KR20230113520A - unmanned aerial vehicle with object loading function - Google Patents

Abstract

The present invention generally relates to an unmanned aerial vehicle having a loading capacity, and more particularly, to a method for correcting a weight imbalance of an unmanned aerial vehicle, an apparatus for measuring a weight imbalance of an unmanned aerial vehicle, and an apparatus for correcting a weight imbalance of an unmanned aerial vehicle.

Description

Unmanned aerial vehicle with object loading function}

* The present invention generally relates to an unmanned aerial vehicle having a loading capacity, and more particularly, to a method for correcting a weight imbalance of an unmanned aerial vehicle, an apparatus for measuring a weight imbalance of an unmanned aerial vehicle, and an apparatus for correcting a weight imbalance of an unmanned aerial vehicle.

Due to the development of communication and network capabilities, the industrial use of drones is increasing. In particular, drones that can load specific goods, such as to deliver goods and drop bombs, are being introduced.

On the other hand, a drone having such an object loading capability may cause difficulty in flight control of the drone due to an overall weight imbalance as the object is loaded on the drone. Various embodiments of the present invention are to solve the problem of non-centering or imbalance of the center of gravity of the drone.

According to one aspect of the present invention, a method for correcting a weight imbalance occurring in a multicopter in which N propeller elements are arranged at equal intervals, comprising the steps of: loading a payload into the multicopter; A step of measuring a weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor to determine the weight imbalance value, which is expressed as θ representing the direction of the inclination and a Z value representing the magnitude of the inclination measuring; and coordinating the propulsive force between the N propellers based on the measured weight imbalance value.

In one embodiment, in the tuning step, when the θ matches each disposition angle of the N propeller elements, the propulsive force of the matched propeller element is increased by Z/90 times the propulsive force of the other propeller elements. And, when the θ does not match each arrangement angle of the N propeller elements, the weight imbalance correction of the multicopter sharing the Z / 90 times the propulsion increase between the two propeller elements adjacent to the θ A method is provided.

In one embodiment, the sharing of the Z/90 times the propulsive force increment between the two propeller elements adjacent to the θ is proportional to the degree to which the two adjacent propeller elements are adjacent to the position corresponding to the θ. A method for correcting the weight imbalance of a multicopter is provided.

In one embodiment, a first propeller element disposed at an angle A of the two adjacent propeller elements arranged at a disposition angle smaller than the θ is disposed at an angle A, and a disposition angle greater than the angle θ of the two adjacent propeller elements. The disposed second propeller element is disposed at angle B, the first propeller element increases its propulsive force by z/90 * (B-θ)/(B-A) times the other propeller elements, and the second propeller element provides a multicopter weight imbalance correction method that increases its thrust by z/90 * (θ-A)/(B-A) times more than the rest of the propeller elements.

According to one aspect, a method for correcting a weight imbalance occurring in a multicopter in which N propeller elements are arranged at equal intervals, comprising: loading a payload on the multicopter; A step of measuring a weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor to determine the weight imbalance value, which is expressed as θ representing the direction of the inclination and a Z value representing the magnitude of the inclination measuring; and coordinating the positions of the N propellers based on the measured weight imbalance value.

In an embodiment, the N propeller elements are spaced apart by a distance R from the center of a single circle passing through all the N propeller elements, and in the tuning step, θ is the number of the N propeller elements. When the angular arrangement angle is coincident, the corresponding propeller element located at θ + 180 is moved toward the center of the circle by Z/90 * R, and when θ does not coincide with the angular arrangement angle of the N propeller elements, In this case, a multicopter weight imbalance correction method is provided in which two propeller elements adjacent to the position of θ + 180 move toward the center of the circle by sharing a moving distance of Z / 90 * R.

In one embodiment, the distance that the two propeller elements adjacent to the position of θ + 180 move toward the center of the circle by dividing the moving distance of Z / 90 * R is, of the two adjacent propeller elements, the A weight imbalance correction method of a multicopter that is proportional to the degree of proximity to a position corresponding to θ + 180 is provided.

In one embodiment, one propeller element disposed at a disposition angle less than θ+180 among the two adjacent propeller elements is disposed at an angle A, and among the two adjacent propeller elements disposed at an angle greater than θ+180 The other propeller element disposed at the disposition angle is disposed at the B angle, and the one propeller element moves toward the center of the circle by (B-(θ+180)) /(B-A) * R * (Z/90), , The other propeller element moves toward the center of the circle by ((θ + 180) -A)) / (B - A) * R * (Z / 90), and a multicopter weight imbalance correction method is provided.

According to one aspect, an unmanned aerial vehicle capable of loading a load includes a payload and a device installed in the payload and measuring a weight imbalance of the load when goods are loaded on the load. The weight imbalance measuring device includes: an elastic part or a hydraulic part installed at a lower end of the object loading part; a support disposed on the elastic part or the hydraulic part; and a horizontal sensor embedded in the support.

In one embodiment, when the inclination measurement is completed by the horizontal sensor, the elastic body descends and retracts or the length of the hydraulic unit is adjusted so that the elastic body or the hydraulic unit is physically separated from the support body.

