KR101766751B1

KR101766751B1 - Multicopter

Info

Publication number: KR101766751B1
Application number: KR1020150162189A
Authority: KR
Inventors: 하태훈
Original assignee: 하태훈
Priority date: 2015-11-19
Filing date: 2015-11-19
Publication date: 2017-08-09
Also published as: KR20170058523A

Abstract

The present invention relates to a multi-copter. The multi-copter according to the present invention can be attached to and detached from a first clipper and a second clipper while a pair of first and second boom bars are folded in one direction between frames formed in a laminated structure, , Multi-copter is a multi-copter that does not have a resistance to a compact flight posture and propeller downward wind when the foot is folded when the multi-copter is flying.

Description

Multicopter {MULTICOPTER}

The present invention relates to a multi-copter, which is capable of folding a first boom bar and a second boom bar in one direction, thereby facilitating storage, carrying and moving, and folding the forefoot legs forward to provide a compact flight posture and resistance to down- Lt; RTI ID = 0.0 > multi-copter.

In recent years, lightweight unmanned aerial vehicles for various purposes such as military, research, and navigation have been developed.

Although these lightweight unmanned aerial vehicles have been developed and widely used in various structures and forms according to their applications, recently, a multi-copter product having a floating hovering function without moving in place while driving four propellers has been developed and widely used.

KOKAI Publication No. 10-1366310 discloses a multi-copter which includes a frame portion having a pair of first and second engines that cooperate to generate rotational power, a rotor rotation portion that receives rotation power generated in the frame portion, And the power transmitting portion that transmits the rotational power of the frame portion to the rotor rotating portion. Therefore, even if any one of the pair of engine powers is abnormal, the other one of the engine powers continues to operate.

Such a multi-copter has a disadvantage in that it is difficult to carry and store the rotor because the rotor rotation part and the power transmission part are fixed.

In addition, the multi-copter has a problem in that when the battery is discharged or a problem occurs in the electric system, the multi-copter crashes at a high speed and collides with a person or an automobile, leading to a serious accident.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a multi-copter in which a first boom block and a second boom block that support a propeller can be folded in one direction and can be easily carried and stored.

In addition, a problem to be solved by the present invention is to prevent a large accident by disposing a parachute in a pedestal to deploy a parachute when a problem occurs during a flight.

In order to solve the above-described problems, the present invention provides a frame having a laminated structure in which a first plate, a second plate and a third plate are spaced apart from each other by a predetermined distance so that a transceiver and a battery are embedded, A pair of first boom rods extending in a radial direction and extending in a radial direction about the frame while being connected between the first and second boats, a second boom rope having a length shorter than the first boom rope, And a vibration damping motor mount mounted on the first boom and the second boom, the vibration boom comprising: a pair of second boom rods extending in a radial direction about the frame, A first motor mounted on the mount and driven by the power of the battery, A plurality of propellers connected to the motor to generate lift in a vertical direction, a mount insertion groove formed on one side, a hinge shaft and a second motor formed on a lower surface of the propeller, Wherein the frame is supported at a predetermined height on the ground while the first and second support legs are fixed to the hinge shaft of the fixing module, And a control unit for controlling the electronic transmission and the second motor in response to a signal of the transceiver, wherein a pair of opposed pairs of the plurality of propellers are clockwise And the other pair is rotated in a counterclockwise direction, and the first and second boom rods are rotatable counterclockwise, And a second clipper is formed between the second plate and the third plate so that the first and second boom bars are rotatably supported by the first plate and the second plate, And the first and second clip pawls are attached to and detached from the first and second clip pawls.

Further, the multi-copter may further include a gimbal mount which is fixed by inserting two fixing rods into a pair of mount insertion grooves formed in the fixing module after mounting the imaging device.

The multi-copter further includes a parachute portion in the first hollow portion of the pedestal so that the multi-copter releases the parachute when the operation of the propeller is stopped during flight, wherein the parachute portion includes a second hollow portion, A support member disposed in the first hollow portion of the pedestal while being fixed to a stopper formed on the other side; A cap connected to the open side of the support while being connected to the parachute; A spring having one end fixed to the fixing protrusion of the pedestal and the other end fixed to the stopper of the support so that the support protrudes outwardly from the first hollow by the repulsion force of the spring; A discharge pipe formed in the pedestal so as to send compressed air between the fixing protrusion and the stopper to the air injection tube when the support protrudes outward; A transfer tube connected to the air injection tube and formed in a shape penetrating through a stopper of the support so as to transfer the compressed air delivered to the air injection tube to a second hollow portion of the support, And one end of the holder member is connected to the stopper fixing ring formed on the other end of the stopper.

