KR102322098B1 - Drone capable of precise dropping - Google Patents

Abstract

The present invention relates to a drone capable of precisely dropping an object to a target point and a control method of the drone capable of precisely dropping the object to the target point, comprising: a drone mainframe; a plurality of propeller units placed on both sides on the front side and on both sides on the rear side of the drone mainframe; a weather sensor unit placed on an upper surface of the drone mainframe and measuring the weather status; and a control unit controlling the plurality of propeller units. The control unit reflects the weather status measured by the weather sensor unit and drops the object to the target point. The control method for the drone capable of precisely dropping an object to the target point comprises: a basic dropping position information measurement step of measuring the basic dropping position information of the drone capable of precisely dropping an object; a dropping position calculation step of reflecting the weather status, correcting the basic dropping position, and calculating the dropping position; and a dropping step of moving the drone capable of precisely dropping an object to the calculated dropping position, and dropping the object. The present invention aims to provide a drone capable of precisely dropping an object, which is able to allow a user to drop an object at a place where the user cannot easily approach.

Description

Drone capable of precise dropping

The present invention relates to a precision dropping drone, and more particularly, to a precision dropping drone capable of accurately dropping a projectile to a target point by reflecting weather conditions.

An unmanned aerial vehicle (drone) refers to a vehicle that can fly automatically by remote control without a person boarding it, and it is possible to transport an object or drop it on a target point by providing a release body connecting member to such an unmanned aerial vehicle. Therefore, in the military and civilian, unmanned aerial vehicles for dropping, etc. for remotely transporting or dropping objects to places where it is difficult for users to access or dangerous places have been developed.

However, in the prior art, after transporting an object to a target point by an unmanned aerial vehicle, the accuracy of dropping the object is reduced by free fall, or an additional one-time drop assist device is provided on the object itself to increase the volume of the object as well as additional cost. There was a problem. In addition, since the unmanned aerial vehicle carrying the object inputs the target point and data necessary for flight on the ground before takeoff, it is difficult to accurately drop the object to the target point according to the weather conditions.

KR10-0618438 B1 (Title of invention: Flight aid for general bombs, Announcement date: 2006.08.30)

Accordingly, the present invention is to solve the problems of the prior art as described above, and it is an object of the present invention to provide a precision dropping drone capable of accurately dropping an object to a drop target point by reflecting the weather condition at the time of dropping the object.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, the precision dropping drone according to the present invention is a precision dropping drone for dropping a dropping object to a target point. and a control unit provided on the upper surface of the drone body and configured to measure a weather condition and a control unit for controlling the plurality of propeller units, wherein the control unit reflects the weather condition measured by the weather sensor unit to reflect the projection Drop the lower body to the target point.

In addition, the precision dropping drone is provided on the bottom surface of the main body and may further include a delivery body fixing unit for fixing the delivery body.

In addition, the weather sensor unit may include any one or more of a wind direction sensor, a wind speed sensor, a temperature sensor, a humidity sensor, and an air pressure sensor.

In addition, the precision-dropping drone is provided on the bottom of the main body and may further include an optical zoom camera module for recognizing the target point.

In addition, the optical zoom camera module may include a 3-axis gimbal for maintaining the horizontal and an optical zoom camera connected to the 3-axis gimbal for recognizing a target.

In addition, the optical zoom camera module may further include a laser distance measuring sensor that is mounted on the 3-axis gimbal and measures the distance to the target.

In order to solve the above problem, in the control method of the precision dropping drone for dropping the dropping object to the target point according to the present invention, the control method of the precision dropping drone is the basis for measuring the basic dropping position information of the precision dropping drone Dropping location information measurement step, calculating the delivery location by correcting the basic delivery location by reflecting the weather conditions and calculating the delivery location, and the delivery step of moving the precision delivery drone to the calculated delivery location and dropping the delivery object includes

In addition, the dropping step may include a moving step to a delivery position of moving the precision delivery drone to the delivery location and a delivery step from the delivery location to drop the projectile from the delivery location.

According to the precision-dropping drone of the present invention, there are one or more of the following effects.

