] That is, the present invention proposes an autonomous landing system for a drone airport, which is composed of a drone (10), a drone airport control tower (control center (20)), and a plurality of landing pads (30).

[0034] The landing pad has a separate computing device and performs computing processing for the drone's precision landing.

[0035] The drone takes off from its launch point, completes its mission, and then flies to a nearby drone airport. The drone airport control tower communicates with the drone and assigns it a suitable landing pad.

[0036] The drone performs an autonomous precision landing on its assigned landing pad. When the drone reaches a predetermined distance from the landing pad, the landing pad takes control and guides the drone to a precision landing.

[0037]

[0038] The drone has multiple position detection sensor modules (11, 12, 13, 14) as shown in Fig. 2, and the signals from each sensor are distinct. The landing pad receives signals from multiple sensors to determine the current position and direction of the drone. Based on this information, the drone is guided to the landing pad to perform a precise landing. The position detection sensor modules (11, 12, 13, 14) can be infrared sensors, ultrasonic sensors, laser sensors, lidar sensors, etc.

[0039]

[0040] Drone 1 (j1) Drone 2 (j2) Drone 3 (j3) Landing Pad 1 (i1) 389 Landing Pad 2 (i2) 4127 Landing Pad 3 (i3) 485

[0041] Drone 1 (j1) Drone 2 (j2) Drone 3 (j3) Landing Pad 1 (i1) 389 Landing Pad 2 (i2) 4127 Landing Pad 3 (i3) 485

[0042] FIG. 2a is an example of calculating the distance between a drone and a landing pad, Table 1 is a table showing the Euclidean distance for each drone and each landing pad, and Table 2 is a table showing the combination that achieves the minimum cost using the Hungarian algorithm. Referring to FIG. 2a, Table 1, and FIG. 2, the drone control tower organizes the coordinates of drones attempting to land and the coordinates of the landing pad in the form of a table and calculates them. Afterwards, the distance error between each drone and the pad is calculated and reflected in the table as shown in Table 1.

[0043] Based on the table, the combination with the lowest total cost is selected from the Euclidean distance table obtained as shown in Table 2 using the Hungarian Algorithm. That is, the matching that minimizes the sum of the distance values ​​from each matching is obtained, and a landing pad is assigned to the drone.

[0044]

[0045] As the drone approaches the landing pad, its sensors detect obstacles and a preset path planner generates a path to avoid them. When an obstacle approaches the landing pad, the landing pad guides the drone to land. Sensors attached to the bottom detect the obstacle and relay this information to the landing pad, which then generates a new path to avoid the obstacle. The drone then controls the landing pad accordingly.

[0046]

[0047] That is, as described above, the drone airport automatic landing system (1) of the present invention comprises a control center (20) that assigns a drone (10) that determines its own location through a plurality of position detection sensors (11, 12, 13, 14) to one of a plurality of landing pads when it reaches a preset mission point area, and a plurality of landing pads (30) that communicate with the drone assigned to the landing pad by the control center (20) and guide the assigned drone to the landing position.

[0048] At this time, the drone (10) can move to a preset mission point area through satellite location information or reach it through control by a radar device of the control center (20).

[0049] When the drone assigned to it reaches a predetermined distance, the plurality of landing pads (30) are granted landing control of the drone (10) and directly control the movement of the drone. At this time, the plurality of landing pads (30) receive sensing data from the position detection sensors (11, 12, 13, 14) of the drone assigned to them, and can determine the current position and direction of the assigned drone and control the movement.

[0050]

[0051] Meanwhile, FIG. 3 is a configuration diagram according to an embodiment of a position detection sensor module (11) equipped with a heat dissipation function, and FIG. 4 is a detailed configuration diagram of the position detection sensor module (11) of FIG. 3.

[0052]

[0053] Referring to FIGS. 3 and 4, the position detection sensor module (11) is configured to include a protective case (211) that accommodates a printed circuit board and releases internal heat to the outside, a plurality of openings (231) formed on one side of the protective case (211), a separator (212) for blocking moisture flowing in from the plurality of openings (231), a heat dissipation switching unit for controlling the open space of the plurality of openings (231), and a heat dissipation cover formed so as to be closely coupled to the other side of the protective case (211) - a side on which no openings are formed.

[0054]

[0055] The printed circuit board (210) housed in the protective case is equipped with various heat-generating components such as sensors, sensor control modules, and communication modules, and a separator may be inserted to protect the printed circuit board (210) from moisture.

[0056] That is, the printed circuit board (210) is protected by a protective case (211), and a plurality of openings (231) are formed on one side of the protective case (211), and a separator (212) for protecting the printed circuit board (210) from moisture can be inserted into the openings.

[0057] Additionally, the other end of the protective case - the side without the opening - is provided with a heat dissipation cover that is formed so that it can be tightly joined.

[0058] At this time, the heat dissipation cover is provided with a contact surface formed by repeating a predetermined positive pattern and a predetermined negative pattern, a conductive member that spreads and conducts heat between the other end surface of the protective case and one end surface of the contact surface, and a plurality of heat dissipation fins formed on the other end surface of the contact surface and in contact with the outside air.

[0059] Here, the conductive material can be any one of a silicone thermal pad, thermal grease, or heat-dissipating coating liquid.

[0060]

[0061] For reference, the separator (212) formed in the opening of the case in the present invention can be defined as a gas permeable membrane, and is basically a material that blocks moisture but allows air to pass through.

[0062] The separation membrane (312) according to the first embodiment is formed by applying and impregnating a coating solution onto a porous support and the porous support.