In one aspect, a method for correcting a weight imbalance occurring in an unmanned aerial vehicle, comprising: loading a payload onto the unmanned aerial vehicle; A step of measuring a weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor to determine the weight imbalance value, which is expressed as θ representing the direction of the inclination and a Z value representing the magnitude of the inclination measuring; and moving a balancing weight of a weight balancer based on the measured weight imbalance value.

In one embodiment, the step of moving a balancing weight based on the measured weight imbalance value may include rotating the balancing weight in the θ direction around a central hub of the weight balance; and linearly moving the balancing weight outside the central hub by a value corresponding to Z/90 along the θ direction.

1 illustrates an embodiment of a delivery system using a network of unmanned aerial vehicles (UAVs), according to one embodiment of the present invention.
2B is an exploded view of the unmanned aerial vehicle of FIG. 2A, according to one embodiment of the present invention.
2C is a perspective view of an embodiment of an unmanned aerial vehicle, according to an embodiment of the present invention.
Figure 2d is a bottom perspective view of the UVA of Figure 2c, according to one embodiment of the present invention.
3A illustrates a first loading state of a shipment loaded within a payload, according to one embodiment of the present invention.
3B illustrates a second loading state of a shipment loaded within a payload, according to one embodiment of the present invention.
4A illustrates a first loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
4B illustrates a second loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
4C illustrates a third loading example of a shipment loaded in a payload in which a level or a level sensor is installed according to an embodiment of the present invention.
4D illustrates a fourth loading example of a shipment loaded in a payload in which a level or a level sensor is installed according to an embodiment of the present invention.
4E illustrates a fifth loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
5A and 5B illustrate a horizontal sensor, according to one embodiment of the present invention.
6A to 6C illustrate polar coordinates of a horizontal sensor according to an embodiment of the present invention.
7-10 illustrate one weight imbalance resolution mechanism according to an embodiment of the present invention.
11 illustrates a trajectory of a three-dimensionally moving weight according to an embodiment of the present invention.
12a, 12b and 12c show a weight balancer that moves three-dimensionally according to an embodiment of the present invention.
13a, 13b, 13c and 13d show a two-dimensionally moving weight balancer according to an embodiment of the present invention.
14 shows an example of a multicopter according to an embodiment of the present invention.
15 is a plan schematic conceptual diagram of the multicopter of FIG. 14 .
16A to 16C are diagrams for explaining weight imbalance correction of a drone according to an embodiment of the present invention.
17A to 17C illustrate a configuration of an elastic unit when imbalance is measured according to an embodiment of the present invention.

Hereafter, exemplary embodiments will be described in more detail with reference to the accompanying drawings, in which like reference numerals designate like elements throughout. This invention may, however, be embodied in many different forms and should not be construed as limited only to the illustrative examples herein. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the aspects and features of the invention to those skilled in the art. Processes, elements and techniques may not be described that are not necessary to one skilled in the art for a thorough understanding of the aspects and features of the invention. Unless otherwise noted, like reference numbers refer to like elements throughout the accompanying drawings and written description, and thus their description will not be repeated. In the drawings, the relative sizes of elements, layers, and regions may be exaggerated for clarity.

Although the terms "first," "second," "third," and the like may be used herein to describe various elements, components, regions, layers and/or sections, such elements, components , regions, layers and/or sections should not be limited by these terms. These terms are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section described below could also be termed a second element, component, region, layer or section without departing from the spirit and scope of the present invention.

Spatially relative terms, such as "immediately below", "beneath", "below", "below" "above", "above", etc., refer to an element or elements as illustrated in the figures. It may be used herein for ease of explanation in describing a feature's relationship to other element(s) or feature(s). It will be understood that these spatially relative terms should be interpreted to include different orientations of the device in use or operation other than the orientation shown in the figures. For example, if the device in the drawings is turned over, elements shown as “directly under,” “beneath,” and “beneath” other elements or features may be placed over the other elements or features. It will be oriented as being. Thus, the exemplary terms “below” and “beneath” may include both orientations of above and below. The device is oriented this way (eg, rotated 90 degrees or oriented at other orientations) and the spatially relative descriptors used herein are to be interpreted accordingly.

When an element or layer is said to be “on,” “connected to,” or “connected to” another element or layer, that element or layer may be directly on, directly connected to, or connected to the other element or layer. or there may be one or more intervening elements or layers present. Also, when an element or layer is said to be "between" two elements or layers, the element or layer can be the only element or layer between the two elements or layers, or one or more intervening elements or layers can be present. It will also be appreciated that elements or layers may also be present.

Terminology used herein is for describing specific embodiments only and is not intended to limit the present invention. As used herein, the singular forms of a noun are also intended to include the plural forms of the noun, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes" and "including", when used herein, refer to the stated features, integers, steps specifies the presence of s, operations, elements, and/or components, but does not indicate the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will also be understood that not excluded. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. When preceded by a list of elements, expressions such as "at least one" decorate all elements of the list, not individual elements of the list.