First, there is an advantage that an unmanned aerial vehicle can remotely move or drop an object to a place that is difficult for a user to access or to a dangerous place.

Second, the fixing means of the object is simple and stable by combining the locking brocket of the dropping body and the locking brocket holder of the fixing part of the dropping body and fixing it with a linear shaft. There is an advantage of increasing.

Third, it has the advantage of accurately dropping objects by reflecting the weather conditions such as wind direction, wind speed, temperature, humidity and atmospheric pressure when dropping.

Fourth, using the laser distance measuring sensor and optical zoom camera mounted on the 3-axis gimbal, it is possible to check the aerial view with a stable frame in the sky, and there is also the advantage of aiming and recognizing the target point more accurately.

Fifth, there is an advantage in that the delivery precision of the unmanned aerial vehicle is increased by collecting information on the location of the target point, the altitude of the unmanned aerial vehicle, and the weather condition at the time of release, and calculating the data necessary for the dropping of the object.

Sixth, there is an advantage that the unmanned aerial vehicle can be operated automatically using the calculated data, and the user can directly control the unmanned aerial vehicle.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is an overall view of a state in which a dropping body is coupled to a precision dropping drone according to an embodiment of the present invention.
2 is a view showing the main body of the precision dropping drone according to an embodiment of the present invention.
3 is a view showing a propeller unit and a landing skid of the precision dropping drone according to an embodiment of the present invention.
Figure 4 is a view showing the delivery body fixing portion of the precision delivery drone according to an embodiment of the present invention.
5 is a view showing the delivery body of the precision delivery drone according to an embodiment of the present invention.
6 is a view for explaining a method of fixing and separating the dropping body to the precision dropping drone according to an embodiment of the present invention.
7 is a view showing a weather sensor unit of a precision dropping drone according to an embodiment of the present invention.
8 is a diagram illustrating an optical zoom camera module of a precision-dropping drone according to an embodiment of the present invention.
9 is a flowchart illustrating a control method of a precision dropping drone according to an embodiment of the present invention.
10 is a view for explaining a process of a control method of a precision dropping drone according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

The size or shape of the components shown in the drawings attached to this specification may be exaggerated for clarity and convenience of explanation. It should be noted that the same components in each drawing are sometimes illustrated with the same reference numerals. In addition, detailed descriptions of functions and configurations of known technologies that may unnecessarily obscure the gist of the present invention may be omitted.

The terminology used herein is used to describe specific embodiments, not to limit the present invention. As used herein, the singular form may include the plural form unless the context clearly dictates otherwise. In addition, when a part "includes" a certain component throughout the present specification, it means that other components may be further included unless otherwise stated.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that there is no other element in the middle. Other expressions for describing the relationship between components should be interpreted similarly.

All terms including technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. does not

As used herein, terms such as upper, lower, upper, lower, or upper, lower, etc. are used to distinguish relative positions of the components. The upper part of the drawing is called the upper part, the lower part of the drawing is the lower part, the right side of the drawing is called the front side, and the left side of the drawing is called the rear side, but this is only used to distinguish the relative positions of the components for convenience. Without deviating, the anterior may be termed posterior, and posterior may be termed forward.

Hereinafter, the present invention will be described with reference to the drawings in order to describe a precision dropping drone according to embodiments of the present invention.

1 is an overall view of a state in which a dropping body is coupled to a precision dropping drone according to an embodiment of the present invention.

As shown in FIG. 1 , the precision dropping drone 1 according to an embodiment of the present invention includes a drone body 100 , a plurality of propeller units 200 , a plurality of landing skids 300 , and a delivery body 400 . , may include a weather sensor unit 500 and an optical zoom camera module 600, and may further include a battery (not shown) and a control unit (not shown).

A plurality of propeller parts 200 including power may be provided on both front and rear sides of the drone body 100, and a landing skid 300 that contacts the ground when landing on each of the plurality of propeller parts 200. may be provided. The launch body 400 may be fixed to the rear bottom surface of the drone body 100 , and an optical zoom camera module 600 may be provided on the front bottom surface of the drone body 100 , and the drone body 100 . A weather sensor unit 500 may be provided on the upper surface of the . In addition, a battery (not shown) and a control unit (not shown) may be disposed inside the drone body 100 , and the control unit may control the flight or release of the precision dropping drone 1 .

