KR101827308B1 - A multicopter type smart drone using tilt rotor - Google Patents

A multicopter type smart drone using tilt rotor Download PDF

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Publication number
KR101827308B1
KR101827308B1 KR1020160015053A KR20160015053A KR101827308B1 KR 101827308 B1 KR101827308 B1 KR 101827308B1 KR 1020160015053 A KR1020160015053 A KR 1020160015053A KR 20160015053 A KR20160015053 A KR 20160015053A KR 101827308 B1 KR101827308 B1 KR 101827308B1
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KR
South Korea
Prior art keywords
tilting
motor
fixed
propeller
fixed motor
Prior art date
Application number
KR1020160015053A
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Korean (ko)
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KR20170094045A (en
Inventor
김현덕
최익창
구동욱
김형
이나은
이석민
이윤정
임주원
Original Assignee
경북대학교 산학협력단
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Priority to KR1020160015053A priority Critical patent/KR101827308B1/en
Publication of KR20170094045A publication Critical patent/KR20170094045A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/52—Tilting of rotor bodily relative to fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B64C2201/024—
    • B64C2201/042—
    • B64C2201/108—
    • B64C2201/14—
    • B64C2201/165—
    • B64D2700/62184—

Abstract

The present invention relates to a power supply device, A flight control device formed at the center to control the flight; A plurality of propellers provided at the ends; A connecting frame connecting the propeller to the flight control device; A fixed motor for rotating each corresponding propeller corresponding to the propeller; And a fixed motor connected to two propellers and each propeller as a pair of symmetrical structures among the plurality of propellers, each of the fixed motor bodies being formed by a pair of fixed motor bodies having a symmetrical structure among the respective fixed motor bodies And the tilting motor body tilts the pair of fixed motor bodies. The flight control device receives a command signal from the controller, controls the rotation speed of the propeller by controlling the fixed motor, A pair of fixed motor bodies connected to each other is controlled by the tilting motor body so as to maintain the horizontal position with respect to the ground and the remaining fixed motor bodies are controlled by the tilting motor so as to maintain the vertical position with respect to the ground, It provides a smart drones.

Description

[0001] The present invention relates to a multi-copter type smart drone based on a tilter,

The present invention relates to a drone, and more particularly, to a drone which combines the advantages of a rotor-blade type and a fixed-blade type to improve a stable posture and an acceleration capability.

Generally, drones are used as unmanned aerial vehicles in various civilian fields beyond the military field.

In recent years, drones have become widely used in a variety of fields, such as photographing a place where a person can not go directly to shoot, or realizing an unmanned courier service.

These drones are divided into two types: a fixed-wing type of dron which is a wing-like fixed type like an aircraft type that is reminiscent of a general airplane, and a propeller that rotates like a helicopter is classified as a rotary wing type dron can do.

Of these two types, fixed-wing aircraft have very few altitude restrictions and can achieve high speeds, but they need a runway to fly. On the other hand, the rotor blade system can not achieve high speed but does not need a runway, and the vertical and horizontal movement is free compared to the fixed blade system.

For this reason, rotor blade type is mainly applied to drone, and it is re-classified according to the number of propellers. Commercial drone which is widely sold is mostly quad-copter drone with four propellers. In addition, the drones can withstand the stronger winds and disperse the force required for flying, the larger the number of propellers, the more likely they are to have a hexacopter drone with six propellers, an octocopter with eight propellers, There is a case.

However, the rotor-type drones are capable of vertical takeoff and landing, but they have disadvantages that depend on external variables such as low moving speed and strong wind.

Particularly, since the speed increases in proportion to the angle of tilting the gas, a trade-off relationship is established between the safety and the speed of the object in order to use the dron for delivering the goods. For example, if you use a dron for pizza delivery, you have to lean a lot of gas for fast delivery, but you have to fall into the contradiction that you have to tilt the pizza less to break it.

Korean Patent Publication No. 10-2015-0120401 (October 27, 2015)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tilterrot-based multi-copter type smarttron which makes a flywheel type dron fly faster and more stably.