As used herein, the terms “substantially,” “about,” and like terms are used as terms of approximation and not terms of degree, and are used as terms of a measured or calculated value that will be appreciated by one skilled in the art. It is intended to account for inherent deviations in values. Also, use of “may” when describing embodiments of the present invention refers to “one or more embodiments of the present invention”. As used herein, the terms “use”, “using”, and “used” may be considered synonymous with the terms “use”, “using” and “used”, respectively. Also, the term “exemplary” is intended to refer to an example or illustration.

Unless otherwise specified, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those commonly used, for example in dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and/or this specification, ideally or very formally, in this specification. It will also be understood that unless so stipulated, it should not be interpreted.

Any numerical range recited herein is intended to include all sub-ranges of equal numerical precision subsumed within the recited range. For example, a range of “1.0 to 10.” includes all subranges between (and including) the minimum recited value of 1.0 and the maximum recited value of 10.0, i.e., 1.0, such as 2.4 to 7.6. It is intended to include subranges having a minimum value greater than or equal to and a maximum value equal to or less than 10.0. Any maximum numerical limitation recited herein is intended to include all lower numerical limitations subsumed therein, and any minimum numerical limitation recited herein is intended to include all higher numerical limitations. It is intended to include

delivery system

1 illustrates an embodiment of a delivery system using a network of unmanned aerial vehicles (UAVs), according to one embodiment of the present invention. The delivery system includes one or more drones 110 , ground stations 120 and 130 , and a logistic system and network 140 .

2A is a perspective view of an embodiment of an unmanned aerial vehicle, according to an embodiment of the present invention. The UAV includes a main frame (210). The main frame 210 may be customized to suit the use of UVA. The embodiment of FIG. 2A is a hybrid air vehicle with fixed wings 220 and rotors 230 . Figure 2b is an exploded view of the unmanned aerial vehicle of Figure 2a. The UAV 200 includes a frame 210 having a cavity. The cavity is sized to accommodate a payload 240 and a battery 250 . Alternatively, the battery 250 may constitute part of the structural form of the UAV. 2C is a perspective view of an embodiment of an unmanned aerial vehicle. The UAV 260 is a quadcopter type drone. Alternatively, it may be a multicopter type drone. Figure 2d is a bottom perspective view of the UVA of Figure 2c. The UAV 260 includes a payload interface 270. This payload interface 270 may allow the UAV 260 to carry a variety of payloads. This payload interface may be mechanical or electrical or a combination thereof. 2 is merely an example for explaining various types of unmanned aerial vehicles and payloads coupled thereto, and various other configurations are possible.

Weight related imbalance measurement

3A illustrates a first loading state of a shipment loaded within a payload, according to one embodiment of the present invention. 3B illustrates a second loading state of a shipment loaded within a payload, according to one embodiment of the present invention. Specifically, FIG. 3A illustrates a state in which the luggage is loaded in a balanced state within the payload, but FIG. 3B illustrates a state in which the luggage is displaced to one side within the payload. In the case of Figure 3b may cause difficulty in flight control of the vehicle.

4A illustrates a first loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention. 4B illustrates a second loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention. 4C illustrates a third loading example of a shipment loaded in a payload in which a level or a level sensor is installed according to an embodiment of the present invention. 4D illustrates a fourth loading example of a shipment loaded in a payload in which a level or a level sensor is installed according to an embodiment of the present invention. 4E illustrates a fifth loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.

Referring to FIG. 4A, a payload 303 is loaded in a payload 310, and a load 303 is loaded on a support 302 having a built-in level measurement module, and the support 302 ) below, an elastic body such as a spring supports the support. In the loading example of FIG. 4 , since the load 303 is weight-balanced within the payload 310, the support 302 in which the level measurement module is embedded is level.

Referring to FIG. 4B, it is illustrated that the load position of the load 303 is not balanced within the payload 310, so that the support 302 in which the level measurement module is built is tilted to one side. Referring to FIG. 4C, although the load position of the load 303 is balanced within the payload 310, the imbalance in weight within the load 303 is such that the substantial weight portion 303a within the load 303 is the load ( 303), it is illustrated that the support 302 in which the level measurement module is built is tilted to one side because it is not loaded in a balanced manner in terms of weight.

Referring to FIG. 4D, after the elastic body is retracted downward in the loading state of FIG. Illustrate the state of being level again. Figure 4e shows that the entire space of the payload is occupied by the shipment 303, and the actual weight portion 303a in the shipment is disproportionately loaded in weight within the shipment, so that the level measurement module It illustrates that the embedded support 302 is inclined to either side. Although FIG. 4 illustrates several scenarios in which the support 302 with a built-in level measurement module is inclined to one side, the present invention is not limited thereto.

When the inclination measurement is completed by the horizontal sensor, the elastic body is lowered and retracted so as to be physically separated from the support body. To this end, the elastic body advances upward before the object is loaded, and when the horizontal sensor measures the inclination, it retreats downward and is physically separated from the support body. A configuration for implementing such a bar is specifically shown in FIG. 17 . First, in the configuration shown in FIG. 17A, a payload unit or load body 1701, a supporter 1702 with a built-in horizontal sensor, and a separation plate 1703 having an opening 1704 that can be opened and closed while supporting the supporter 1702 , and an elastic part 1705, and FIG. 17A is a state before an object is loaded into the payload part, and the opening 1704 is closed so that the elastic part 1705 does not protrude upward.