The control unit receives information on the drop target point, measures the wind speed, wind direction, air pressure, temperature and humidity required for the drop through the weather sensor unit 500, and reflects this to set the projectile 400 to the target. It can be dropped to a point.

The main body 100 of the precision dropping drone 1 described above will be described in more detail with reference to FIG. 2 .

2 is a view showing the main body 100 of the precision dropping drone 1 according to an embodiment of the present invention.

As shown in FIG. 2, the main body 100 of the precision dropping drone 1 includes a communication antenna 110, a GPS 120, a plurality of propeller connection parts 130, a weather sensor part connection part 150, and a delivery body. It may include a fixing unit 160 and an optical zoom camera module connection unit 170 , and may further include a battery cover 140 .

The communication antenna 110 may be provided at the front and rear of the upper surface of the drone body 100, respectively, and serves to enable the control unit (not shown) to receive a command from the user or receive basic drop position information. can do.

The GPS 120 may be provided on the upper surface of the drone main body 100 , and may measure the vertical point position of the drop target point received by the communication antenna 110 .

A plurality of propeller part connection parts 130 are formed in the form of holes on both front and rear sides of the drone body 100, and the arms 210 of the propeller part 200 of FIG. 3 are fitted and fixed. may correspond to the shape of the tip of the

The battery cover 140 may be formed at the rear of the drone body 100, and can be opened and closed by being connected to the drone body 100 in the same principle as a hinge, so that it is possible to attach and detach it inside the drone body 100. A battery (not shown) may be mounted. Since the battery is detachable, it is easy to charge or replace the battery, and the weight can be reduced by detaching the battery when carrying it.

The weather sensor unit connection unit 150 is formed in a bar shape on the upper surface of the drone body 100, and connects the weather sensor unit 500 of FIG. 7 to the drone body 100 and at the same time supports it. .

The dropping body fixing unit 160 is formed on the rear bottom surface of the drone body 100, and either fixes the dropping body 400 of FIG. 5 to the drone body 100 or attaches the dropping body 400 to the drone body 100) can be separated.

The optical zoom camera module connection unit 170 is formed on the front bottom surface of the drone main body 100, and includes a flat 3-axis gimbal connection unit 171 for connecting the optical zoom camera module 600 of FIG. can do.

The propeller part 200 coupled to the propeller part connection part 130 and the landing skid 300 provided in the propeller part 200 will be described in detail with reference to FIG. 3 .

3 is a view showing the propeller unit 200 and the landing skid 300 of the precision dropping drone 1 according to an embodiment of the present invention.

As shown in FIG. 3 , the propeller unit 200 includes an arm 210 , a plurality of motors 220 , a plurality of propellers 230 , a plurality of propeller fixing members 240 and a landing skid connecting member 250 . may be included, and the landing skid 300 may be connected to the landing skid connecting member 250 .

The arm 210 may have one end coupled to the propeller part connection part 130 of the drone main body 100 described above with reference to FIG. 2 , and the other end extending long in the horizontal direction, and each of the arms 210 is It may be formed in a straight structure lying on the same plane.

The plurality of motors 220 receive power from a battery (not shown) and generate rotational force by a control signal transmitted from a control unit (not shown), and are vertically coupled to the end of the arm 210 to be described later It may be provided so that sufficient rotational force that can be transmitted to the propeller 230 is generated.

The plurality of propellers 230 may be rotatably coupled to both ends of the rotation shaft of the plurality of motors 220 , and the plurality of propellers 230 may be coaxial inversion propellers 230 . The coaxial inversion propeller 230 is a propeller 230 having a pair of blades on the coaxial of the plurality of motors 220 is installed up and down to rotate in opposite directions, the coaxial propeller 230 is opposite to each other As it rotates in the direction, the rotational inertia during flight is canceled, so the required power is smaller than that of a general propeller and the performance can be improved.

