KR101610801B1 - Unmanned Aerial Vehicle System - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned aerial vehicle system, and more particularly, to an unmanned aerial vehicle system including a main body, a motor / transmission processing unit built in the main body, And a battery mounting portion; An integrated navigation device composed of an integrated navigation unit (FCC), a sensor module (GPS / IMU / ETC), a power processing unit (main, motor and peripheral), a communication processing unit, an I / O processing unit and an image processing unit; Wherein the unmanned flight system is used to protect a propeller provided on upper and lower sides of the main body when the unmanned flight system is taken off, The propeller is protected even in the event of collision with an external obstacle during the flight of the wireless air vehicle to prevent the breakage and failure of the propeller, It provides an unmanned flight system that prevents cost loss due to flight crashes.

Description

[0001] Unmanned Aerial Vehicle System [

The present invention relates to an unmanned aerial flight system, and more particularly, an unmanned aeronautical flight system useful for DB utilization of a 3D space construction communicates with a control room and achieves a desired purpose while flying an airspace. In this process, And more particularly, to an unmanned aerial vehicle system that can protect a propeller when colliding with obstacles in the vicinity due to immaturity of the aircraft, and can also serve as a bridge for supporting the load of the unmanned aerial vehicle during landing.

In the past, unmanned aerial vehicles were used only for the purpose of flight, but in recent years, they have reached the level of technology capable of carrying out various purposes other than flight by constructing electronic devices together with unmanned aerial vehicles.

These unmanned aerial vehicles can be used for acquiring a DB necessary for constructing a 3D space out of the category of flight functions that merely glide through the sky, and can be used as a weapon capable of destroying enemy ships It can also be used as an application, and various roles can be performed.

As it is possible to carry out various role functions as described above, it is more preferable that the unmanned aerial vehicle is used as the term of the unmanned aerial vehicle system. It is not necessary to simply ride the actual person, Because they are building on-board.

In recent years, the term unmanned aerial vehicle system has been used to refer to the fact that pilots can be autonomously piloted in a semi-auto-piloted manner, (Ground Control Station / System), communication equipment, and supporting equipment, which carry out mission according to their own environment judgment by carrying out flight or artificial intelligence.

Drone, RPV, Unmanned / Uninhabited / Unhumanized Aerial Vehicle (UAV), Unmanned Aircraft System (UAS), Remote Piloted Air / Aerial (RPAV) Vehicle), and Robot Aircraft.

Particularly, Drone is used to emphasize unmanned flying according to the pre-programmed program. RPV is used to emphasize unmanned aerial vehicle flying on the ground by remote control through wireless communication, and UAS is used for unmanned As the aircraft enters the civil airspace as well as the constant airspace, it is used to emphasize that it is an aircraft that has secured safety as an Aircraft (aircraft), not as a vehicle. Robot Aircraft is used in the same concept as a ground- Is used to emphasize robots.

This unmanned aerial vehicle is classified as a radio controlled model aircraft, a small UAV, and a large UAV depending on the weight. Fixed Wing unmanned aerial vehicles, Rotary Wing unmanned aerial vehicles, tilt rotor type -Rotor Unmanned aircraft and coaxial unmanned airplane. Depending on the flight radius, they are classified as near unmanned airplane, short-range unmanned airplane, medium-range unmanned airplane, long-distance unmanned airplane, Depending on flight time, flight / mission performance can be variously classified.

Especially, in Korea, smart unmanned flight systems are evolving more and more due to the Internet of things, and vertical takeoff and landing is possible along with the fixed wing / turnin composite flight. It is suitable for many domestic environments with mountainous terrain, And traffic surveillance, reconnaissance, and national disaster disaster.

However, such an unmanned aerial vehicle system may cause collision with flying obstacles during the flight due to inadequate control of the pilots in the control station, error in the control system, or errors in the signal exchange system in the course of performing the desired purpose in the window .

In the event of a collision with such a flying obstacle, if the propeller mounted on the unmanned airplane collides with an external obstacle, the unmanned airplane crashes due to the breakage of the propeller, which causes the destruction of the unmanned airplane. There has been a problem of loss of data. On the other hand, techniques related to unmanned aerial flight can be referred to the following prior art documents.

Patent Document 001 Korean Patent No. 10-0888368, Patent Document 002 Korean Patent Publication No. 10-2011-0127560, Patent Document 003 Korean Patent No. 10-1042200, Patent Document 004 Korean Patent No. 10-1217803, Patent Document 005 Korean Patent No. 10-1340409, Patent Document 006 Korean Patent No. 10-1392600, Patent Document 007 Korean Patent No. 10-1392302, Patent Document 008 Korean Patent No. 10-1458534, Patent Document 009 Korean Patent No. 10-1451646.