17B shows a state in which the opening 1704 is opened and the elastic part 1705 protrudes upward. In this state, an object is loaded in the payload part, and as described above, the horizontal sensor measures the imbalance of the loaded load. Next, the elastic part is retracted downward to the state described in Fig. 4d, and the article is delivered in this state. Although an elastic part is used in the above example, a hydraulic cylinder can be used, in which case the length of the hydraulic part is adjusted so that when a load is loaded on the support, the support is placed in a movable suspension state such that an inclination is created due to the load imbalance. can do.

Meanwhile, as shown in FIG. 17B, a switching plate that opens and closes the opening by moving horizontally may be used as a configuration for opening the opening 1704. In addition, in order to be converted from FIG. 4E to FIG. 4D, the elastic part or spring must be completely retracted downward, as in FIG. 17C, the spring support 1708 and the agent opening or closing the opening formed in the spring support. In a configuration including two switching plates 1709, the second switching plate 1709 may be opened. Instead of using such an elaborate spring arrangement configuration, a function corresponding to the elastic part may be implemented by adjusting the hydraulic pressure of the hydraulic cylinder or adjusting its length.

The horizontal sensor built into the support is a sensor that measures the horizontality of the display surface of the display unit, and includes a gravity sensor, a geomagnetic sensor, a gyro sensor, an acceleration sensor, an inclination sensor, an altitude sensor, a depth sensor, a pressure sensor, a gyroscope sensor, and a proximity sensor. , an angular velocity sensor, a proximity sensor, and various sensing means such as a Global Positioning System (GPS) sensor. For example, the horizontal sensor may be a 3-axis acceleration sensor. In this case, referring to FIGS. 5A and 5B , FIG. 5B shows a state in which the display surface of FIG. 5A is tilted by about 90 degrees in the X axis. In this case, the gravitational acceleration value of one point on the X axis changes. Also, the gravitational acceleration value of one point on the Z axis is also changed. However, the gravitational acceleration value of the point on the Y axis does not change. By measuring the gravitational acceleration values on the X, Y, and Z axes in this way, the horizontal sensor can obtain the horizontality value of the display surface consisting of the X and Y axes. The weight imbalance value measured by the horizontal sensor may be expressed as θ, which is the direction of the center of gravity, and Z/90 degrees, which is the degree of inclination in the Z-axis direction, in the XY plane. For example, θ may correspond to 0 to 360 degrees, and Z may correspond to 0 to 90 degrees. That is, the weight imbalance value may be θ 120 degrees and Z may be 20 degrees. This weight imbalance value notation format will be used below. In summary, the θ value represents the direction of the center of gravity, and the Z value represents the magnitude of the weight imbalance. This makes it possible to quantify any degree of imbalance. Bars for these theta angles (θ) and Z angles are schematically shown in FIGS. 6A, 6B and 6C.

More specifically, FIGS. 6A-C illustrate polar coordinates of a horizontal sensor according to one embodiment of the present invention. 6a-c, LP refers to the lowest point, and the XY coordinates corresponding to the lowest point are, for example, (1,1), and the Z value may be 0.5. The coordinate value corresponding to this gradient is thus (1,1,0.5). Here, when the Z value in the maximum tilted state is regarded as 1, it is a relative value, not an absolute value. As such, any weight imbalance or loading imbalance associated with all loads on the support 302 can be represented by these coordinate values. In the form of the weight imbalance value expressed above, θ may be 120 degrees, Z may be 45 degrees, and Z may be 45 degrees. For example, if the coordinate value is (1, 2, 0.2), in the form of the weight imbalance value expressed above, in obtaining θ, Tan θ = 2/1, so θ = about 63.5 degrees.

Resolving problems with weight-related imbalance

(1) Using a movable weight balance weight unit

Referring to FIGS. 7 to 8 , the weight balance device includes a weight balancer 200 , a driving unit 210 , a transport guide unit 220 and a control unit 230 . The weight balancer 00 is located in the central portion 130a of the fuselage 100 in an equilibrium state and is transferred to both ends 130b and 130c of the left and right wings 110 in an unbalanced state (this is the case with wings as shown in FIG. 2a). in the examples). The driving unit generates power that can be transferred to the weight balancer 200, the transfer guide unit 220 is a component for guiding the transfer of the weight balancer 200, and the control unit 230 controls the driving unit 210 ) and is electrically connected to stop the operation of the drive unit.