To this end, the present invention provides a power supply device comprising: a power source; A flight control device formed at the center to control the flight; A plurality of propellers provided at the ends; A connecting frame connecting the propeller to the flight control device; A fixed motor for rotating each corresponding propeller corresponding to the propeller; And a fixed motor connected to two propellers and each propeller as a pair of symmetrical structures among the plurality of propellers, each of the fixed motor bodies being formed by a pair of fixed motor bodies having a symmetrical structure among the respective fixed motor bodies And the tilting motor body tilts the pair of fixed motor bodies. The flight control device receives a command signal from the controller, controls the rotation speed of the propeller by controlling the fixed motor, A pair of fixed motor bodies connected to each other is controlled by the tilting motor body so as to maintain the horizontal position with respect to the ground and the remaining fixed motor bodies are controlled by the tilting motor so as to maintain the vertical position with respect to the ground, It provides a smart drones.

Preferably, the tilting motor body includes a tilting arm connected to the fixed motor body and capable of tilting the fixed motor body at a predetermined angle in the form of a robot arm, and a tilting motor for controlling the tilting angle of the tilting arm can do.

Preferably, the flight control device controls the tilting motor to be used for take-off and landing in the normal mode to fix the tilting arm in a vertical direction with respect to the ground, and in the high-speed mode, The tilting arm can be fixed in the horizontal direction with respect to the ground by controlling the tilting arm in real time.

The controller may further include a GPS module for measuring the position information of the drones, a camera unit for photographing the current flying point of the drones, an inertial sensor for detecting rotation of the drones, and an air pressure sensor for measuring the altitude of the drones have.

Preferably, the propeller is a six hexacopter, and the connecting frame preferably has a radial symmetrical structure.

The present invention combines the advantages of the rotor blades and the fixed blade blades to achieve fast and stable drones.

That is, by adding a device for joint control to one or more of a number of motors in a multi-copter, it is possible to generate thrust in a direction parallel to the ground like a motor mounted on a fixed-wing aircraft.

This allows for vertical takeoff and landing, but it has a speed comparable to that of a fixed-wing aircraft and allows for faster speeds even if the aircraft is relatively less inclined.

In addition, it can overcome the limitation of maneuverability of existing multi-copter type drone, and it can increase the efficiency of operation time such as reconnaissance and transportation.

1 is a view illustrating a tilterrot type hexacopter drones according to a preferred embodiment of the present invention,
FIG. 2 is a system block diagram of the drones and the controller of FIG. 1,
Figure 3 is a functional block diagram of the drones of Figure 2,
Figure 4 is a top view of the drones of Figure 1,
Figure 5 is a side view of the drones of Figure 1,
FIG. 6 is a side view showing a portion of the dron of FIG. 1 where the fixed motor body and the die mix cell are formed,
FIG. 7 is a view showing that the stationary motor body is held in a horizontal state on a plane of 180 degrees in FIG. 6,
8 is a view showing that the stationary motor body is held in a vertical state at 90 degrees on the ground in FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish it, will be described with reference to the embodiments described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. The embodiments are provided so that those skilled in the art can easily carry out the technical idea of the present invention to those skilled in the art.

In the drawings, embodiments of the present invention are not limited to the specific forms shown and are exaggerated for clarity. In addition, like reference numerals designate like elements throughout the specification.

The singular forms herein include plural forms unless the context clearly dictates otherwise. Also, components, steps, operations and elements referred to in the specification as " comprises "or" comprising " refer to the presence or addition of one or more other components, steps, operations, elements, and / or devices.

First, the present invention combines the advantages of a rotor-type dowel with a fixed-wing type dowel to realize a fast and stable dowel in a tilter-type manner. This type of tiltrotor type is equipped with a rotor blades and a joint that can change the direction of rotation. When taking off, thrust is generated like a rotor blade in the sky direction. After takeoff, the rotor is tilted slightly forward. Finally, And the rotor generates the forward thrust only. When landing, the rotor is turned in the direction of the sky to make a vertical landing like a rotorcraft.

