WO2018139723A1 - Unmanned operation system for vertical take-off and landing unmanned aerial vehicle - Google Patents

Abstract

Disclosed is an unmanned operation system for a vertical take-off and landing unmanned aerial vehicle, the system comprising a confirmation member, a position measurement member, a terrestrial station member, and a remote control unit, such that an unmanned aerial vehicle can be safely protected from external factors such as rain or snow and sunlight when the unmanned aerial vehicle is stored, a battery can be charged or replaced, fuel can be supplied and necessary task equipment can be replaced or freight can be mounted and loaded and unloaded, the unmanned aerial vehicle transmits data to and stores the same in a control member of a terrestrial station and can transmit the same to another device according to a request, position information enabling the unmanned aerial vehicle to take-off and land accurately can be provided, and a flying unmanned aerial vehicle and state information of a surrounding environment can be monitored, and thus an unmanned terrestrial operation system enabling an unmanned aerial vehicle to operate without a pilot can be provided or an unmanned aerial vehicle can be operated by assisting a pilot.

Description

Unmanned operation system of vertical takeoff and landing drone

The present invention relates to an unmanned operating system of a vertical takeoff and landing drone.

A drone is a vehicle that can fly by radio wave guidance or automatic control without a driver, and was used as a military drone in the past, but is currently developed for various purposes such as shooting, inspection, and transportation. have.

When the drone lands after the flight is over, it is not possible to land safely, break down the route, or land somewhere else, and it is necessary to support battery replacement and fuel supply by remote control and support personnel by the pilot at all times.

In order to solve this problem, a system or apparatus for helping the landing of a vertical takeoff and landing drone has been developed. For example, Korean Patent No. 10-1527210 (Registration Date: 2015.06.02., Name of the invention: Drone takeoff and landing system and its operation method) ) And Republic of Korea Patent No. 10-1130203 (Registration date: March 19, 2012, the name of the invention: aircraft takeoff and landing aids) can be presented.

However, in order to operate a system or a device that assists in the landing of the drone, it is necessary to precisely control the landing position of the drone, and after landing, to fix the drone to be fixed without moving.

In addition, before the drone takes off, in storage, there is a problem that should be stored in a defenseless state without a separate place for safe storage.

In addition, there is a need for equipment to automatically charge or replace the battery or transfer fuel to be mounted on the drone during power delivery.

In addition, the drone that had problems because it could not grasp the problem or maintenance required during the flight of the drone was inconvenient to check the malfunction while flying directly.

The present invention is an automatic drone system capable of vertical take-off and landing, and can be safely protected from external factors such as rain, snow, and sun when storing the drone, and can recharge or replace batteries or supply fuel, and replace necessary mission equipment. It is possible to load and unload cargo, to send and store the data to the control member of the ground station, to send the information received from the drone to other devices on request, and to accurately take off and land the drone. It can provide safe drone operation by monitoring the status information of the drone in flight and surrounding environment, so that the drone can be operated automatically according to the pre-programmed plan without the pilot, or the drone operator can control the remote control unit at the remote place. To operate a drone, or to assist a pilot in a ground station. Operating a UAV, or unmanned ground to provide land filling and operating systems that can hold at the request of not belonging to the UAV ground station or to assist the pilot seeks to operate a UAV.

According to an aspect of the present invention, an unmanned operation system of a vertical takeoff and landing drone includes: a positioning member mounted to the drone to measure a position between the drone and a ground station; A position measuring member configured to precisely take off and land the drone at a predetermined position while measuring a position between the drone and the ground station using the positioning member; A ground station member capable of automatically or manually landing or taking off the drone according to a position value measured using the positioning member and the positioning member; And a remote control unit capable of remotely controlling the operation of the apparatus and the drone included in the ground station member.