The plurality of propeller fixing members 240 may be coupled to both ends of the rotation shaft of the plurality of motors 220 to rotatably couple or fix the plurality of propellers 230 to the motors.

The landing skid connection member 250 may be coupled to a portion where the arm 210 is connected to the propeller part connection part 130, and the arm 210 and the propeller part connection part 130 may be fixedly coupled. have. The landing skid connecting member 250 may include a hole into which the arm 210 is inserted, and may further include a groove for inserting and coupling the landing skid 300 to be described later in the lower portion of the hole.

The landing skid 300 may be provided on the arms 210 of each of the plurality of propeller units 200 to protect the aircraft from impact during take-off and landing of the drone. The landing skid 300 may be formed in the shape of a long cylindrical rod, but is not limited thereto, and it is preferable to first contact the ground when the drone lands and to be formed longer than the main body 100 so as to support the drone gas. . In addition, one end of the landing skid 300 is connected to and fixed to the landing skid connecting member 250 as described above, and the other end may be provided with a protective stopper 310 for absorbing shock when in contact with the ground. .

Again, with reference to FIGS. 4 to 5 , the above-described projectile fixing unit 160 and the projecting body 400 will be described in more detail.

4 is a view showing the delivery body fixing unit 160 of the precision dropping drone 1 according to an embodiment of the present invention, and FIG. 5 is a delivery body of the precision dropping drone 1 according to an embodiment of the present invention. (400) is a diagram showing.

4 and 5, the delivery body 400 includes a delivery body 410, a lock brocket 420 and a direct guide blade 430, and the delivery body fixing unit 160 is the delivery body ( The locking brocket holder 161 into which the locking brocket 420 of 400 is inserted, the direct induction wing holder 162 into which the direct induction blade 430 of the dropping body 400 is inserted and fixed, and the locking brocket A linear shaft (163 in FIG. 6) having a thin cylindrical rod shape for fixing 420 and the locking brocket holder 161 to each other, and a linear shaft guide groove for guiding the linear shaft 163 to make a linear motion (164).

The drop body 410 includes an object that the user wants to drop, and any object that the drone can transport or drop as well as bombs and smoke grenades may be examples thereof. The dropping body 410 may have a shape in which a truncated cone is coupled to the two bottom surfaces of the cylinder, but is not limited thereto, and is preferably formed to minimize resistance with air when the dropping body 410 is dropped.

The locking brocket 420 is the upper side of the dropping body 410, the end in the direction in which the dropping body 410 is fixed to the dropping body fixing part 160, and the dropping body 400 is the first to contact the ground A second linear shaft fixing hole ( 163 in FIG. 6 ) may be formed at one of the ends in the opposite direction of the desired part, and is inserted into the dropping body fixing part 160 and fixed by a linear shaft (163 in FIG. 6 ) to be described later. 421) may be formed.

A plurality of direct induction blades 430 are formed between the drop body 410 and the lock brocket 420, and can prevent the drop body 410 from rotating when falling.

The locking brocket holder 161 is provided with a space into which the locking brocket 420 can be inserted, and a first linear shaft fixing hole 165 is provided so that a linear shaft ( 163 of FIG. 6 ) to be described later can be inserted. can be formed

The direct induction blade holder 162 is provided in a form in which two thin plates are spaced apart by a thickness interval of the direct induction blade 430 so that the plurality of direct induction blades 430 can be inserted and fixed. As many as the number of direct induction blades 430 may be formed at the circumferential position of 161 . The configuration of the plurality of direct induction blade holders 162 may correspond to the configuration of the direct induction blade 430 .

The linear shaft ( 163 in FIG. 6 ) may be provided in the shape of a thin cylindrical rod, the first linear shaft fixing hole 165 of the locking brocket holder 161 and the second of the locking brocket 420 . It is possible to simultaneously pass through the linear shaft fixing hole 421 to fix the projecting body 400 and the projecting body fixing unit 160 to each other.

The linear shaft guide groove 164 is a groove 164 through which the linear shaft 163 can move, and the linear shaft 163 has the first linear shaft fixing hole 165 and the second linear shaft fixing hole ( 421) can be guided to only linear motion.