The present invention for solving the above-mentioned problem is an unmanned aerial flight technology that can be utilized for utilization of spatial information in the weather or disaster prevention field, construction of a monitoring DB for a quick disaster, aviation shooting of an unmanned airplane, The object of the present invention is to provide a unmanned flight system that can protect a propeller which may be collided with an external obstacle in the course of a landing process of an unmanned aerial vehicle and a landing gear function that supports the load of the unmanned aerial vehicle.

In order to accomplish the above object, the present invention provides a 3D space construction DB for collecting 3D space construction DB that can be utilized as useful data in various fields such as weather, disaster prevention, and military, including a main body, a motor / And a battery mounting portion; An integrated navigation device composed of an integrated navigation unit (FCC), a sensor module (GPS / IMU / ETC), a power processing unit (main, motor and peripheral), a communication processing unit, an I / O processing unit and an image processing unit; Wherein the unmanned flight system is used to protect a propeller provided on upper and lower sides of the main body when the unmanned flight system is taken off, The invention also relates to an unmanned aerial vehicle system that further includes a combable prop guide that is also used for landing gear applications.

The prop guide may include a rectilinear portion that is installed to be rotatable on the left and right sides of the main body and that is formed in the form of a rib in each of right and left portions of the main body and a pair of elliptical shapes along the outer direction of the main body in the rectilinear portion, And a round portion formed to be curved at an outer radius of a pair of propellers provided respectively on upper and lower sides of the main body, and the round portion is extended from both side ends of the straight portion and are integrated with each other .

Wherein the round portion includes a pair of elliptical convex portions curved along an outer radius of the propeller so as to be protected from external obstacles by a pair of propellers provided respectively on upper and lower sides of the body, And an elliptical concave portion for defining a pair of propellers provided on the upper and lower sides of the body, respectively, curved in the direction of the body of the body, and the concave portion is extended between the pair of convex portions, There is one feature.

And an unmanned flight system in which a rotating means is provided inside the main body for rotating a prop guide provided on left and right sides of the main body.

The rotation means includes a drive motor serving as a power source, a gear coupled to the rotation shaft of the drive motor, and a gear coupled to the linear portion over the length of the linear portion of the prop guide while being meshed with the center point, And a long rod that rotates the prop guide.

The rotating means includes a rotating cylinder serving as a power source, a raising-and-lowering means installed in the body of the rotating cylinder and engaged with the piston and interlocked with the piston in the forward and backward movement of the piston, A pinion gear coupled to the pinion of the pinion gear and rotated at the same time in the forward rotation of the pinion gear, and a gear And a long rod which is coupled with the straight portion over the minor length and rotates the prop guide in accordance with the rotation of the gear.

The prop guide is characterized in that it is rotated in the horizontal direction at the take-off of the unmanned flight system in the horizontal and vertical radii on the right and left sides of the main body, and is rotated in the vertical direction when the unmanned flight system lands.

As described above, the unmanned aerial vehicle system according to the present invention is designed to communicate with the control room, and to take charge of the purpose of the flight, in the course of flying the window, In the event of collision with an obstacle, the propeller is protected and a stable landing can be achieved.

In addition, the unmanned aerial vehicle according to the present invention can prevent a propeller from being collided with other aircraft or inevitably collide with other obstacles when an unexpected situation occurs during a flight in the sky, It is possible to prevent a flying object from falling and to prevent the flying object from being damaged due to the falling of the flying object.

In addition, the unmanned aerial vehicle according to the present invention protects the propeller even if it collides with other obstacles in the course of flight, so that the means for protecting the propeller as well as the destruction of the aircraft due to the fall of the aircraft, And the gear function can be used.

In addition, according to the unmanned aerial vehicle system of the present invention, since the means for protecting the propeller is constructed, it is possible to prevent the breakage or failure of the propeller even if it collides with the external obstacle during the flight, And it is possible to prevent the occurrence of a huge loss cost caused thereby.