According to an unmanned operation system of a vertical take-off and landing drone according to an aspect of the present invention, a positioning member mounted to the drone to measure a position between the drone and the ground station; A position measuring member configured to precisely take off and land the drone at a predetermined position while measuring a position between the drone and the ground station using the positioning member; A ground station member capable of automatically or manually landing or taking off the drone according to a position value measured using the positioning member and the positioning member; And a remote control unit capable of remotely controlling the operation of the drone and the device included in the ground station member, so that the drone can be safely protected from external factors such as rain, snow, and sunlight when the drone is stored, and the battery is charged / replaced. Alternatively, fuel can be supplied, mission equipment can be replaced, cargo can be loaded and unloaded, the drone can transmit and store data to the control station of the ground station, and the information received from the drone can be transferred to other devices upon request. It can provide the location information to take off and land the drone precisely, and can operate the drone safely by monitoring the status information of the drone in flight and the surrounding environment, so the drone is operated automatically according to the pre-programmed plan without the pilot. The operator of the drone can use the remote control unit It is possible to operate a plane, operate a drone by assisting a pilot in a ground station, or provide an unmanned ground operating system that can be charged and stored in landing at the request of a drone not belonging to a ground station.

1 is a cross-sectional view of the unmanned operating system of the vertical takeoff and landing drone according to the first embodiment of the present invention.

2 is an enlarged view of A of FIG. 1 according to the first embodiment of the present invention;

3 is a cross-sectional view of the cover member according to the first embodiment of the present invention when opened at 90 ° or more.

4 is a cross-sectional view of the drone seated on the landing pad member according to the first embodiment of the present invention;

5 is a front view of the fixing member according to the first embodiment of the present invention, in which a drone is fixed.

6 is a front view of a state in which a lid member is closed while the drone is fixed to the fixing member according to the first embodiment of the present invention;

7 is a view showing a landing area moving member descended according to the first embodiment of the present invention.

8 is a view showing a state where the drone is stored in the drone storage member according to the first embodiment of the present invention.

9 is a view showing a state of replacing the battery using a robot arm member according to a first embodiment of the present invention.

10 is a view showing a state loaded with a cargo drone using the robot arm member according to a first embodiment of the present invention.

11 is a sectional front view of the unmanned operation system of the vertical takeoff and landing drone according to the second embodiment of the present invention.

Hereinafter, with reference to the drawings will be described for the unmanned operation system of the vertical takeoff and landing drone according to embodiments of the present invention.

1 is a cross-sectional view of the unmanned operation system of the vertical takeoff and landing drone according to the first embodiment of the present invention, FIG. 2 is an enlarged view of A of FIG. 1 according to the first embodiment of the present invention, and FIG. FIG. 4 is a cross-sectional view of the cover member according to the first embodiment of the present invention opened at 90 ° or more from the front, and FIG. 4 is a front view of the drone seated on the landing pad member according to the first embodiment of the present invention. 5 is a cross-sectional view of a fixing member according to a first embodiment of the present invention in which a drone is fixed, and FIG. 6 is a state in which a drone according to a first embodiment of the present invention is fixed to a fixing member. 7 is a view showing the cover member closed from the front, and FIG. 7 is a view showing the movable member descending according to the first embodiment of the present invention, and FIG. 8 is a drone storage according to the first embodiment of the present invention. 9 is a view showing a state where the drone is stored in the member, Figure 9 is a view showing a state of replacing the battery using a robot arm member according to a first embodiment of the present invention, Figure 10 is a first embodiment of the present invention The robot arm member according to the drawing showing the state loaded with the drone.

1 to 10, the unmanned operating system 100 of the vertical takeoff and landing drone according to the present embodiment includes a positioning member 110, a positioning member 170, a ground station member 120, and a remote control. The controller 130 is included.

In addition, the unmanned operating system 100 of the vertical landing and landing drones may further include a ground station imaging member 140.

The drone 10 in the present embodiment is an air vehicle capable of flying or automatically flying by induction of radio waves without the operator boarding the vehicle, and the unmanned seating part which is seated and fixed to the ground station member 120 ( 15) is formed.

The positioning member 110 is mounted to the drone 10 to determine the position between the drone 10 and the ground station to determine the position of the drone 10, the position of the drone 10 In order to determine the precise position between the drone 10 and the ground station in conjunction with various sensors of the position measuring member 170 installed in the ground station member 120 can be measured.

The positioning member 170 measures the position between the drone 10 and the ground station member 120 by using the positioning member 110 to precisely take off and land at a predetermined position of the drone 10. It is mounted to the ground station member 120.