9 is a schematic configuration diagram of a weight balance device according to a first embodiment of the present invention. Referring to FIG. 9, the weight balancer 200 is composed of a solid structure shape 300, and the drive unit 210 is composed of a drive motor 310 integral with the weight balancer 200. The transfer guide part 220 is composed of a slide guide 320 extending from one end of the left and right wings 110 across the fuselage 100 to the other end of the left and right wings, and the control unit 230 controls the slide guide. It consists of a limit switch 330 that controls the driving motor 310 so that the weight balancer is positioned at a desired point on 320. The weight balancer 300 is mounted between a front spar and a rear spar to which the fuselage 100 and wings 110 of the UAV are connected, and is coupled to a weight balance support plate. The weight balancer 300 maintains the balance of the wings by moving toward the left and right wings of the drone. The weight (W1') of the weight balancer is preferably designed to be the same as the weight (W1) of the armament mounted on one wing, but may be increased or decreased according to the position of the limit switch 330 installed on the left and right wings of the UAV. The drive motor 310 is bolted to the weight balancer through a support lug, a ball screw is shaft-coupled to a drive coupling connected to a shaft of the drive motor, and a flanged nut is coupled to the ball screw. The weight balancer 300 is transferred by rotation of the driving motor. Meanwhile, it is preferable to use a stepping motor as the drive motor. The driving coupling performs a function of preventing friction from being caused when the weight balance is transferred even if the central axis of the shaft is shaken during rotation. The slide guide part 320 includes a slide guide shaft so that the weight balancer can accurately perform linear motion without shaking left and right during transport, and a slide bearing bush is coupled to the weight balancer support plate to reduce friction and move smoothly up and down. . A metal lubricant or the like may be used instead of the slide bearing bush. The switch may be variously implemented as a device such as an interrupt type photocoupler or switch.

10 is a schematic configuration diagram of a weight balance device according to a second embodiment of the present invention. Referring to FIG. 4, the weight balancer 200 is a fluid ( 400), the driving part 210 is composed of a transfer pump 410, and the transfer guide part 220 is composed of a transfer pipe 420 for interlocking the fluid tanks 402a, 402b and 402c, , The controller 230 is composed of a sensor 430 that controls the transfer pump 410 by detecting the amount of the fluid 400 in the fluid tanks 402a, 402b, and 402c. The detection sensor 430 is installed in each of the fluid tanks 402a, 402b, and 402c to sense the amount of stored fluid, and when the amount of stored fluid exceeds a certain weight W2', an electrical signal is cut off and the transfer pump The operation of 410 is stopped.

In the embodiments of FIGS. 7 to 8, the weight moves in order to solve the imbalance in the direction of the wing in the embodiment of the aircraft with wings, but in one embodiment of the present invention, the coordinates determined as shown in FIG. 6 The imbalance can be corrected by moving the weight in the direction opposite to the value. In this regard, FIG. 11 illustrates a trajectory of a three-dimensionally moving weight according to an embodiment of the present invention. In order to achieve the weight trajectory shown in FIG. 11, the controller 230 determines the target coordinates of the corresponding waiter. These target coordinates may be set corresponding to the coordinate values determined in FIG. 6 . In the present application, especially in relation to the Z coordinate, the larger the Z coordinate value, the heavier the weight should be used, but in the present application, the weight of the moving balancer weight is constant, but the amount of movement is 3-dimensional. You can have a configuration that makes it happen. When the target 3-dimensional coordinate value is determined, in the present application, the weight unit is not moved by a guide unit as in FIGS. 7 to 10, but by a multi-stage pipe that expands or expands or a structure that can be expanded or expanded. is extended to the target point.

12a, 12b and 12c show a weight balancer that moves three-dimensionally according to an embodiment of the present invention. 12A, the weight balancer first includes a body part 801, a pivoting unit 802 coupled to the body part, a telescoping connection part 803, and a balancing weight 804. 12 shows a state before the stretchable connecting portion 803 is expanded. 12A shows a state in which the stretchable connecting portion 803 is stretched in a predetermined direction, for example, the Z-axis direction. Subsequently, FIG. 12B shows a state in which the balancing weight 804 is moved to a target coordinate value for offsetting the weight imbalance corresponding to the coordinate value determined in FIG. 6 . In this embodiment, the pivot part or pivot mechanism 102 is driven by a motor (not shown) installed in the body part 801 to pivot and move the balancing weight 804 to a corresponding target coordinate.

13a, 13b, 13c and 13d show a two-dimensionally moving weight balancer according to an embodiment of the present invention. Referring to FIG. 13D, the balancer includes a body part 901 or a central hub, a rotating part 905 disposed in the body part, a telescoping drive part 904 disposed in the body part, and a telescoping type extension part ( 908), and a balancing weight unit 902. Referring to FIG. 13A , first, the balancing weight unit 902 is located in the X-axis direction, and the current telescopic extension unit 908 is not yet stretched. Referring to FIG. 13B, the rotation unit 905 disposed in the body unit rotates the balancing weight unit 902 according to the XY coordinates among the coordinate values corresponding to the coordinate values determined in FIG. 6, and then the coordinates determined in FIG. 6 As much as the degree corresponding to the Z value among the coordinate values corresponding to the value, (that is, the greater the degree of inclination, the greater the Z value, so the extension of the telescoping extension 908 becomes larger). , is extended by the telescopic driving unit 904 disposed in the body. Accordingly, the weight imbalance corresponding to the coordinate values determined in FIG. 6 may be resolved.