A method of coupling and separating the dropping body fixing unit 160 and the dropping body 400 including the above configuration with reference to FIG. 6 will be described as follows.

6 is a view for explaining a method of fixing and separating the dropping body to the precision dropping drone according to an embodiment of the present invention. It is a view showing that it is inserted into the lock brocket holder 161 of the dropping body fixing part 160, (b) of FIG. ) and the locking brocket holder 161 is a view showing that, in FIG. 162 is inserted and fixed, (d) of FIG. 6 is a view showing that the linear shaft 163 is dismantled and the dropping body 400 is separated from the dropping body fixing unit 160 .

First, as shown in (a) of Figure 6, the locking brocket 420 of the dropping body 400 is inserted into the locking brocket holder 161 of the dropping body fixing part 160, the locking brocket After the first linear shaft fixing hole 165 of the holder 161 and the second linear shaft fixing hole 421 of the locking brocket 420 are arranged side by side, as shown in FIG. , by inserting the linear shaft 163 along the linear shaft guide groove 164 so as to penetrate both the first linear shaft fixing hole 165 and the second linear shaft fixing hole 421 arranged side by side, and the dropping body 400 ) can be fixed to the projectile fixing unit 160 .

Here, when the locking brocket 420 is inserted into the locking brocket holder 161 in (a) of FIG. 6, as shown in (c) of FIG. 430 is coupled to the direct guide wing holder 162 of the projectile fixing unit 160, respectively.

As shown in (d) of Figure 6, the linear shaft 163 in the sky opposite to that described above in Figure 6 (b) along the linear shaft guide groove 164, the first linear shaft fixing hole ( 165 ) and the second linear shaft fixing hole 421 , the dropping body 400 and the dropping body fixing part 160 are separated, and the dropping body 400 can be dropped.

The weather sensor unit 500 will be described with reference to FIG. 7 .

7 is a view showing the weather sensor unit 500 of the precision dropping drone 1 according to an embodiment of the present invention.

As shown in FIG. 7 , the weather sensor unit 500 may include a sensor 510 and a sensor fixing member 520 , and the sensor 510 may measure a weather condition in real time. In this case, the weather condition may include any one or more of wind direction, wind speed, temperature, humidity, and atmospheric pressure.

The sensor 510 may include any one or more of a wind direction sensor, a wind speed sensor, a temperature sensor, a humidity sensor, and an air pressure sensor, but it is preferable to include all of them.

The sensor fixing member 520 may serve to connect the sensor 510 and the weather sensor connection part 150 of the drone body 100 of FIG. 2 and support the sensor 510 at the same time. .

The optical zoom camera module 600 will be described in detail with reference to FIG. 8 .

8 is a view showing an optical zoom camera module 600 of the precision dropping drone 1 according to an embodiment of the present invention.

As shown in FIG. 8 , the optical zoom camera module 600 may include a 3-axis gimbal 610 , a camera 620 , and a laser distance measuring sensor 630 .

The 3-axis gimbal 610 can be coupled to the 3-axis gimbal connection part 171 of the drone body 100 of FIG. 2, rotates about three axes of the horizontal axis, the vertical axis, and the vertical axis, and is a device that maintains the horizontality. It is an axial form of a gimbal that is adopted, and a camera 620 and a laser distance measuring sensor 630, which will be described later, are coupled to the three-axis gimbal 610 to compensate for shaking in all directions.

The camera 620 is connected to the three-axis gimbal 610 and may serve to recognize or aim at a drop target point of the precision delivery drone 1 . The control unit (not shown) may transmit the image captured by the camera 620 to the user through the communication antenna 110 of FIG. It can be checked and controlled, so manual flight is also possible.

The laser distance measuring sensor 630 may be installed in the same position as the camera 620 or connected to the camera 620, and calculates the time when the laser is irradiated and the laser is reflected back to the ground or the drop target point and precision. It is possible to measure the distance to the dropping drone 1, that is, the height of the precision dropping drone 1 from the ground or the drop target point.