In addition, a plurality of distance measuring sensors are mounted on the upper surface, the lower surface and the side surface of the frame so that when the multi-copter approaches the set distance with the fixed object in flight, it can hover without escaping or proceeding in the proceeding direction have.

In addition, a plurality of infrared cameras are mounted on the upper surface, the lower surface and the side surface of the frame to sense the heat source object in flight, and when flying approaches the set distance, Can be hovered without.

In addition, a GPS sensor, an acceleration sensor, a gyro sensor, and a barometric sensor may be further included in the frame to measure the traveling direction, position, speed, and altitude of the multi-copter.

In addition, an auxiliary wing may be further provided on the lower side of the first boom band or the second boom band so that the multi-copter may reduce the shaking and tilting when the multi-copter is rotated or rotated yaw.

The multi-copter according to the embodiment of the present invention has a structure in which the first boom block and the second boom block supporting the propeller can be folded in one direction so that the multi-copter can be easily carried and stored.

In addition, the multi-copter according to the embodiment of the present invention can prevent a large accident by forming a parachute portion in the hollow portion of the pedestal and deploying the parachute when there is a problem during the flight.

1 is a perspective view illustrating a multi-copter according to an embodiment of the present invention;
FIG. 2 is a perspective view of the multi-copter shown in FIG. 1; FIG.
Fig. 3 is an exemplary view showing a folded state of a boom band of the multi-copter shown in Fig. 1. Fig.
FIG. 4 and FIG. 5 are side views showing the operating state of the foot leg of the multi-copter shown in FIG. 1;
6 is an exemplary view showing the operation of a multicoperator rescue unit;
FIG. 7 and FIG. 8 are cross-sectional views showing the operating state of the parachute portion shown in FIG. 6 in section;
FIG. 9 is a perspective view showing the gimbal mount shown in FIG. 2; FIG.
Fig. 10 and Fig. 11 are views showing an operating state of the multi-copter auxiliary vane. Fig.
FIGS. 12 to 15 are diagrams illustrating movement of the multi-copter according to the operation state of the multi-copter auxiliary blade. FIG.

Hereinafter, the description of the present invention with reference to the drawings is not limited to a specific embodiment, and various transformations can be applied and various embodiments can be made. It is to be understood that the following description covers all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

In the following description, the terms first, second, and the like are used to describe various components and are not limited to their own meaning, and are used only for the purpose of distinguishing one component from another component.

Like reference numerals used throughout the specification denote like elements.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It is also to be understood that the terms " comprising, "" comprising, "or" having ", and the like are intended to designate the presence of stated features, integers, And should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view illustrating a multi-copter according to an embodiment of the present invention. FIG. 2 is a perspective view of the multi-copter shown in FIG. 1, FIGS. 4 and 5 are side views illustrating an operating state of the foot leg of the multi-copter shown in FIG. 1. FIG.

1 to 5, the multi-copter 1 includes a frame 10, a first clipper 50, a second clipper 60, a first boom frame 80, a second boom frame 90, (Not shown), a propeller 120, an auxiliary propeller 150, an auxiliary vane 170, a fixing module 400, a foot leg 140, (Not shown), a gyro sensor (not shown), a barometer sensor (not shown), an infrared camera 181, a transceiver (not shown), a gimbal mount 160, a distance measuring sensor 180 (Not shown), a battery 190, a control unit (not shown), and a rescue unit 300.

The frame 10 is an external shape in which parts of the multi-copter 1 are mounted. The frame 10 may be made of a metal, reinforced plastic, carbon, or the like. The frame 10 may be formed in a laminated structure. The frame 10 may include a first plate 20, a second plate 30, and a third plate 40.

Here, the first plate 20, the second plate 30, and the third plate 40 may be fixed with a plurality of fixing posts 70 while being spaced apart from each other by a predetermined distance.

The first clipper 50 can be fixed so that it does not move when the first boom bar 80 is unfolded or folded, as shown in Figs. The first clipper 50 may be disposed between the first plate 20 and the second plate 30, as shown in FIG. The first clipper 50 may be formed in a 'c' shape so that the outer peripheral surface of the first boom frame 80 is seated.