FIG. 1 is a perspective view of an unmanned aerial vehicle according to a first embodiment of the present invention. FIG.
FIG. 2 is a perspective view of the bottom surface of the unmanned aerial vehicle system shown in FIG. 1,
FIG. 3 is a front view of the unmanned aerial vehicle system shown in FIG. 1,
FIG. 4 is a plan view of the landing and landing state of the unmanned aerial vehicle system shown in FIG. 3;
FIG. 5 is a perspective view of an unmanned aerial vehicle according to a second embodiment of the present invention. FIG.
FIG. 6 is a perspective view of the bottom surface of the unmanned aerial vehicle system shown in FIG. 5,
FIG. 7 is a front view of the unmanned aerial vehicle system shown in FIG. 5,
FIG. 8 is a plan view showing the takeoff and landing state of the unmanned aerial vehicle system shown in FIG. 7,
FIG. 9 is a perspective view of an unmanned aerial vehicle according to a third embodiment of the present invention,
FIG. 10 is a perspective view of the bottom surface of the unmanned aerial vehicle system shown in FIG. 9,
FIG. 11 is a front view illustrating the takeoff and landing state of the unmanned aerial vehicle system shown in FIG. 9;
FIG. 12 is a plan view of the landing / landing state of the unmanned aerial vehicle system shown in FIG. 11,
FIG. 13 is a perspective view of an unmanned aerial vehicle system according to a fourth embodiment of the present invention,
FIG. 14 is a perspective view of the bottom surface state of the unmanned aerial vehicle system shown in FIG. 13,
FIG. 15 is a front view of the landing and landing state of the unmanned aerial vehicle system shown in FIG. 13;
FIG. 16 is a plan view showing the takeoff and landing state of the unmanned aerial vehicle system shown in FIG. 15. FIG.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. And it should be interpreted based on the technical ideas throughout the specification taking into consideration that various modifications are made.

In addition, the present invention should not be construed as being limited to the embodiments described below, but should be construed as a scope of scope including an extended scope interpreted based on the technical content described in the specification.

Hereinafter, an unmanned aerial vehicle according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Prior to the description of the drawings, the unmanned aerial vehicle according to the present invention is a high value application in a variety of fields such as weather, disaster prevention, and military. The unmanned aerial vehicle and the electronic equipments are grafted together to communicate with the control room, Which means the object to be made.

Such an unmanned aerial vehicle system is composed, for example, of an integrated navigation device electronic communication and a flywheel vehicle, and includes an automatic landing device installed in a landing area and a ground control device capable of instructing and controlling the flight- Equipment, and operating software.

This unmanned aerial vehicle system is composed of integrated navigation unit (FCC), sensor module (GPS / IMU / ETC), power processing unit (main, motor and peripheral), communication processing unit (Wi-Fi, VHF, UHF ..) , An I / O processing unit, and an image processing unit (DVR / D landmark), and can be used as a flywheel, an airplane structure, a motor / transmission processing unit, a gimbal / shutter control unit, Size), safety device (rotor blade, landing), waterproof / mold (electronic part, motor protection).

The unmanned airship system configured in this way communicates with the ground control equipment (control room) and travels to the window to take charge of a specific task. In particular, the 3D space information, which can be used as useful data in the field of weather, disaster prevention, It will be possible to set aside the DB collection mission for the construction.

On the other hand, as contents of operation for constructing the 3D space, there are a preparatory stage for assembling a gas and preparing for flight, an take-off automatic flight stage for inputting a flight / mission plan and a surveillance and reconnaissance The system includes a mission performing step of acquiring and acquiring a DB of 3D space information, an automatic landing step of landing on a landing field in a state in which the collected DB is stored, a flight monitoring system and an invasion ground control system And image processing to obtain useful data on 3D spatial information.

Of course, in the field of disaster prevention, such a 3D spatial information DB can be utilized to construct a monitoring DB that can quickly prevent a disaster or a disaster.

The unmanned aerial flight system is operated with this feature, but it prevents the damage of the propeller in case of collision with the obstacle due to unexpected factors in flight process of the existing unmanned aerial flight system (such as inaccuracy of control, mistake, There is a further feature that the technical means is constructed in the unmanned flight system of the present invention.

That is, in the unmanned aerial flight system of the present invention, technical means for protecting the propeller in the course of collision with the obstacle during the flight process is further constructed, which will be described in detail with reference to the following drawings.

FIGS. 1 to 4 correspond to the drawings of the first embodiment of the unmanned aerial flight system in which the technical means for protecting the propeller is constructed, and FIGS. 5 to 8 show the second implementation of the unmanned aerial flight system FIGS. 9 to 12 correspond to drawings produced by the third embodiment of the unmanned aerial vehicle system in which the technical means for protecting the propeller is built, and FIGS. 13 to 16 illustrate the construction of the propeller protection technology means This corresponds to the drawing produced by the fourth embodiment of the unmanned aerial vehicle system.

The unmanned aerial flight system includes a main body 110 on which integrated navigation devices are integrated, a propeller 111 installed vertically on the left and right sides of the main body 110, A prop guide 120 which is bent toward the outer radius of the propeller 111 to protect the propeller 111 from external obstacles and an image pickup unit AIC mounted on the bottom of the main body 110 .