Depending on the number of propellers, these tilter-type drones can also be made up of four propellers with a quarter-core copter dron, six propeller-driven hexacopter drones, eight propeller-driven Octopecopter drones or more propellered multi- Hereinafter, six hexapodrons of a hexa mode are mainly described, but the present invention is not limited thereto.

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

FIG. 1 is a diagram showing a tilterrothe hexagopter drone 100 according to a preferred embodiment of the present invention. FIG. 2 is a system configuration diagram of the drones and a controller of FIG. 1, FIG.

The dron according to the present invention includes a dron 100 and a controller 200 that wirelessly controls the dron 100. The dron 100 receives a user's command from the controller 200, Controls the flight.

As shown in FIG. 1, the drones 100 are provided with a flight control unit 50 for controlling the flight at the center of the body, six propellers 10 in hexa mode at the end, And a connection frame 40 having a radial symmetrical structure by connecting the control device 50 and each of the six propellers 10 at the end.

And a BLDC motor 20 for rotating the propellers 10 corresponding to the six propellers 10. In addition, six propellers 10 symmetrically form three pairs, of which two propellers 10 as a pair of symmetrical structures and a BLDC motor 20 connected to each propeller 10 are combined as one assembly And is tilted by the tilting motor body (30) with the fixed motor body. At this time, the BLDC motor 20 rotates the connected propeller 10 to perform generation and propulsion of lift, and performs a posture control to perform a role as a fixed motor. On the other hand, the tilting motor body 30 acts only as a propelling member and acts as a tilting motor body for tilting the fixed motor bodies 10 and 20.

 The center flight control device 50 further includes a camera unit 70 and a power supply unit 60. The camera unit 70 is provided with a plurality of legs 80 for supporting the drone main body when landing on the ground, do. At this time, the camera unit 70 serves as the eye of the dron that shows the point currently flying to the driver, and the power source unit 60 supplies power to the flight control device 50, the BLDC motor 20 and the tilting motor body 30 .

2 and 3, the flight control device 50 is a control unit (MCU) that receives an operation signal from the controller 200 by the controller driver 51, drives the MCU 50, . The control unit (MCU) 50 controls the BLDC motor driver 52 that drives the BLDC motor 20, the 9DOF sensor 53 as the 9-axis inertial sensor, the air pressure sensor 54, and the GPS module 55 .

The 9DOF sensor 53 is a 9-axis inertial sensor that senses the rotation of the drone in all directions through an acceleration sensor, a gyro sensor, and a magnetic field sensor, transmits the sensed signal to the control unit (MCU) 50, And controls the posture and position movement of the robot. Further, the height of the drones is measured through a pressure sensor 54, and the speed and position of the drones are determined through the GPS module 55. For example, the control unit (MCU) 50 recognizes the GPS coordinates received through the GPS module. For example, in the case of the courier service, the control unit (MCU) 50 inputs the customer's information as GPS coordinates and places the cargo in the delivery position coordinates Control the air pressure sensor, 9DOF sensor, GPS module, and motor driver.

Further, six BLDC motors 20 for rotating the propeller form three pairs, and one pair of the six BLDC motors is tilted by the dynamical cell 32. [ Here, the dynamixel is a motor for controlling the robot joint. In the tilting motor body of Fig. 1, a tilting arm may be added as a robot joint in addition to the dynamixel as described later. The control unit (MCU) 50 receives the user's command from the controller 200 and is driven by the controller driver 51 and sends a command signal to the BLDC motor driver 52, To control the speed at which the connected propeller 10 is running. In addition, two of the six BLDC motors are tilted by the dynamixel 32 to implement a tilting type so that when the flight starts, the drones are maintained at an appropriate angle to increase the speed, and the tilted BLDC The maximum speed is reached by the thrust of the motor. That is, when taking off, the stationary motor body generates thrust in the sky direction like a rotor blade, and after taking-off, the stationary motor body tilts the direction of the stationary motor body slightly to finally generate lift, and the stationary motor body generates forward thrust only . When landing, the fixed motor body is folded in the sky direction and landed like a rotorcraft.

