KR-20260062208-A - Automatic landing system for drone and unmanned ground vehicle

Abstract

The present invention relates to an automatic take-off and landing system for a drone and an unmanned ground vehicle. The technical problem to be solved is to provide an automatic take-off and landing system between a drone and an unmanned ground vehicle so that when the remaining battery level of the drone falls below a reference value, the drone can automatically locate the location of the unmanned ground vehicle, land, and charge. To this end, the present invention discloses an automatic take-off and landing system for a drone and an unmanned ground vehicle comprising: a drone having a drone battery, a drone charging module, and a drone position estimation unit; and an unmanned ground vehicle having a vehicle battery, a drone charging station, and a vehicle position estimation unit. The drone is configured such that when the remaining charge level of the drone battery falls below a reference value, the drone position estimation unit communicates with the vehicle position estimation unit to locate the location of the unmanned ground vehicle, and once the location of the unmanned ground vehicle is found, the drone lands at the drone charging station of the unmanned ground vehicle, and the drone battery of the drone is charged by the vehicle battery.

Inventors

• 황환철
• 김여호수아
• 이주현

Assignees

• 황환철

Dates

Publication Date

20260507

Application Date

20241028

Claims (6)

1. A drone having a drone battery, a drone charging module and a drone position estimation unit; and It includes an unmanned ground vehicle having a vehicle battery, a drone charging station, and a vehicle position estimation unit, and An automatic take-off and landing system for a drone and an unmanned ground vehicle, wherein when the remaining charge of the drone battery falls below a reference value, the drone position estimation unit communicates with the vehicle position estimation unit to locate the position of the unmanned ground vehicle, and when the position of the unmanned ground vehicle is found, the drone lands at the drone charging station of the unmanned ground vehicle, and the drone battery of the drone is charged by the vehicle battery.
2. In Article 1, The above drone charging module is, A pogo pin input terminal electrically connected to the above-mentioned drone charging station; A drone output terminal connected to the drone drive unit of the above-mentioned drone; A drone battery input terminal connected to the above drone battery; and An automatic take-off and landing system for a drone and an unmanned ground vehicle, comprising a drone relay connected to the pogo pin input terminal, the drone output terminal, and the drone battery input terminal, which turns off the switch of the drone output terminal and turns on the switch of the drone battery input terminal when a charging current is input through the pogo pin input terminal.
3. In Article 2, A pogo pin input voltage sensor that senses the voltage of the above pogo pin input terminal; A drone output voltage sensor that senses the voltage of the above-mentioned drone output terminal; A drone battery input voltage sensor that senses the voltage of the above-mentioned drone battery input terminal; and An automatic take-off and landing system for a drone and an unmanned ground vehicle, further comprising a drone charging control unit that receives sensing signals from the pogo pin input voltage sensor, the drone output voltage sensor, and the drone battery input voltage sensor, and controls the drone relay.
4. In Article 1, The above drone charging station is, A plurality of conductive plates electrically connecting the vehicle battery to the drone charging module; A load cell installed at the bottom of each of the plurality of challenge plates to sense the weight of the drone that has landed on the challenge plate; A station relay installed between the vehicle battery and the conductive plate to switch so that the vehicle battery is electrically connected to the conductive plate only when the drone lands on the conductive plate; and An automatic take-off and landing system for a drone and an unmanned ground vehicle, comprising a station control unit that controls the station relay so that the vehicle battery is electrically connected to the conductive plate when it is determined through the load cell that the drone has landed.
5. In Article 1, The above drone position estimation unit is an automatic take-off and landing system for drones and unmanned ground vehicles, comprising a NAV2 package including a GNSS sensor, an IMU sensor, and an encoder sensor.
6. In Article 1, A plurality of UWB sensors installed around the above drone and the above unmanned ground vehicle; Drone UWB tag included in the above-mentioned drone position estimation unit; and It further includes a vehicle UWB tag included in the above vehicle position estimation unit, and An automatic take-off and landing system for a drone and an unmanned ground vehicle, wherein the drone position estimation unit and the vehicle position estimation unit are configured to find each other's positions using the drone UWB tag and the vehicle UWB tag.

Description

Automatic landing system for drone and unmanned ground vehicle The present invention relates to an automatic take-off and landing system for drones and unmanned ground vehicles. As the integrated operation of unmanned aerial vehicles (e.g., drones) and unmanned ground vehicles increases, there is a need for drone battery charging and localization technologies. In existing systems, if a drone's battery level runs low during flight, it must land manually to recharge, a process that degrades safety and efficiency. Furthermore, due to the lack of seamless interaction between drones and unmanned ground vehicles, automated charging and localization methods are required. The information described above disclosed in the background technology of this invention is intended only to enhance understanding of the background of the present invention and may therefore include information that does not constitute prior art. FIG. 1 is a block diagram illustrating the configuration of an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 2 is a wiring diagram illustrating the configuration of a drone charging module in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 3 illustrates a design of a drone charging module in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 4 illustrates a drone charging module manufactured for an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 5 illustrates an installation diagram of a drone charging module in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 6 illustrates a wiring diagram of drone charging hardware in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 7 illustrates a design diagram of drone charging hardware in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 8 illustrates drone charging hardware manufactured for an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 9 is a wiring diagram illustrating the configuration of a drone charging station in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 10 illustrates a design of a drone charging station in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 11 illustrates a drone charging station manufactured in an automatic take-off and landing system for drones and unmanned ground vehicles according to the present invention. FIG. 12 illustrates drone take-off and landing control using simulation in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 13 illustrates the waypoint driving state of an unmanned ground vehicle using simulation in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. FIG. 14 illustrates the actual installation environment of a UWB-IMU sensor in an automatic take-off and landing system for a drone and an unmanned ground vehicle according to the present invention. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. The present inventions are provided to more fully explain the invention to those skilled in the art, and the following examples may be modified in various different forms, and the scope of the invention is not limited to the following examples. Rather, these examples are provided to make the disclosure more faithful and complete and to fully convey the spirit of the invention to those skilled in the art. Additionally, in the drawings below, the thickness or size of each layer is exaggerated for convenience and clarity of explanation, and like reference numerals in the drawings refer to like elements. As used herein, the term "and/or" includes any one of the listed items and all combinations of one or more thereof. Furthermore, in this specification, the meaning of "connected" refers not only to cases where Member A and Member B are directly connected, but also to cases where Member C is interposed between Member A and Member B so that Member A and Member B are indirectly connected. The terms used herein are for describing specific embodiments and are not intended to limit the invention. As used herein, the singular form may include the plural form unless the context clearly indicates otherwise. Additionally, as used herein, "comprise, include" and/or "comprisin