The ground station member 120 allows the drone 10 to land automatically or manually according to the position value of the positioning member 110 or to take off the drone 10 stored therein. Body member 121, landing pad member 150, lid member 160, drone holder member 122, moving member 123, mounting equipment management member 124, environmental measurement member 127 and 128 and the robot arm member 125 are included.

In addition, the ground station member 120 may further include a connection member 129 and a power supply member 126.

The body member 121 is formed to a predetermined size or more so that the drone 10 can be stored and managed to form a body of the ground station member 120, a strong metal material to protect the interior from the external environment It can be formed as.

The landing pad member 150 is formed to have a predetermined width to be seated when the drone 10 lands on the body member 121, and the landing seat 151 on which the drone 10 may be seated. A fixing member 152 capable of fixing the unmanned seating portion 15 of the drone 10 to the landing seating portion 151 is formed.

The landing seating portion 151 is formed of a predetermined wide plate so that the drone 10 is seated, and when the drone 10 is seated on the landing seating portion 151, in the remote control unit 130 The unmanned seating portion 15 is seated at an appropriate position where it can be fixed to the fixing member 152 using the control of, or the value measured by the position measuring member 170.

The fixing member 152 may include a fixed body 153 capable of fixing the unmanned seating part 15, a fixed motor member 154 capable of rotating the fixed body 153, and the fixed body 153. And a fixed groove 155 into which the unmanned seating portion 15 can be inserted by rotating the fixed motor member 154.

When the drone 10 is seated on the landing seat 151 to be fixed to the fixing member 152 in the state formed as described above, the fixing motor member 154 is driven to fix the groove 155. The unmanned seating portion 15 is fixed to the drone 10 may be fixed to the landing seating portion 151.

The cover member 160 is formed in a dome shape as shown in FIG. 1 so that the drone 10 in a state seated on the landing pad member 150 can be sealed to the outside.

The cover member 160 includes a cover body 161 formed in a dome shape, a cover driving member 162 for opening and closing the cover body 161 at least 90 °, and the cover body 161 in a closed state. The cover fixing protrusion 163 to prevent the cover from being arbitrarily opened in the cover groove 164 formed in the form of a recessed groove in the cover body 161 so that the cover body 161 is caught and fixed to the cover fixing protrusion 163. It includes.

In detail, the cover body 161 is formed in a semicircular dome shape having a relatively larger width than the drone 10, and the cover body 161 may be opened and closed at 90 ° or more, so that the cover body ( When the drone 10 enters the landing pad member 150 in a state in which the 161 is opened and closed at 90 ° or more, the interference with the cover body 161 is minimized so that it can safely land without being hit.

Here, the cover driving member 162 may be provided as a motor, or other mechanical driver that is operated by a general electrical signal.

Since the cover fixing protrusion 163 is formed in an inclined shape in which a lower end thereof descends toward one side, the cover body 161 is opened and closed arbitrarily while the cover groove 164 is inserted into the cover fixing protrusion 163. You can prevent this from happening.

That is, when the cover fixing protrusion 163 is inserted into the cover groove 164, the cover is fixed to the cover groove 164 unless the cover body 161 is opened or closed with a predetermined force or more. The protrusion 163 may be held and may prevent an accident in which the cover body 161 is opened and closed.

Here, one side in this embodiment refers to the direction toward the cover driving member 162 with respect to the center of the landing seat 151 of FIG.

The drone storage member 122 provides a plurality of storage spaces so that the drone 10 seated on the landing pad member 150 can be stored, and the drone 10 can be stored therein, and the drone ( 10) is to provide a place for storage in the proper environment.

As shown in FIG. 1, in the present exemplary embodiment, a storage space for storing up to three drones 10 may be provided in the drone storage member 122, but a plurality of storage spaces other than three such storage spaces may be stored. Of course, in the case of the ground station member 120, which may be provided as a space or simply, there may be no storage.

The moving member 123 moves the drone 10 stored in the drone storage member 122 to the landing pad member 150 or the drone 10 in a state of being seated on the landing pad member 150. Will be able to move to the drone member 122.

In the state formed as described above, when the moving member 123 moves the drone 10 to a desired position of the unmanned storage member 122, it is lowered to its height and pushed in the lowered state. The drone 10 may be pushed into the drone storage member 122 by using the 190.