Referring to FIG. 3, in more detail, an 11.1 V power source from a battery is delivered to six BLDC motors and two Dynamixels, and some of them are converted to 3.3 V through a regulator. The converted 3.3V power supply consumes up to 12.7A per motor to supply power to the control unit (MCU) and various sensors, and then generates 1050g of thrust. In addition, the dynamixel operates precisely to keep the stationary motor body horizontal with the ground.

Hereinafter, with reference to FIGS. 4 to 8, a tilting method in the tilterrot type hexacordordron 100 according to the present invention will be described in detail.

FIG. 4 is a plan view of the drones 100 of FIG. 1, FIG. 5 is a side view of the drones 100 of FIG. 1, and FIG. 6 is a side view of the dron of FIG. And FIG. 7 is a view showing that the stationary motor body is held in a horizontal state at 180 degrees on the ground in FIG. 6, and FIG. 8 is a view showing that the stationary motor body is kept in a vertical state at 90 degrees in FIG.

 4 and 5, the two fixed motor bodies 10 and 20 constituting a pair of the six fixed motor bodies 10 and 20 of the hexacopter 100 are connected to the robot 20 of the tilting motor body 30, It is equipped with a joint control motor so that it can always generate propulsive force in the horizontal direction (direction of advance of the drones).

That is, the four fixed motor bodies 10 and 20 out of the six fixed motor bodies 10 and 20 control the flight attitude like a quad-copter (flywheel aircraft), and two The fixed motor bodies 10 and 20 look at a horizontal direction with the ground by the tilting motor body 30 and generate only the force to go forward like the role of the motor in the fixed-wing aircraft and do not generate lift.

Referring to FIGS. 6 to 8, the tilting method of the tilterrot type hexacopter drones 100 according to the present invention will be described in detail.

The tilterrot type hexacopter drone 100 according to the present invention receives a command signal from the controller through the flight control device 50 and controls the rotation speed of the propeller by controlling the fixed motor to control the acceleration capability of the drones .

In addition, the tilting motor body 30 can control the flight posture so as to maintain the horizontal direction with respect to the ground, and the remaining stationary motor body can control the flight posture so as to maintain the vertical direction with respect to the ground surface.

6 to 8, the tilting motor can be controlled in various forms. The fixed motor bodies 10 and 20 are connected to the tilting motor body 30, A tilting arm 31 connected to the fixed motor bodies 10 and 20 and capable of tilting the fixed motor body at a predetermined angle in the form of a robot arm and a tilting arm 31 for controlling the tilting angle of the tilting arm 31 And a tilting motor 32. Here, the tilting motor 32 is a motor for controlling the robot joint, and the dynamixel of Fig. 2 may be applied.

7, when the tilting motor body 30 keeps the stationary motor bodies 10 and 20 at 180 degrees, that is, horizontally on the ground, the tilting motor 32 moves the tilting arm 31 to the ground The posture is controlled to be horizontal. When the horizontal posture control is maintained in this way, the output of the stationary motor operates in the most optimal direction coinciding with the traveling direction of the drone.

8, the tilting motor body 30 keeps the fixed motor bodies 10 and 20 at 90 degrees, that is, perpendicular to the plane of the ground. When the tilting motor 32 tilts the tilting arm 31 to the ground The posture is controlled to be vertical. When the vertical attitude control is maintained as described above, the output of the fixed motor is operated in the optimum direction for helping the dron to take off and land fast and stable.

Since the control of the tilting motor body 30 can be controlled vertically or horizontally on the ground, it is possible to control the tilting method according to various control combinations, so that the normal mode and the high-speed mode can be implemented .

That is, in the normal mode, the tilting arm 31 is fixed in a direction perpendicular to the paper surface so as to use the tilting motor body 30 for take-off and landing. At this time, in the normal mode, the tilting motor body 30 is capable of quick and stable takeoff and landing.