Here, according to various shapes and forms of the main body 110, it can be divided into production drawings ranging from the first embodiment to the fourth embodiment. Therefore, the technical means for protecting the propeller is redundant from the first embodiment to the fourth embodiment, and therefore, there is no need to explain all of the drawings, and a description thereof will be omitted.

However, the description of the present invention will be made with reference to only the drawings corresponding to any one of the embodiments which became the first embodiment.

As shown in FIGS. 1 and 2, propellers 111 are provided at upper and lower parts of the body 110, respectively. Since the propellers 111 have a shape extending outward from the body 110 , There is a high possibility that the first collision with the external obstacle (tree, building wall, electric pole, electric wire, and other obstacles in flight) during the flight of the unmanned air vehicle 100 occurs.

Since the propeller 111 plays a role of a driving force that is essential for the flight of the UAV 100, even if a slight collision with the external obstacle occurs, it will lead to the UAV 100 crash, A large loss cost is incurred.

1 and 2, in order to prevent breakage of the propeller 111, a curved prop guide (not shown) is provided from the left and right sides of the main body 110 to a position beyond the point at which the propeller 111 is built 120 are respectively constructed.

The prop guide 120 is a curved shape extending outward from left and right sides of the main body 110 and includes a shape that surrounds the propeller 111 beyond the boundaries of the propellers 111 extending in the vertical direction from the left and right sides of the main body 110 .

That is, since the propellers 111 are vertically extended from the right and left sides of the main body 110, the right and left sides of the main body 110 are referred to as the left and right sides of the main body 110. For example, A pair of propellers 111 are installed at upper and lower positions which are inclined outwardly from the sides of the prop guide 111 and the prop guide 120 surrounds the propellers 111.

The prop guide 120 includes a linear portion 121 of a rib shape similar to a stand and a round portion 122 curved at both ends of the linear portion 121.

The round portion 122 includes a convex portion 122a that is a pair of curved elliptical shapes extending from both side ends of the straight line portion 121 and a convex portion 122a which is curved in the shape of a curvature of the convex portion 122a between the convex portions 122a And includes a curved concave portion 122b. Of course, the concave portion 122b also forms a curved shape extending between the convex portions 122a.

The linear portion 121 and the pair of convex portions 122a and the concave portion 122b are integrally formed with each other. Of course, these straight line portions 121, the convex portions 122a and the concave portions 122b may be separated from each other within a range that is easy to operate integrally.

17, the rectilinear section 121 is coupled to one side of a long-axis rod 133 that is laterally extended inside the main body 110, as shown in FIG. 17, on the left side of the main body 110, Simultaneous rotation is possible.

The pair of convex portions 122a are bent in the outward direction of the main body 110 in such a manner as to extend from both side ends of the straight line portion 121. The protrusions 122a extend from the left side of the main body 110 to upper and lower sides, Lt; RTI ID = 0.0 > 111 < / RTI >

The concave portion 122b is curved in a direction opposite to the curved shape of the convex portion 122a between the convex portions 122a. The concave portion 122b also extends in the vertical direction from the right and left sides of the main body 110 The propeller 111 is curved to an outer radius enough to allow the propellers 111 to sufficiently extend between the pair of propellers 111,

Although the configuration of the prop guide 120 has been described with reference to FIGS. 1 to 4 corresponding to the first embodiment, the configurations of the prop guide 120 are not limited to those shown in FIGS. 5 to 8, 9 to 12, To < RTI ID = 0.0 > 16. ≪ / RTI >

Of course, even when the propeller 111 is constructed on the basis of the main body 110, the prop guide 120 can be changed to a changeable structural form that can propel the propellers 111 constructed in various forms from the outside .

The construction and operation of the prop guide 120 constructed on the right and left sides of the main body 110 of the present invention will be described.

As shown in FIG. 3, the prop guide 120 is rotated in the horizontal direction by the rotating means provided in the main body 110 when the main body 110 of the UAV 100 is taken off, It is possible to protect the propellers 111 even when they collide with the propeller 111.

When the body 110 of the UAV 100 is landed, the UAV 100 rotates in a vertical direction, which is the lower portion of the main body 110, by the rotating means provided inside the body 110 to serve as a landing gear .

Therefore, when the rotation direction of the prop guide 120 is assumed to be the forward direction and the rotation direction rotated in the vertical direction is the reverse direction, the rotation direction is rotated by the rotation means, 17, a driving motor 131 installed in the main body 110, a gear 132 coupled to a rotation shaft (not shown) of the driving motor 131, And can be rotated in the forward direction through the long shaft rod 133.