The push member 190 is formed in the body member 121, the push member 190 is formed in a position that can push the drone 10 into the unmanned buoyancy member 122.

The push member 190 may be formed as a hydraulic cylinder that the piston can reciprocate using the hydraulic pressure, the height that can be inserted into the unmanned storage member 122 by the lowering of the moving member 123. The drone 10 positioned in the can be pushed to the unmanned storage member 122.

In addition, the moving member 123 may be configured to use a rotatable drone storage method, or may be configured to use a shelf drone storage method.

For example, if the movable member 123 uses a rotatable drone storage method, each of the storage spaces of the drone member 122 is connected to a chain to move the drone 10 while rotating the chain. When the moving member 123 uses a shelf type drone storage system, the landing seating portion 151 is formed of a member such as a guide rail moving up and down, left and right, and then moved back and forth.

The mounting equipment management member 124 manages equipment such as a battery, a cargo, and the like, which can be mounted and detached from the drone 10 in the ground station member 120, and is formed inside the body member 121, It provides a function and space for the storage and management of the equipment. In particular, the battery of the equipment can be charged, the cargo can be recovered and replaced at the request of the user.

When formed as described above, using the robot arm member 125, which will be described later, the equipment is mounted on the drone 10 or the equipment mounted on the drone 10, the mounting equipment management member 124 Can be moved to

When formed as described above, it is easy to load or unload the equipment in the drone 10 can be safely stored the equipment, there is an effect that facilitates battery replacement and storage operations.

The environmental measuring members 127 and 128 are mounted outside the ground station member 120 to measure the surrounding meteorological, radio wave, and geomagnetic environments to operate the drone 10 in a safe environment. And an environmental control member 128.

The environmental sensor member 127 detects the weather situation outside the body member 121 and stops performing the mission of the drone 10 stored in the landing pad member 150 or the drone storage member 122, Or, it can be canceled, weather information, such as wind direction, wind speed, temperature, humidity, air pressure, rainfall, snowfall around the ground station member 120, GPS location information, earth magnetic field, etc. are measured and based on the measured information This is to determine whether the drone 10 is a suitable environment for flying, so that the drone 10 in the ground station member 120 can perform a mission only when the drone 10 is an environment in which the drone 10 can fly. .

When formed as described above, for example, when the meteorological, radio wave, and magnetic field conditions measured by the environmental sensor member 127 are measured in a situation where the predetermined drone 10 cannot fly, the ground station member 120 ) To maintain the state before the takeoff preparation so that the drone 10 is preparing for flight in order not to take off.

The GPS position information of the environmental sensor member 127 may be used when the drone 10 provides the position information of the ground station member 120 to the drone 10 when returning to the ground station member 120. .

When formed as described above, the drone 10 can safely take off while being able to grasp the situation before takeoff of the drone 10 in the ground station member 120 in advance.

The environmental control member 128 may control an environment in which the drone 10 and various equipments are stored and operated in the ground station member 120, and adjusts the temperature and humidity inside the ground station member 120. And, dehumidification, ventilation is also included so that the drone 10 and the storage and operation can be made in a stable environment of various equipment.

The robot arm member 125 changes the position of the drone 10 of the landing pad member 150 or the drone storage member 122, or mounts and detaches the equipment to the drone 10 to the mounting equipment. It loads or unloads the management member 124.

The robot arm member 125 is a multi-joint device having a forceps and a plurality of rotatable joints, and is a device capable of operating like a human arm capable of manual control or automatic control.

The position measuring member 170 is interlocked with the positioning member 110 to measure the position of the drone 10 so that the drone 10 is accurately landed and landed at a predetermined position of the landing pad member 150. will be.

The position measuring member 170 may be composed of one or a plurality of sensors. The following five types of sensors may be used as the position measuring member 170, and one or more may be applied according to the characteristics of each system.

First, the position measuring member 170 installs one or more cameras based on the image on the ground station member 120 to process the photographed image with an image processing system to process the drone 10 and the ground station member 120. The position between) can be calculated accurately. In the case of the image system, at least one of an illumination device, a reflector, and a color plate may be installed as the positioning member 110 to assist in image identification.