The second clipper 60 can be fixed so that it does not move when the second boom bar 90 is opened or folded, as shown in Figs. The second clipper 60 may be disposed between the second plate 30 and the third plate 40, as shown in FIG. The second clipper 60 may be formed in a 'c' shape so that the outer circumferential surface of the second boom block 90 is seated.

The first boom frame 80 can transmit lift of the propeller 120 to the frame 10. The first boom bar 80 can be connected between the first plate 20 and the second plate 30 in one direction of the frame 10. The first boom bar 80 may be formed in a cylindrical shape. The first boom stands 80 may be formed as a pair. The first boom stands (80) can be fixed to a plurality of first clip pads (50) arranged at predetermined intervals.

The second boom bar (90) can transmit lift of the propeller (120) to the frame (10). The second boom bar 90 may be connected between the second plate 30 and the third plate 40 in the other direction of the frame 10. The second boom bar 90 may be formed in a cylindrical shape. The second boom frame 90 may be shorter than the first boom frame 80. The second boom stands 90 may be formed as a pair. The second boom stands 90 may be fixed to a plurality of second clip pads 60 arranged at predetermined intervals.

The dustproof motor mount 130 can prevent the vibration of the propeller 120 from being transmitted to the first boom frame 80 and the second boom block 90. The dustproof motor mount 130 may be mounted on the outer circumferential surfaces of the first boom frame 80 and the second boom frame 90. The dustproof motor mount 130 is configured as a pair of the upper side and the lower side so that the propeller 120 and the auxiliary propeller 150 can be respectively mounted.

The first motor 100 may be mounted on the vibration-proof motor mount 130. The first motor 100 may rotate the propeller 120. The first motor 100 may be a brushless motor.

An electronic transmission (not shown) can control the RPM of the first motor 100 and the third motor 151.

The propeller 120 may be connected to the first motor 100 and rotated. The propellers 120 may be paired in pairs in the diagonal direction, one pair in the clockwise direction and the other pair in the counterclockwise direction.

The auxiliary propeller 150 may be connected to a third motor 151 formed on the opposite side of the propeller 120. The auxiliary propeller 150 can rotate counter to the direction of rotation of the propeller 120 to cancel the reaction force generated when the propeller rotates. The auxiliary propeller 150 can improve the lift of the propeller 120. [

Here, the propeller 120 and the auxiliary propeller 150 may be folded or fitted or removed around the shaft so that the multi-copter 1 can be easily stored.

The auxiliary wing 170 can reduce wobble and tilt when the multi-copter 1 is rotated or yawed. The auxiliary wing 170 is described in detail in Figs.

The fixing modules 400 may be mounted on the lower surface of the third plate 40 in a pair. The fixing module 400 may have a mount insertion groove 410 formed on one surface thereof to mount the gimbal mount 160. The hinge shaft 420 may be formed on one side of the lower surface of the fixing module 400 so that the first supporting leg 142 of the supporting leg portion 140 is connected. The fixing module 400 is coupled to the other side of the lower surface of the third leg portion 140 so as to be folded in both directions after the second leg 143 of the leg portion 140 is connected, (430) may be formed.

Here, the grip h is installed between the pair of fixing modules 400, so that the gripping of the multi-copter 1 can be facilitated.

The pedestal leg portion 140 allows the frame 10 to be supported at a predetermined height on the ground. 4 and 5, the pedestal leg portion 140 can be folded when the frame 10 is separated from the ground surface g by lifting force. The pedestal leg 140 may include a pedestal 141, a first support leg 142, a second support leg 143, a first connection pipe 144, and a second connection pipe 145.

The pedestal 141 can be in horizontal contact with the ground surface g. The pedestal 141 may be formed with a first hollow portion (a) as shown in FIG. The pedestal 141 may include a fixing protrusion e protruding in the direction of the first hollow portion a from the inner circumferential surface. The pedestal 141 may include a discharge pipe f having an air inlet c and an air outlet d formed on its inner circumferential surface so as to transfer compressed air to a parachute portion 300 to be described later. The pedestal 141 may include a parachute portion 300.

6 to 8, when the multi-copter 1 is in a flying state, when the battery 190 discharges or the control unit (not shown) is out of order, the parachute unit 300 moves from the hollow portion of the pedestal 141 to the outside The parachute can be extended as it protrudes. The parachute unit 300 will be described later in detail with reference to FIG. 6 to FIG.

4, one end of the first support leg 142 is connected to the first connection pipe 144 connected to the pedestal 141, and the other end of the first support leg 142 is connected to the hinge axis 420 of the fixed module 400 .