The camera 620 and the laser distance measuring sensor 630 are connected to the 3-axis gimbal 610 and installed, so that the camera ( 620), the target point can be observed more stably, and the accuracy of measuring the height from the target point of the drone 1 of the laser distance measuring sensor 630 can be improved.

An embodiment of a control method of a precision dropping drone will be described below with reference to FIGS. 9 to 10 .

9 is a flowchart illustrating a control method of a precision dropping drone according to an embodiment of the present invention, and FIG. 10 is a view for explaining a process of a control method of a precision dropping drone according to an embodiment of the present invention; In (a) of 10, the precision dropping drone 1 calculates the delivery location by measuring the basic delivery location information and weather conditions, and in Figure 10 (b) is the precision delivery drone 1 as the calculated delivery location. After moving, the dropping of the dropping body 400, (c) of FIG. 10 is a view for auxiliary explanation of moving to the drop position in FIG.

9 to 10, the control method of the precision dropping drone 1 is a basic drop location information measuring step (S100) of measuring the basic drop location information of the precision dropping drone, reflecting the weather conditions, the basis It may include a delivery position calculation step (S200) of calculating the delivery location by correcting the delivery location, and a delivery step (S300) of moving the precision delivery drone to the calculated delivery location to drop the dropping object.

In the basic drop location information measurement step (S100), as shown in FIG. (S110), the absolute altitude of the drone 1 can be measured by measuring the atmospheric pressure through the barometric pressure sensor 510 of FIG. 7 and calculating the altitude of the drone 1 using this (S120) , it is possible to measure the relative vertical altitude with the drop target point 700 through the laser distance measuring sensor 630 of Figure 8 (S130).

In the drop position calculation step (S200), the wind direction and wind speed are measured through the wind direction sensor 510 and the wind speed sensor 510 of FIG. The distance between the drone 1 and the drop location is calculated using the relative vertical altitude to the drop target point 700 measured in the drop information collection step (S100) (S220), and the wind direction angle is calculated through the average value of the wind direction. It is possible to calculate a horizontal angle between the drone 1 and the drop position by calculation (S230).

In the dropping step (S300), the drop position as shown in FIG. 10 (b) or FIG. 10 (c) by reflecting the horizontal angle with the drop position calculated in the drop location calculation step (S200) and the distance between the drop location After moving the precision dropping drone 1 to (S310), it is possible to drop the projectile 400 from the drop position to the target point 700 as shown in FIG. Again, as shown in (b) of FIG. 10, if the wind blows forward, the drone 1 can be moved to the rear, and in FIG. When the direction is east, if the wind blows to the southeast, the delivery location to which the precision delivery drone 1 should move may be northwest. At this time, moving the position of the drone 1 (S310) or dropping the dropping body 400 (S320) can be automatically controlled by the control unit of the drone 1, but the user manually operates You may.

As described above, although preferred embodiments of the present invention have been illustrated and described with reference to the drawings, the present invention is not limited to the specific embodiments described above, and the present invention is Various modifications may be made by those of ordinary skill in the art to which the invention pertains, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

1: Precision Drop Drone
100: drone body
110: communication antenna
120: GPS
130: propeller connection part
140: battery cover
150: weather sensor connection part
160: projectile fixing unit
161: lock brocket holder
162: direct induction wing holder
163: linear shaft
164: linear shaft guide groove
165: first linear shaft fixing hole
170: optical zoom camera module connection part
171: 3-axis gimbal connection
200: propeller unit
210: cancer
220: motor
230: propeller
240: propeller fixing member
250: landing skid connecting member
300: landing skid
310: protective stopper
400: projectile
410: drop body
420: lock brocket
421: second linear shaft fixing hole
430: direct induction wing
500: weather sensor unit
510: sensor
520: sensor fixing member
600: optical zoom camera module
610: 3-axis gimbal
620: camera
630: laser distance measuring sensor
700: target point
S100: Basic drop location information measurement step
S110: target point location check step
S120: Absolute Altitude Measurement Step
S130: Relative altitude measurement step
S200: Drop position calculation step
S210: Meteorological state average value calculation step
S220: Calculating the drop position distance
S230: Step of calculating the horizontal angle of the drop position
S300: drop phase
S310: Moving step to the release position
S320: release phase at the release position