On the other hand, in the high speed mode, the tilting motor 31 is controlled in real time to fix the tilting arm 31 in a direction parallel to the ground. At this time, in the high speed mode, the output is operated in the most optimal direction coinciding with the traveling direction of the dron, so that the acceleration performance of the dron can be improved. In this manner, the propulsive force of the tilting motor body is not used for the generation of lift but is used for accelerating in a manner of compensating the inclination by operating the tilting arm by the angle of the dron gas.

In this case, when it is not necessary to move quickly, two of the motors equipped with the tilting motor body 30 also fly in the same direction as a normal hexacopter by looking at the sky direction (vertical direction) That is, the two tilting motor bodies 30 are tilted (tilted) to operate at a high speed.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10; prop
20: BLDC motor, fixed motor
30: tilting motor body
31: tilting arm
32: tilting motor, dynamixel
40: connection frame
50: Flight control unit, control unit (MCU)
60:
70:
80: leg

Claims (9)

power; A flight control device formed at the center to control the flight; A propeller provided at the end to form a plurality of pairs of two pairs; A connecting frame connecting the flight control device and the propeller and having a radial symmetrical structure; A fixed motor for rotating each of the propellers corresponding to the plurality of propellers; A plurality of pairs of stationary motor bodies corresponding to the number of propellers and formed by fixed motors connected to respective propellers; A tilting arm which is formed on a pair of fixed motor bodies forming a horizontal axis among the plurality of pairs of fixed motor bodies in the radial symmetric structure and which can tilt the fixed motor body at a predetermined angle in the form of a robot arm; And a tilting motor for controlling an inclination angle of the tilting arm,
Wherein the flight control device receives a command signal from the controller,
Controls the rotation speed of the propeller by controlling the fixed motor,
The pair of fixed motor bodies connected to the pair of tilting motor bodies is configured such that in the normal mode, the tilting motor fixes the tilting arm in the vertical direction to the ground to control the fixed motor body connected vertically, The tilting arm is horizontally fixed to the ground to control the stationary motor body in a horizontal posture,
And the remaining stationary motor bodies to which the pair of tilting motor bodies are not connected are fixed in a direction perpendicular to the ground surface. delete delete The method according to claim 1,
Further comprising a GPS module for measuring position information of the drones. The method according to claim 1,
Further comprising a camera unit for photographing the current flying point of the drones. The method according to claim 1,
Further comprising an inertia sensor for sensing the rotation of the drones. The method according to claim 1,
Further comprising an air pressure sensor for measuring an altitude of the drones. The method according to claim 1,
Wherein the propeller is a hexacopter having six propellers. delete
KR1020160015053A 2016-02-05 2016-02-05 A multicopter type smart drone using tilt rotor KR101827308B1 (en)

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CN107639983A (en) * 2017-10-10 2018-01-30 南京工程学院 A kind of land and air double-used quadrotor
CN107878752A (en) * 2017-12-28 2018-04-06 四川建筑职业技术学院 From steady wind resistance unmanned plane
CN109018348A (en) * 2018-08-09 2018-12-18 王馨仪 The empty dual-purpose Drones for surveillance in land
CN110122319A (en) * 2019-05-21 2019-08-16 江苏大学 A kind of greenhouse independent navigation pollination unmanned plane and its control method
CN110171566A (en) * 2019-06-04 2019-08-27 北京韦加无人机科技股份有限公司 A kind of more rotor unmanned aircrafts of inclination paddle
CN110654540A (en) * 2019-10-18 2020-01-07 中国地质大学（北京） Low-altitude multi-rotor unmanned aerial vehicle system and control method thereof
KR20220028849A (en) 2020-08-31 2022-03-08 양범승 Hybrid tilt drone
CN112208759A (en) * 2020-11-11 2021-01-12 福州大学 Eight-rotor aircraft with wind disturbance resistant tiltable rotor and control method
WO2022119503A1 (en) * 2020-12-02 2022-06-09 Nanyang Technological University Propulsion device for an over-actuated uav
KR102631514B1 (en) * 2023-03-06 2024-01-31 (주) 세대공감 엠씨엔 Drone platform for shooting
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