That is, the gear 132 is rotated by the rotation of the driving motor 131 when the unmanned air vehicle 100 takes off, and the long shaft rod 133 held by the gear 132 is rotated, So as to protect the propellers 111 from the outer radius of the propellers 111.

On the other hand, when the unmanned flying vehicle 100 is landing, the prop guide 120 is disengaged in the vertical direction, which is the lower direction of the main body 110, And serves as a landing gear.

18, the rotating means includes a rotating cylinder 140 installed inside the main body 110, a gear 132 rotated by a piston operation that is moved back and forth in the body 141 of the rotating cylinder 140, And the long axis bar 133 that is engaged with the gear 132. [0064] As shown in Fig.

That is, a rack and a pinion gear (not shown) are provided inside the body 141 of the rotary cylinder 140, and the gear 132 is coupled to the rotary shaft coupled with the rack, The rack is rotated in a forward direction in accordance with the forward and backward movement of the pinion gear engaged with the piston at the time of the retreating operation and the gear 132 is rotated in the forward direction simultaneously with the forward rotation of the rack, The long axis bar 133 may be rotated in opposition to the rotation of the gear 132 to rotate the prop guide 120.

17 and 18, the long axis bar 133 may be horizontally extended in the main body 110 so as to be rotated inside the main body 110, In order to facilitate the rotation, bearings may be provided at both ends of the long bar 133.

100: unmanned aerial vehicle 110: main body
111: Propeller
120: Prop guide 121: Straight line
122:
122a: convex portion 122b: concave portion
130: rotating means 131: driving motor
132: gear 133: long rod
140: rotating cylinder
141: Body
AIC:

Claims (7)

delete A body including a main body, a motor / transmission processing unit built in the main body, a gimbal detachable unit, and a battery mounting unit for collecting a 3D space construction DB so that it can be utilized as useful data in various fields such as weather, disaster prevention, and military. An integrated navigation device composed of an integrated navigation unit (FCC), a sensor module (GPS / IMU / ETC), a power processing unit (main, motor and peripheral), a communication processing unit, an I / O processing unit and an image processing unit; Wherein the unmanned flight system comprises:
It can be used as a landing gear for supporting the load of the unmanned aerial vehicle during the landing of the unmanned aerial vehicle system, while protecting the propeller provided on the upper and lower sides of the main body of the unmanned aerial vehicle during take- Further usable prop guides are included,
The prop guide includes a rectilinear section rotatably installed on the left and right sides of the main body, the rectilinear section being formed on the right and left portions of the main body,
A pair of left and right propellers each having a pair of elliptical shapes curved along the outer side of the main body in the rectilinear part,
Lt; / RTI >
Wherein the round portions are extended from both ends of the rectilinear section and are integrated with each other. 3. The method of claim 2,
Wherein the round portion includes a pair of elliptical convex portions curved at an outer radius of the propeller so that a pair of propellers provided respectively on upper and lower sides of the body may be protected from external obstacles;
An elliptical concave portion curved in the direction of the body between the pair of elliptical convex portions to define a pair of propellers respectively provided on upper and lower sides of the body;
Lt; / RTI >
And the concave portion is extended between the pair of convex portions to be integrated with each other. 3. The method of claim 2,
Wherein a rotating means is provided inside the main body for rotating the prop guide provided on the right and left sides of the main body. 5. The method of claim 4,
The rotating means includes a driving motor serving as a power source;
A gear coupled to the rotating shaft of the driving motor and rotated;
A long axis rod which is coupled to the linear portion over the length of the linear portion of the prop guide while the center point is bite in the gear and rotates the prop guide in accordance with the rotation of the gear;
And an unmanned aerial vehicle. 5. The method of claim 4,
The rotating means includes: a rotating cylinder serving as a power source;
A piston which is installed in the body of the rotary cylinder and is engaged with the piston and interlocked with the piston in the forward and backward movement of the piston;
A pinion gear rotatable in the forward and backward directions according to the forward and backward movement of the pinion gear in the pinion gear;
A gear coupled to a shaft rod of the pinion gear and simultaneously rotated counterclockwise during a forward rotation of the pinion gear;
A long axis rod which is coupled to the linear portion over the length of the linear portion of the prop guide while the center point is bite in the gear and rotates the prop guide in accordance with the rotation of the gear;
And an unmanned aerial vehicle. 3. The method of claim 2,
Wherein the prop guide is rotated in a horizontal direction at the time of taking-off of the unmanned flight system in a horizontal and vertical radius from the left and right sides of the main body, and is rotated in a vertical direction at the time of landing of the unmanned flight system.

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