(2) Rotation speed control of the propeller part

The coordinate values X, Y, and Z of the horizontal sensor, that is, X and Y indicate directions of the inclination, and Z indicates the magnitude of the inclination. That is, it represents the angle of inclination. For example, a measured value of an unbalance in the weight of a horizontal sensor in a payload of an unmanned aerial vehicle or a delivery container may be expressed as X, Y, and Z coordinate values of the horizontal sensor. For example, in the X, Y coordinates or in the 45 degree direction in the X Y coordinate system, or, for example, (1,1) indicates the direction in which the center of gravity is located. Meanwhile, how much the inclination is inclined may be different depending on the weight of the shipment. Therefore, the greater the gravitational force at the center of gravity, the greater the Z value. Accordingly, the X, Y, and Z values of the horizontal sensor, or the angular values and Z values in the X and Y planes may indicate a weight imbalance in the payload of the unmanned aerial vehicle or in the delivery container due to the loading state of the delivery. .

In this regard, in this embodiment, in the drone of the multicopter type, for example, in the form of FIG. 14, the X, Y, and Z values of the horizontal sensor, or the angular values and Z values in the X and Y planes etc., it is possible to adjust the propulsive or rotational force of the corresponding propeller elements 120 . In the example of FIG. 14, a total of six propellers are installed. Thus, the angle between each propeller element is 60 degrees. In this case, with respect to the angles θ and Z values corresponding to the weight imbalance measurements in the X, Y planes of the horizontal sensor, for example, in the easiest example, the center of gravity with an angle θ of 30 degrees and Z equal to 45 degrees. In the imbalance value, in order to compensate for this, the center of gravity imbalance can be corrected by giving the propulsion force of the first propeller element 102 in FIG. there is. In contrast, for a center of gravity imbalance value where θ is zero degrees and a Z value is 45 degrees, the first propeller thrust and the sixth propeller thrust are each increased by 0.25 times the thrust of the remaining propellers to compensate for the center of gravity imbalance. . In contrast, for a center of gravity imbalance value where θ is 45 degrees and Z value = 45, the thrust of the first propeller and the thrust of the second propeller are increased, but since it is 45 degrees, the first propeller has a disposition angle value of 30 degrees , the second propeller has a disposition angle value of 90 degrees, so the center of gravity differs from the first propeller by 15 degrees and the second propeller differs by 45 degrees, so the percentage increase in thrust for the first propeller is 45/(15+ 45) = 75 percent, and the percentage increase in thrust from the second propeller is 15/(15+45) = 25 percent. In conclusion, the first propeller increases the thrust by 0.5 times + 75 percent = 0.375 times the thrust of the other propellers, and the second propeller increases the thrust by 0.5 times + 25 percent = 0.125 times the thrust of the other propellers.

Therefore, in a hexacopter having 6 equally spaced propellers, the weight imbalance value caused by the loading of cargo in the payload part of the drone, the direction of the center of gravity is θ, and the size of the imbalance is When tilted by magnitude Z, for example, a drone of the form of FIG. 14 (i.e., the first propeller element is at 30 degrees, the second propeller element is at 90 degrees, and the third propeller element is at 120 degrees) , and finally the sixth propeller element is in the direction of 330 degrees), when θ is at 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees, and 330 degrees, respectively, the corresponding ones of the first to sixth propellers Increases the thrust of the propeller, increases the thrust of the first and second propellers when θ is between 30 and 90 degrees, increases the thrust of the second and third propellers when θ is between 90 and 150 degrees, , when θ is between 150 and 210 degrees, the thrust of the third and fourth propellers is increased, when θ is between 210 and 270 degrees, the thrust of the fourth and fifth propellers is increased, and when θ is between 270 and 270 degrees, When θ is between 330 degrees, the thrust of the fifth and sixth propellers is increased, and when θ is between 330 degrees and 30 degrees, the thrust of the sixth and first propellers is increased.

At this time, among the increments of the propulsive force of both propellers adjacent to θ, the increment Ps borne by the propeller (the first-side propeller, disposed at the angle A) having a value smaller than θ and the propeller having a value greater than θ (the second-side propeller) The increment Pl borne by the propeller (placed at angle B) is:

Ps = (B-θ)/(B-A) * 100, Pl = (θ-A)/(B-A)

For example, when θ is 120 degrees, both propellers near 120 degrees, the second propeller at 90 degrees and the third propeller at 150 degrees, which can be automatically determined by the computer. Therefore, Ps (burden ratio of the second propeller) = (150-120)/150-90 = 30/60 = 0.5, and Pl (burden ratio of the third propeller) = (120-90)/60 = 0.5. That is, the rate of increase that the second propeller and the third propeller bear is the same.

Next, when the Z value is tilted by 30 degrees, 30/90 = 0.3333. That is, the first-side propeller and the second-side propeller on both sides of the θ value must be combined to be about 0.3333 times greater than the thrust of the remaining propellers. For example, in the above example, 0.3333 * 0.5 times = 0.1665 times the second propeller and the third propeller respectively.

Let's apply this bar to a multicopter with more N propeller elements. Accordingly, N propeller elements are arranged at equal intervals by an angle of 360/N. At this time, the direction of the center of gravity is θ, and the size of the imbalance is the propeller at a value smaller than θ among the increments of the propulsive force of both propellers adjacent to θ when the size of the imbalance is tilted by the size of Z (the first side propeller, at the angle A The increment Pl borne by the propeller (second-side propeller, disposed at angle B) at a value greater than θ and the increment Pl borne by the propeller (second-side propeller, disposed at angle B) are: Ps = (B-θ) / (B-A) * 100, Pl = (θ-B)/(B-A). In addition, the propulsion increase rate to be borne by the propellers on both sides is z / 90 * 100, and the propulsion increase rate to be borne by the first propeller is z / 90 * 100 * (B-θ) / (B-A), z/90 * (θ-A)/(B-A).