Here, the first connection pipe 144 can be held horizontally when the pedestal 141 moves in the direction of the third plate 40.

The second support leg 143 may be connected to the second connection pipe 145 connected to the pedestal 141 and the other end may be connected to the third connection pipe 430 of the fixed module 400.

Accordingly, when the third connection pipe 430 connected to the second motor (not shown) is moved in both directions, the first support leg 142 is folded while moving in the same direction as the second support leg 143 .

The gimbal mount 160 may be attached to or removed from the multi-copter 1 after the image capturing camera 167 is mounted. The gimbal mount 160 may include a fixed rod 161, a load-lifting plate 163, a gimbals 165 and an anti-vibration member 166, as shown in Fig.

The fixing rods 161 may be formed of a pair of rods so that one side thereof is inserted into each of the plurality of mount insertion grooves 410. The fixing rod 161 may include a semicylindrical ball plunger 162 on one side circumferential surface so as to be slipped after being inserted in the mount insertion groove 410. [

A plurality of connecting legs 164 may be formed on the upper surface of the top plate 163 so as to be connected to the other side of the fixed bar 161. [ And the gimbal 165 may be mounted on the lower side of the top plate 163. The load plate 163 vibrates between the pair of load-lifting plates 163 spaced apart at a predetermined interval to prevent the vibration of the propeller 120 from being transmitted to the gimbal 165 and the imaging camera 167 The prevention member 166 may be disposed.

The gimbal 165 allows the imaging camera 167 to be held in the horizontal and vertical directions when the multi-copter 1 is shaken. The gimbal 165 can maintain the imaging camera 167 in the horizontal and vertical directions by controlling the triaxial gyroscope sensor and the motor formed in each joint.

The distance measuring sensor 180 can measure the distance between the multi-copter 1 and the obstacle. The distance measuring sensor 180 may be mounted on the first plate 20, the second plate 30, and the third plate 40, respectively. The distance measuring sensor 180 may be mounted on the side surface and the upper surface of the first plate 20.

Here, the distance measuring sensor 180 mounted on the side surface is mounted in the direction of 45 degrees with respect to the first plate 20, which is horizontally flat, to detect obstacles between the side surface and the upper surface of the multi- Can be measured.

In addition, the distance measuring sensor 180 mounted on the upper surface can detect an obstacle in the upper surface direction of the multi-copter 1 and measure the distance.

The distance measuring sensor 180 may be mounted on a side surface of the second plate 30.

Here, the distance measuring sensor 180 mounted on the side can detect an obstacle in the lateral direction of the multi-copter 1 and measure the distance.

The distance measuring sensor 180 may be mounted on the side surface and the bottom surface of the third plate 40.

Here, the distance measuring sensor 180 mounted on the side is mounted in the direction of -45 degrees with respect to the horizontally flat third plate 40, thereby detecting an obstacle between the side surface and the bottom surface of the multi-copter 1, Can be measured.

In addition, the distance measuring sensor 180 mounted on the lower surface can detect an obstacle in the lower surface direction of the multi-copter 1 and measure the distance.

The GPS sensor (not shown) is a sensor that can detect the position of the multi-copter 1 in real time while communicating with the satellites. A GPS sensor (not shown) may be disposed in the frame 10 or on the upper surface of the first plate 20. [

An acceleration sensor (not shown) is a sensor for measuring the acceleration and tilt of the multi-copter 1. [ An acceleration sensor (not shown) may be disposed inside the frame 10.

The gyro sensor (not shown) is a sensor for measuring the tilt of the multi-copter 1. [ A gyro sensor (not shown) may be disposed inside the frame 10.

The barometric sensor (not shown) is a sensor for measuring the altitude of the multi-copter (1). A barometric sensor (not shown) may be disposed within the frame 10.

The infrared camera 181 can sense the heat source around the multi-copter 1. [ The infrared camera 181 may be mounted on the first plate 20, the second plate 30, and the third plate 40, respectively.

A transceiver (not shown) is an antenna that can receive signals from a user's remote controller (not shown). A transceiver (not shown) may be disposed within the frame 10.

The battery 190 can supply power to operate the multi-copter 1. The battery 190 may be disposed between the second plate 30 and the third plate 40. The battery 190 may be a lithium polymer battery (Li-Polymer Battery).

The control unit (not shown) is connected to an electronic transmission (not shown), a first motor 100, a second motor (not shown), a third motor 151, a transceiver (not shown) (1) can be controlled.