[0063] The above porous support has pores formed inside and functions to diffuse gas along the internal pores.

[0064] At this time, the porous support may use any one polymer selected from the group consisting of polyimide, polydimethylphenylene oxide, polysulfone, polyestersulfone, polyetherimide, polyvinylidene fluoride, or a combination thereof.

[0065] The above coating solution has a high free volume, facilitating gas diffusion. At this time, the coating solution may be any one of polydimethylsiloxane (PDMS), poly(1-trimethylsilyl-1-propyne) (PTMSP), polyether block amide (PEBAX), or a combination thereof.

[0066]

[0067] In addition, the separation membrane (212) according to the second embodiment further includes porous inorganic particles in addition to the separation membrane (212) according to the first embodiment, wherein the porous inorganic particles are mixed into a coating solution and applied and impregnated into a porous support. The porous inorganic particles may be any one of silica, zeolite, alumina, titanium dioxide, or a combination thereof.

[0068]

[0069] In addition, the separation membrane (213) according to the third embodiment is a composite separation membrane that further includes a moisture absorption membrane at the tip of the separation membrane according to the first embodiment or the separation membrane according to the second embodiment, and has the effect of reducing noise and preventing contamination of the separation membrane by reducing and removing moisture.

[0070]

[0071] The above moisture absorption membrane is a porous support described above coated with a hydrophilic polymer or hydrophilically modified through plasma, and the hydrophilic polymer may include any one of polyvinyl alcohol (PVA), polyacrylic acid (PAA), polymethacrylic acid (PMAA), cellulose polymer, polyethylene glycol (PEG), polypropylene glycol (PPG), or a combination thereof. When plasma is treated, a hydrophilic group of any one of a carboxyl group, a hydroxyl group, an amine group, or a combination thereof may be introduced. At this time, the moisture absorption membrane may further include super absorption polymer (SAP) particles to further improve moisture absorption and retention characteristics.

[0072]

[0073] Referring to Fig. 4, a heat dissipation switching unit is provided to control the open space of each opening (231).

[0074] The heat dissipation switching unit is configured to include a shield (232), a shape memory unit (233), and a shape memory control unit (234).

[0075] The heat dissipation switching unit is located between two openings, and may be located between vertically adjacent openings, horizontally adjacent openings, or diagonally adjacent openings, depending on the embodiment.

[0076] In addition, the heat dissipation switching unit is positioned between four openings, so that the four openings can be controlled simultaneously. In this case, in the structure of FIG. 5, the blocking film (232) and the shape memory unit (233) can be arranged symmetrically in the vertical direction with respect to the shape memory control unit (234). In other words, the shape memory control unit (234) can be configured to control four shape memory units (233) simultaneously.

[0077]

[0078] Figure 4 is an enlarged view of one heat dissipation switching unit.

[0079] Basically, at room temperature, the barrier film (232) blocks the open space of the opening (231), and when the temperature rises above a predetermined reference value due to components of the printed circuit board (210), the shape memory portion (233) connected to the barrier film (232) moves the barrier film (232) inward, causing the barrier film (232) to slide so that the open space of the opening (231) is exposed.

[0080] At this time, the reaction temperature of the shape memory unit (233) is independently set differently for each zone. That is, in a space requiring a lot of heat dissipation based on the printed circuit board (210), the reaction temperature of the shape memory unit (233) can be set low so that an open space can be formed quickly.

[0081] The shape memory control unit (234) operates to physically move the shape memory unit (233) to forcibly expand or close the open space. That is, when moisture is detected in the printed circuit board (210), the open space is closed, and when the temperature rise rate is higher than a reference value, the open space is forcibly expanded in each zone.

[0082] At this time, the temperature rise rate can be determined using the least squares method. That is, the temperature change trend can be detected by applying the least squares method to the temperature values ​​of each zone of the printed circuit board (210). That is, the area of ​​the open space in each zone can be adjusted according to the amount of temperature change (change trend). That is, the measured temperature value can be divided into the amount of change over the past hour, the amount of change over 30 minutes, the amount of change over 15 minutes, etc. using the least squares method, and the amount of change can be calculated.

[0083] The barrier film (232) is composed of a waterproof label, and the label film comprises a base substrate, a color-coated label layer formed on top of the base substrate, and a reaction layer formed on top of the label layer that changes to transparent as the temperature rises to reveal the color of the underlying label layer. That is, when the temperature exceeds a certain level, whether the barrier film (232) is open can be visually identified by color, allowing for confirmation of smooth heat dissipation.

[0084]

[0085] As such, those skilled in the art will appreciate that the present invention can be implemented in other specific forms without altering its technical concept or essential characteristics. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

Claims

1. A control center that assigns a drone, which determines its location through multiple location detection sensors, to one of the multiple landing pads when it reaches a preset mission point area; and The landing pads, which have been granted landing permission from the above control center, communicate with the drones assigned to them and guide the assigned drones to the landing location, and the landing pads are a plurality of such landing pads; Drone airport automatic landing system including.

2. In paragraph 1, The above drone is a drone airport automatic landing system characterized in that it moves to a preset mission point area using satellite position information.

3. In paragraph 1, The above multiple landing pads are, A drone airport automatic landing system characterized in that when a drone assigned to it reaches a predetermined distance, the landing control of the drone is granted and the movement of the drone is directly controlled.

4. In paragraph 1, The above multiple landing pads are, A drone airport automatic landing system characterized by receiving sensing data from the position detection sensor of the drone assigned to it, identifying the current location and direction of the assigned drone, and controlling its movement.

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