By adjusting the propulsive force between the propeller elements in this way, weight imbalance due to load loading can be resolved.

(3) position control of propeller elements

In the above embodiment, the weight imbalance due to load loading is resolved by controlling the propulsion force or rotational speed of the propeller elements. On the other hand, in the present embodiment, weight imbalance due to load loading is solved by moving the propeller elements rather than adjusting the propulsion force or rotational speed of the propeller elements. Again, the example of the hexacopter in FIGS. 14 and 15 is also assumed in this embodiment, but the present invention is not limited thereto.

The coordinate values X, Y, and Z of the horizontal sensor, that is, X and Y indicate directions of the inclination, and Z indicates the magnitude of the inclination. That is, z represents the angle of inclination. For example, a measured value of an unbalance in the weight of a horizontal sensor in a payload of an unmanned aerial vehicle or a delivery container may be expressed as X, Y, and Z coordinate values of the horizontal sensor. For example, in the X, Y coordinates or in the 45 degree direction in the X Y coordinate system, or, for example, (1,1) indicates the direction in which the center of gravity is located. Meanwhile, how much the inclination is inclined may be different depending on the weight of the shipment. Therefore, the greater the gravitational force at the center of gravity, the greater the Z value. Accordingly, the X, Y, and Z values of the horizontal sensor, or the angular values and Z values in the X, Y planes may indicate a weight imbalance in the payload of the unmanned aerial vehicle or the delivery container due to the loading state of the corresponding delivery.

In this regard, in this embodiment, in the drone of the multicopter type, for example, in the form of FIG. 14, the X, Y, and Z values of the horizontal sensor, or the angular values and Z values in the X and Y planes Based on the like, the position of the corresponding propeller elements 120 can be adjusted. In the example of FIG. 14, a total of six propellers are installed. Thus, the angle between each propeller element is 60 degrees. In this case, with respect to the angles θ and Z values corresponding to the weight imbalance measurement values in the X, Y planes of the horizontal sensor, for example, in the easiest example, a weight having an angle of θ of 30 degrees and a Z value of 45 degrees Regarding the center imbalance value, in order to compensate for this, the fourth propeller element obtained by adding the value of 180 degrees to the first propeller element 102 in FIG. 15 is moved radially inward by 0.5 (45/90) * R (radius). . This bar is shown in FIG. 16A. In this way, the above center of gravity imbalance can be corrected. This movement may be performed by a motor along a separate guide.

On the other hand, for the center of gravity imbalance value where θ is zero degrees and the Z value is 45 degrees, the thrust of the third propeller and the fourth propeller element adjacent to the position of zero + 180 degrees = 180 degrees are radially 0.5 (45 /90) * 1/2 * R (radius). These bars are shown in FIG. 16B.

On the other hand, for a center of gravity imbalance value where θ is 45 degrees and the Z value is 30 degrees, the fourth and fifth propeller elements, which are two propeller elements adjacent to the position of 45 degrees + 180 degrees = 225 degrees, are radially inward. guided radially. At this time, since there is a difference of 15 degrees from the position of 225 degrees and the fourth propeller, and a difference of 225 degrees and 45 degrees from the fifth propeller, the degree of radially moving the fourth propeller is 45/(15+45) = 75 percent * (30/90) R, and the amount by which the fifth propeller moves inward is 45/(15+45) = 25 percent * (30/90) R. This bar is shown in Figure 6c.

Therefore, in a hexacopter having 6 equally spaced propellers, the weight imbalance value caused by the loading of cargo in the payload part of the drone, the direction of the center of gravity is θ, and the size of the imbalance is When tilted by magnitude Z, for example, a drone of the form of FIG. 14 (i.e., the first propeller element is at 30 degrees, the second propeller element is at 90 degrees, and the third propeller element is at 120 degrees) , and finally the sixth propeller element is in the direction of 330 degrees), when θ is at 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees, and 330 degrees, θ + 180 of the first to sixth propellers, respectively. When θ is between 30 degrees and 90 degrees, the fourth and fifth propeller elements are moved in the inner radial direction, and when θ is between 90 degrees and 150 degrees, the third propeller element is moved radially inward. The fifth and sixth propeller elements are respectively moved in the inner radial direction, and when θ is between 150 and 210 degrees, the sixth and first propeller elements are respectively moved in the inner radial direction, and when θ is between 210 and 270 degrees, When θ is between 270 degrees and 330 degrees, the second and third propeller elements are respectively moved in the inner radial direction, and θ is between 330 degrees and 30 degrees. When in the middle, the third and fourth propeller elements respectively move in the inner radial direction.