FIG. 6 is an exemplary view showing the operation of the multicoperator parachute portion, and FIGS. 7 and 8 are cross-sectional views showing the operating state of the parachute portion shown in FIG.

6 to 8, the parachute portion 300 may be formed on the pedestal 141 of the multi-copter 1. [ The parachute portion 300 may include a support 310, a spring 316, a stop 340, a parachute 320, an air injection tube 330 and a holder member 350.

The support base 310 may be formed in a tubular shape with one side opened. The support 310 may be internal to the first hollow portion (a) of the pedestal 141. The outer circumferential surface of the support table 310 may correspond to the inner circumferential surface diameter of the fixing protrusion e. The support base 310 may include the parachute portion 300 in the second hollow portion b. The support base 310 may include a stopper fixing groove 311 on the inner peripheral surface of the opened side. The support 310 may include a stopper 312 on the other side.

The spring 316 may cause the support 310 to protrude outward from the first hollow portion a. One side of the spring 316 may be fixed to the fixing protrusion e of the pedestal 141 and the other side thereof may be fixed to the stopper 312 of the support table 310. The spring 316 may be disposed while surrounding the outer circumferential surface of the support 310.

The stopper 312 allows the support base 310 to be fixed while the support base 310 is caught by the fixing projection e when the support base 310 protrudes from the first hollow portion a. The outer peripheral surface of the stopper 312 may correspond to the inner peripheral surface diameter of the pedestal 141. The stopper 312 can be fixed to the reshaping collar 321 by forming the collapsing collar 313 in the direction of the second hollow part b. The stopper 312 may include a delivery tube 315 of a perforated shape to deliver the air in the air injection tube 330 to the second hollow portion b. The stopper 312 may include a stopper fixing ring 314 on the side opposite to the side where the parachute string fixing hook 313 is formed.

The parachute 320 can receive the air resistance when the multi-copter 1 descends and reduce the descending speed of the multi-copter 1. [ The parachute 320 may be internal to the second hollow portion b. The parachute 320 may be formed with a disc-shaped anti-twist plate 322 so that the parachute string 321 is not entangled.

The air injection tube 330 is a tube capable of transferring the air of the discharge pipe f to the transfer pipe 315. The air injection tube 330 may be twisted to a predetermined length so as to have elasticity.

The stopper 340 can be fitted to one side of the open end of the support 310. The cap 340 may include a cap fixing protrusion 341 on the outer circumferential surface. The cap 340 can be fixed while the cap fixing protrusion 341 is seated in the cap fixing groove 311.

Here, the stopper 340 is connected to the parachute 320, and when the second hollow part b receives a predetermined pressure, the stopper 340 is released to the outside, and the parachute 320 can protrude out of the second hollow part b.

The holder member 350 may be formed with a holder retaining ring 351 which is engaged with and detached from the stopper retaining ring 314. [

Here, the holder fixing ring 351 may include a motor (not shown) connected to the shaft and operating the holder fixing ring 351 in one direction.

In addition, an auxiliary battery (not shown) may be installed therein to operate the motor (not shown) when the battery 190 is discharged.

FIGS. 10 and 11 are views showing an operation state of the multi-copter auxiliary vane, and FIGS. 12 to 15 are views showing the movement of the multi-copter according to the operation state of the multi-copter auxiliary vane.

Referring to FIGS. 10 to 15, the auxiliary vane 170 may be mounted on the lower side of the first boom frame 80 or the second boom block 90. The auxiliary vane 170 may be formed in a plate shape. One side of the auxiliary vane 170 can be fixed to the rotary shaft 171.

Here, the rotary shaft 171 is connected to the fourth motor 172 to move the auxiliary vane 170 in one direction or another direction.

12 and 13, when the multi-copter 1 is in the first boom 80 and the auxiliary wings 170 of the second boom 90 during hovering, the auxiliary wing 170 is moved in the one direction or the other direction The multi-copter 1 can be rotated counterclockwise or clockwise in place.

As shown in Fig. 14, the auxiliary wing 170 is operated such that the first boom 80 on one side and the auxiliary wings 170 on the second boom 90 during the hovering operation in the direction in which the multi-copter 1 faces each other The multi-copter 1 can move in the opposite direction of the activated auxiliary vane 170 when it is activated.