Second, the position measuring member 170 is installed on the ground station member 120 to measure the position based on the laser LiDAR (LiDAR) to analyze the signal reflected by the laser drone 10 and the ground station The position between the members 120 can be precisely measured. In the case of the lidar method, a laser reflecting member may be installed as the positioning member 110 in order to increase a laser recognition rate and a recognition distance.

Third, a radar using radio waves may be installed in the ground station member 120 to accurately measure the position of the drone 10. In the case of the radio wave method, a radio wave reflector or a radio wave transmitter may be installed as the positioning member 110 to identify the position.

Fourth, the position measuring member 170 is formed of an IR-based IR camera or IR Depth Camera is installed on the ground station member 120, and the drone 10 and the ground station member to analyze and land the infrared signal ( The position between 120 can be measured precisely. In the case of the infrared method, an infrared light emitting device or a reflector may be installed as the positioning member 110.

Fifthly, in the method of measuring the position by using an ultrasonic based position measuring apparatus (Ultrasonic position system: UPS), one or more ultrasonic transmitters are installed in the drone 10 as the drone positioning member 110 and the ground station member. Three or more ultrasonic receivers are mounted at 120 to measure the time at which the ultrasonic waves are transmitted from the transmitter to the ultrasonic receiver, and to calculate the propagation speed of sound according to the ambient temperature to measure the distance between the transmitting and receiving devices. The distance measured in this way can be accurately calculated the position between the landing member 150 and the drone 10 using the trilateration technique.

The connection member 129 performs a function of transmitting / receiving data or supplying power to the drone 10 seated on the landing pad member 150, and transmitting data about the drone 10 to another device. Or transfer data from the other device to the drone 10 for control or other purposes.

In addition, it can be used as a power supply device that can charge the battery mounted on the drone 10 by using the connection member 129.

The connection method of the connection member 129 and the unmanned aerial vehicle 10 is provided in an electrically wired manner, but the data may be replaced by a wireless method of magnetic induction.

The power supply member 126 supplies power to all the components of the unmanned aerial vehicle 10 and the ground station member 120. The power supply member 126 has an uninterruptible power supply for stable power supply. If it is difficult, it is configured to receive power from solar, wind and other generators.

All members included in the ground station member 120 may communicate with the communication member 131 which will be described later, and all members included in the ground station member 120 may transmit information on the current state every time the ground station member 120 is operated. ) Stored inside, and transmitted to the communication member 131 and stored in the remote control unit 130.

In addition, the ground station member 120 is divided into four types according to the purpose, form and function: simple, small, mobile, fixed.

First, the simplified ground station member 120 is a minimal ground station that supports takeoff and landing, information acquisition, communication, and charging of the drone 10. In detail, the landing station member 150 is connected to the ground or the surrounding structure. It is installed flat and provides the precise position information to the drone 10 when the drone 10 lands using the positioning member 170 and the information of the drone 10 by using the connection member 129 Provides acquisition and battery charging functions and transmits information using the communication member 131.

Second, the compact ground station member 120 has the cover member 160 having a function added in the simplified ground station member 120 and protecting the drone 10 from the external environment. For example, it can be installed on the roof of a vehicle or flat on the ground or surrounding structure. If the ground station member 120 is installed in a vehicle, the ground station member 120 may move with itself, and the ground station member 120 and the drone 10 may be moved inside the vehicle using the remote control unit 130. I can operate it.

Third, the mobile ground station member 120 has a function added by the small ground station member 120, and can store (store) a plurality of the drones 10 in the body member 121. By using the mounting equipment management member 124 and the robot arm member 125, the battery of the drone 10 may be exchanged with various equipment, cargo, and the like. The ground station member 120 of the mobile type has a trailer form and can be towed and moved by a vehicle, and can be separated from the vehicle and installed at another site.

Fourth, the stationary ground station member 120 has a larger space for receiving the drone 10 than the ground station member 120 of the movable type, and has a standardized appearance such as a container, and is installed in the field to provide various environmental conditions. Stable operation at

The remote control unit 130 may remotely control the operation of the device and the drone 10 included in the ground station member 120, and at a place away from the drone 10 and the ground station member 120. The drone 10 may be controlled by the operator while checking the state of the drone 10 and the ground station member 120 through a public / dedicated network.