Claims (8)

In the precision delivery drone that drops the projectile to the target point,
Drone body provided with a projectile fixing unit;
a plurality of propeller units provided on both front and rear sides of the drone body;
a weather sensor unit provided on the upper surface of the drone body and measuring a weather condition;
an optical zoom camera module provided on the bottom of the drone body and recognizing the target point; and
Including; a control unit for controlling the plurality of propeller units;
The optical zoom camera module,
3-axis gimbal for leveling; and
and an optical zoom camera connected to the 3-axis gimbal and recognizing the target point;
The control unit is
Drop the projectile to the target point by reflecting the weather condition measured by the weather sensor unit,
The dropper is
drop body;
a locking brocket formed on the upper side of the dropping body; and
and a direct induction blade formed between the drop body and the locking brocket, the plurality of direct induction blades being radially disposed around the locking brocket;
The dropping body fixing part,
a locking brocket holder into which the locking brocket of the dropping body is inserted;
a direct induction wing holder having a plurality of direct induction blades inserted thereinto and fixed, and disposed radially around the locking brocket holder;
a linear shaft for fixing the dropping body to the dropping body fixing part; and
and a linear shaft guide groove in which the linear shaft moves in a straight line.
The number of direct induction blades corresponds to the number of direct induction blade holders,
The direct induction wing holder is spaced apart by the thickness interval of the direct induction blade, and includes two plates disposed in a vertical direction from the ground,
The direct induction wing is formed in a plate shape, disposed in the vertical direction from the ground,
One of the direct guidance wing is fixed to one of the direct guidance wing holder, the direct guidance wing is inserted between the two plates to be fixed to the direct guidance wing holder. The method of claim 1,
It is provided on the bottom surface of the main body and precision dropping drone, characterized in that it further comprises a delivery body fixing part for fixing the delivery body. The method of claim 1,
The weather sensor unit,
A precision dropping drone comprising any one or more of a wind direction sensor, a wind speed sensor, a temperature sensor, a humidity sensor, and an air pressure sensor. delete delete The method of claim 1,
The optical zoom camera,
and a laser distance measuring sensor mounted on the 3-axis gimbal and measuring the distance to the target point. In the control method of a precision dropping drone that drops a projectile to a target point,
a basic drop location information measurement step of measuring the basic drop location information of the precision delivery drone;
a drop position calculation step of calculating the drop location by correcting the basic drop location by reflecting the weather conditions; and
A dropping step of moving the precision dropping drone to the calculated drop location and dropping the dropping body fixed to the delivery body fixing unit provided in the precision dropping drone;
The basic drop location information measurement step,
Measuring the distance to the target point through a laser distance measuring sensor mounted on a 3-axis gimbal that maintains the horizontal,
In the dropping step, the dropping body is
drop body;
a locking brocket formed on the upper side of the dropping body; and
and a direct induction blade formed between the drop body and the locking brocket, the plurality of direct induction blades being radially disposed around the locking brocket;
The dropping body fixing part,
a locking brocket holder into which the locking brocket of the dropping body is inserted;
a direct induction wing holder having a plurality of direct induction blades inserted thereinto and fixed, and disposed radially around the locking brocket holder;
a linear shaft for fixing the dropping body to the dropping body fixing part; and
and a linear shaft guide groove in which the linear shaft moves in a straight line.
The number of direct induction blades corresponds to the number of direct induction blade holders,
The direct induction wing holder is spaced apart by the thickness interval of the direct induction blade, and includes two plates disposed in a vertical direction from the ground,
The direct induction wing is formed in a plate shape, disposed in the vertical direction from the ground,
A control method of a precision dropping drone, characterized in that one of the direct guide wing is fixed to one of the direct guide wing holder, and the direct guide wing is inserted between the two plates and fixed to the direct guide wing holder. 8. The method of claim 7,
The dispensing step is
a moving step to a release position of moving the precision-deploying drone to the drop-off position; and
A method of controlling a precision dropping drone comprising a; a dropping step at the drop location where the projectile is dropped from the drop location.

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