15, the auxiliary wing 170 of the first boom frame 80 and the auxiliary wing 170 of the second boom block 90 on the one side of the multi-copter 1 are moved rearward The multi-copter 1 can be yawed in one direction while being held horizontal.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be clear to the person.

1: Multicopter
10: frame
20: first plate
30: second plate
40: third plate
50: first clipper
60: second clipper
70: Fixed column
80: First boom zone
90: Second boom zone
100: first motor
110: Electronic transmission
120: Propeller
130: Anti-vibration motor mount
140:
141: Base
a: the first hollow portion
c: air inlet
d: air outlet
e: Fixing projection
f: outlet pipe
142: first support leg
143: second support leg
144: first connector
145: Second connector
150: Auxiliary propeller
151: Third motor
160: Gimbal mount
161: Fixing rod
162: Ball plunger
163: Gimp earns a foothold
164: connecting leg
165: The gimbal
166:
167: Video camera
170: Auxiliary wing
171:
172: fourth motor
180: Distance measuring sensor
181: Infrared camera
190: Battery
200:
300: Parachute unit
310: Support
b: second hollow portion
311: Plug fixing groove
312: Stopper
313: Parachute retainer ring
314: Stopper fixing ring
315: Transfer pipe
316: Spring
320: Parachute
321: Parachute line
322: anti-twist plate
330: air inlet tube
340: Plug
341: Plug fixing projection
350: holder member
351: Holder retaining ring
400: Fixed module
410: mount insertion groove
420: Hinge shaft
430: third connector

Claims

A frame formed in a laminated structure with the first plate, the second plate, and the third plate being spaced apart by a predetermined distance so that the transceiver and the battery are embedded;
A pair of first boom bars connected between the first plate and the second plate in one direction of the frame and elongated horizontally in a radial direction about the frame;
A pair of second boom bars formed to be shorter than the first boom bar and extending between a second plate and a third plate in the other side of the frame and extending horizontally in a radial direction about the frame;
A vibration-damping motor mount which is composed of a vibration-preventing damper and is mounted on the first boom frame and the second boom frame, respectively;
A first motor mounted on the vibration-proof motor mount and driven by the power of the battery;
An electronic transmission for controlling the RPM of the first motor;
A plurality of propellers connected to the motor to generate a vertical lift force;
A fixing module in which a mount insertion groove is formed on one side surface and a hinge shaft and a second motor are formed on a lower surface of the fixing module, and the pair of the hinge shaft and the second motor are mounted on the lower surface of the third plate;
The first supporting leg and the second supporting leg connected to the pedestal are fixed to the hinge axis of the fixing module, the frame is supported at a predetermined height on the ground, and when the frame is separated from the ground by lifting force, A folded foot leg;
And a controller for controlling the electronic transmission and the second motor according to a signal of the transceiver,
Further comprising a parachute portion in the first hollow portion of the pedestal so that the multi-copter emits a parachute when the propeller is stopped during flight,
The parachute portion
A second hollow portion having a tubular shape in which one side is opened and a parachute string connected to the parachute is fixed to a stopper formed on the other side, the support being embedded in the first hollow portion of the pedestal;
A cap connected to the open side of the support while being connected to the parachute;
A spring having one end fixed to the fixing protrusion of the pedestal and the other end fixed to the stopper of the support so that the support protrudes outwardly from the first hollow by the repulsion force of the spring;
A discharge pipe formed in the pedestal so as to send compressed air between the fixing protrusion and the stopper to the air injection tube when the support protrudes outward;
A delivery pipe connected to the air injection tube and formed in a shape penetrating through the stopper of the support to transmit the compressed air to the second hollow portion of the support,
And a holder member which is fixed at one side to the inner circumferential surface of the supporter so that the supporter is fixed to the first hollow portion of the supporter and the other end is connected to the stopper supporter formed at the stopper by a fitting and detaching structure,
Wherein a pair of opposed pairs of the plurality of propellers rotate in a clockwise direction and a pair of the propellers rotate in a counterclockwise direction,
The first boom bar and the second boom bar are rotated so as to be collected in the first boom bar direction so as to be easily carried or stored,
Wherein a first clipper is formed between the first plate and the second plate and a second clipper is formed between the second plate and the third plate so that the first and second boom bars are engaged with the first clipper and the second clip, Wherein the multi-copter is attached to and detached from the cop.

The method according to claim 1,
Further comprising a gimbal mount which is fixed by inserting two fixing rods into a pair of mount insertion grooves formed in the fixing module after mounting the imaging device.

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