The remote control unit 130 includes a data control member for generating control data using the communication member 131 for communication with various members including the drone 10 and the data transmitted from the communication member 131. 132 is formed.

Since the communication member 131 is composed of equipment for communication between the drone 10, the ground station member 120, and the remote control unit 130, the data in the drone 10 and the ground station member 120 may be used. ) May be received by the remote control unit 130 through the communication member 131.

The data control member 132 collects state information on all devices included in the ground station member 120, and transmits the information of the drone 10 and the ground station to the remote control unit 130, and controls the control program or remotely. The ground station member 120 is controlled according to the control data by outputting control data for controlling the ground station member 120 according to a command input to the controller 130.

That is, the data control member 132 is capable of controlling all functions of the ground station member 120 from the remote control unit 130, and is connected through a dedicated / public network, for example, the data control member. The robot arm member 125 may be controlled by the remote controller 130 using 132 to load or unload cargo to the drone 10.

The remote controller 130 may be connected through a PC, laptop, tablet, smartphone, or dedicated terminal, and additionally, a steering input device may be added.

The system such as the remote control unit 130 formed as described above can be operated in four operating modes, the mode is a direct operation mode, remote operation mode, unattended operation mode, support mode.

First is the direct operation mode in which the operator of the drone 10 directly operates the drone 10 in the field.

Second is a remote operation mode in which the operator controls the drone 10 and the ground station member 120 manually / automatically using a public / private network in a remote location.

Third is an unmanned operation mode in which the drone 10 automatically performs a scheduled task (to autonomously perform a pre-programmed task of the drone 10 belonging to the ground station member 120).

Fourth, to support the operation of the drone 10 that does not belong to the ground station member 120 is a support mode for providing a landing place and battery charging or fuel supply of the drone 10.

Of course, these four modes of operation can be used interchangeably.

The ground station imaging member 140 is a steerable video camera installed on the ground, which can track and monitor the drone 10 in flight, and monitor the situation around the ground station member 120. The image captured by the image member 140 may be monitored by the remote controller 130.

When formed as described above, it is possible to monitor the state information of the drone 10 and the surrounding environment in flight.

When formed as described above, when the drone 10 is stored, it can be safely protected from external factors such as rain, snow, and sun, and when the drone 10 is stored, the battery can be charged or replaced, and fuel supply It is possible to replace the necessary mission equipment or to load and unload cargo, to transmit and store the information about the drone 10, to send to other devices as requested, the drone 10 precisely It can provide the location information to take off and landing, there is an effect that can monitor the state information of the drone 10 and the surrounding environment in flight.

Hereinafter, with reference to the drawings will be described for the unmanned operation system 200 of the vertical takeoff and landing drone according to another embodiment of the present invention. In carrying out this description, the description overlapping with the contents already described in the above-described first embodiment of the present invention will be replaced with the description thereof.

11 is a sectional front view of the unmanned operation system of the vertical takeoff and landing drone according to the second embodiment of the present invention.

Referring to FIG. 11, the unmanned operation system 200 of the vertical takeoff and landing drone according to the present embodiment includes a drone 10 positioning member 210, a positioning member 270, a ground station member 220, and a remote control. The controller 230 is included.

Sufficient altitude is secured by using the position of the GPS receiver (not shown) built in the environmental measuring members 227 and 228 installed in the ground station member 220 when the drone 10 lands. While primarily approaching above the ground station member 220, the cover body 261 of the cover member 260 opens and closes by 90 ° or more, and in this state, the position of the drone 10 above the ground station. The precise position between the drone 10 and the ground station member 220 is measured using the identification member 210 and the position measuring member 270.

By using the information according to the position measured as described above, the drone 10 approaches the landing seating portion 251 precisely, performs the descending and landing.

In this state, when the drone 10 is seated on the landing seat 251 to be fixed to the fixing member 252, the fixing motor member 254 of the fixing member 252 is driven to fix the groove 255. The unmanned seat 15 is fixed to the drone 10 is fixed to the landing seat 251.

While the invention has been shown and described with respect to specific embodiments thereof, those skilled in the art can variously modify the invention without departing from the spirit and scope of the invention as set forth in the claims below. And that it can be changed. Nevertheless, it will be clearly understood that all such modifications and variations are included within the scope of the present invention.