At this time, the movement distance in the inner diameter direction of both propellers adjacent to the position of θ + 180 is as follows. First, the distance Ds that a propeller element (first-side propeller element, disposed at an angle A) moves at a disposition angle of less than θ + 180 and a propeller element (second-side propeller element) at a value greater than θ + 180 move , placed at angle B) moves the distance Dl is:

Ds = (B-(θ+180)) /(B-A) * R * (Z/90);

Dl = ((θ+180) -A))/(B - A) * R * (Z/90).

For example, when θ is 120 degrees and Z is 20 degrees, both propellers near 120 +180 = 300 degrees are the 5th propeller at 270 degrees and the 6th propeller element at 330 degrees, which are automatically calculated by the computer. can be determined by Therefore, the fifth propeller element, which is the first side propeller element, moves inward by (330-(120+180))/(330-270) = 30/60 * R * (20/90) = 0.111 * R, The fifth propeller element, which is the second side propeller element, moves inward by ((120+180)-270)/(330-270) = 30/60 * R * (20/90) = 0.111 * R.

Let's apply this bar to a multicopter with more N propeller elements. Accordingly, N propeller elements are arranged at equal intervals by an angle of 360/N. At this time, the direction of the center of gravity is θ, and when the magnitude of the imbalance is tilted by the magnitude of Z, the position of θ + 180 and the inner radial movement distance of both adjacent propeller elements are at an arrangement angle of a value smaller than θ + 180 The distance Ds that a placed propeller element (first-side propeller element, placed at angle A) travels and the distance Dl that a propeller element with a value greater than θ + 180 (second-side propeller element, placed at angle B) travels is As follows:

Ds = (B-(θ+180)) /(B-A) * R * (Z/90);

Dl = ((θ+180) -A))/(B - A) * R * (Z/90).

By adjusting the positions between the propeller elements in this way, weight imbalance due to load loading can be resolved.

The various devices or components or functions or various operations or steps used in the embodiments described herein may be any suitable hardware, firmware (eg, application-specific integrated circuit), software, or software, firmware , and may be implemented using a combination of hardware. For example, the various components of these devices may be formed on a single integrated circuit (IC) chip or on separate IC chips. Further, various components of these devices may be implemented on a flexible printed circuit film, a tape carrier package (TCP), a printed circuit board (PCB), or the like without departing from the spirit or scope of the present invention. Also, the various components of these devices may process processes, running on one or more processors, within one or more computing devices, that execute computer program instructions and interact with other system components to perform the various functions described herein. or a thread. Computer program instructions are stored in memory, which can be implemented within a computing device using standard memory devices, such as, for example, random access memory (RAM). Computer program instructions may also be stored on other non-transitory computer readable media, such as, for example, a CD-ROM, flash drive, or the like. Those skilled in the art will understand that the functions of various computing devices may be combined or integrated into a single computing device, or that the functions of a particular computing device may be incorporated into one or more other computing devices, without departing from the spirit and scope of the exemplary embodiments of the present invention. It should be recognized that it can be dispersed through.

The term “controller” is used herein to include any combination of hardware, firmware, and software employed to process data or digital signals. Processing unit hardware includes, for example, ASICs (application specific integrated circuits), general purpose or special purpose central processing units (CPUs), digital signal processors (DSPs), graphics processing units (GPUs), and FPGAs. It may include programmable logic devices such as field programmable gate arrays. Within the processing unit, as used herein, each function includes a CPU configured to perform that function, i.e., configured to execute instructions stored in hard-wired hardware or in a non-transitory storage medium. It is performed by the same more general-purpose hardware. The processing unit can be fabricated on a single printed circuit board (PCB) or distributed across several interconnected PCBs. A processing unit may include other processing units; For example, a processing unit may include two processing units interconnected on a PCB.

Reference herein to “one embodiment” means that a particular feature, structure, or characteristic described is included in at least one embodiment. Accordingly, these phrases may refer to one or more embodiments. In addition, the described features, structures or characteristics may be combined in any suitable way in one or more embodiments. However, as will be appreciated by those skilled in the art, the present invention may be practiced without one or more specific details, or may be implemented in other ways, resources, manners, or the like. In other instances, well-known structures, resources or operations have not been shown or described merely to avoid obscuring aspects of the present invention.

As described above, the present invention has been described by specific details such as specific components and limited embodiments and drawings, but these are provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , Those skilled in the art in the field to which the present invention belongs can make various modifications and variations from these descriptions. Therefore, the spirit of the present invention should not be limited to the described embodiments, and it will be said that not only the claims to be described later, but also all modifications equivalent or equivalent to these claims belong to the scope of the present invention. .

Claims (2)

As an unmanned aerial vehicle capable of loading,
a payload; and
A device installed in the product loading unit and measuring a weight imbalance of the product loading unit when goods are loaded in the product loading unit,
The weight imbalance measuring device,
An elastic part or a hydraulic part installed at the bottom of the object loading part;
a support disposed on the elastic part or the hydraulic part; and
Including a horizontal sensor embedded in the support,
unmanned aerial vehicles. According to claim 9,
When the inclination measurement is completed by the horizontal sensor, the elastic body descends and retracts or the length of the oil pressure unit is adjusted so that the elastic body or the oil pressure unit is physically separated from the support body.
unmanned aerial vehicle.