According to the unmanned operation system of the vertical takeoff and landing drone according to an aspect of the present invention, the drone can automatically take off and land, and can safely protect from external factors such as rain, snow, and sunlight when the drone is stored, and automatically charge the battery. Automatic replacement with, or other fully charged battery, transfer of drone status as data, transfer to another storage location as needed, automatic operation by installing the system away from the operator Therefore, the industrial applicability is high.

Claims (9)

A positioning member mounted to the drone to measure a position between the drone and the ground station; A position measuring member configured to precisely take off and land the drone at a predetermined position while measuring a position between the drone and the ground station using the positioning member; A ground station member capable of automatically or manually landing or taking off the drone according to a position value measured using the positioning member and the positioning member; And And a remote control unit capable of remotely controlling the operation of the drone and the apparatus included in the ground station member. The method of claim 1, The absence of ground station Body member, A landing pad member having a predetermined width that can be seated when the drone lands on the body member; A cover member formed in a dome shape so that the drone in a state seated on the landing pad member can be sealed with the outside; A drone storage member for providing a plurality of storage spaces so that the drone seated on the landing pad member; A moving member capable of moving the drone stored in the drone member to the landing area or moving the drone in a state of being seated on the landing area member to the drone member; A mounting equipment management member for managing equipment that can be mounted on or detached from the drone in the ground station member; An environmental measurement member mounted outside the ground station member to measure the surrounding weather, radio wave, and geomagnetic environment to operate the drone in a safe environment; And a robot arm member configured to change a position of the drone of the landing pad member or the drone storage member, or to mount or unload the equipment to the drone to load or unload the equipment. Unmanned operation system of vertical takeoff and landing drone. The method of claim 2, In the landing pad member A seating part in which the drone may be seated; The unmanned operating system of the vertical take-off and landing drone, characterized in that the fixing member is formed to secure the unmanned seating portion of the drone. The method of claim 2, The cover member A cover body formed in a dome shape, A cover driving member for opening and closing the cover body by 90 ° or more; A cover fixing protrusion for fixing the cover body so that the cover body does not open arbitrarily in a closed state; And a cover groove formed in the shape of a groove in the cover body such that the cover body is fixed to the cover fixing protrusion. The method of claim 2, The environmental measuring member An environmental sensor member which grasps the weather and radio wave magnetic field conditions outside of the body member to suspend or cancel the mission of the drone stored in the landing pad member or the drone storage member; And an environmental control member capable of controlling an environment in which the drone and the equipment are stored and operated inside the ground station member. The method of claim 1, The position measuring member One or more of the five types of sensors can be used, these are cameras, lidar, radar, IR, ultrasonic sensors, And a device corresponding to the sensors on the positioning member to measure a position between the ground station member and the drone. The method of claim 2, The ground station member is According to the purpose, form and function, it is divided into 4 types: simple, small, mobile and fixed. The simple ground station member is in the form of a minimal ground station that supports the takeoff and landing of the drone and the acquisition, communication, and charging of the drone. The compact ground station member has a function added to the simplified ground station member and has the cover member, and can be installed in a vehicle so as to be movable itself.  The ground station member of the mobile type has an added function than the small ground station member, and the plurality of drones can be accommodated in the body member, the battery, equipment, and cargo can be exchanged and have a trailer-like shape. Can be easily moved and installed in a car, The fixed ground station member is a standard unmanned operation system of a vertical take-off and landing drone, characterized in that the storage space and the standardized appearance, such as a container larger than the movable ground station member can be stably operated in various environments. The method of claim 1, The remote control unit A direct operation mode in which the operator of the drone operates the drone directly in the field, a remote operation mode in which the operator controls the drone and the ground station member manually or automatically by using a public / private network in a remote place; And an unmanned operation mode in which the drone automatically performs a planned task, and a support mode for operating the drone not belonging to the absence of the ground station. The method of claim 2, Using the position information of the GPS receiver of the environmental measurement member, the drone is primarily moved to approach the air of the ground station member, Using the positioning member and the position measuring member to measure the precise position between the drone and the ground station, the unmanned drone of the vertical take-off and landing drone, characterized in that the second move so that it can be fixed to the fixed member Operating system.

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