WO2017099554A1

WO2017099554A1 - Drone capable of moving on ground and self-propelled levitation

Info

Publication number: WO2017099554A1
Application number: PCT/KR2016/014552
Authority: WO
Inventors: 곽승렬
Original assignee: 주식회사 성진에어로
Priority date: 2015-12-11
Filing date: 2016-12-12
Publication date: 2017-06-15
Also published as: KR20170069679A; KR101807082B1

Abstract

The present invention provides a drone capable of moving on the ground and self-propelled levitation. An aspect of the drone capable of moving on the ground and self-propelled levitation, according to an embodiment of the present invention, comprises: a main frame having a rolling member; a plurality of subframes swingably installed on the main frame; a plurality of rotors installed in each of the subframes; and a control unit for varying the rotating direction of the rotors so as to enable the rolling member to roll and move on the ground or the drone to levitate off the ground by a self-propelling force.

Description

[Revision 07.02.2017] According to Rule 26

The present invention relates to a drone capable of ground movement and magnetic elevation by radio control.

In general, a drone is a general term for an unmanned aerial vehicle or uninhabited aerial vehicle (UAV) in the form of a plane or a helicopter that can fly and steer by radio wave guidance without a pilot. In the past, drones have been used as targets for practice shooting or in military fields for reconnaissance, surveillance and anti-submarine attacks.

On the other hand, in a drone, a rotor that generates thrust for flight is generally configured to protrude to the outside. Therefore, the space required for storing or transporting the drone by the protrusion of the rotor increases, and the damage of the rotor protruding to the outside may be concerned.

In addition, the conventional drone is raised from the ground by the thrust generated by the rotation of the rotor in the state positioned on the ground to fly. Therefore, conventionally, a problem occurs in that the drone does not move smoothly on the ground.

It is an object of the present invention to provide a ground moving and magnetically elevable drone that is configured to be more easily stored and transported.

Another object of the present invention is to provide a ground moving and magnetically elevable drone configured to be capable of horizontal movement on the ground.

One aspect of the ground movement and magnetically capable drones according to an embodiment of the present invention for achieving the above object is a main frame provided with a rolling member; A plurality of subframes swingably installed on the main frame; A plurality of rotors respectively installed in the subframes; And a control unit configured to vary the rotational direction of the rotor such that the rolling member moves in the ground by rolling along the ground or moves upward on the ground. It includes.

In one aspect of the embodiment of the present invention, the control unit converts the polarity of the current supplied to the rotor for varying the rotational direction of the rotor.

In an aspect of an embodiment of the present invention, the main frame comprises: an upper frame defining an upper appearance of the main frame; And a plurality of side frames defining side appearances of the main frame. And the subframe swings between a first position positioned side by side with the side frame and a second position positioned side by side with the upper frame.

In one aspect of an embodiment of the present invention, the sub-frame is located inside an accommodation space defined by the main frame and the side frame at the first position.

In one aspect of an embodiment of the invention, the rotor comprises: a prop; And a motor providing a driving force for the rotation of the prop. Wherein at least one prop of the rotor is a positive pitch and at least one prop of the remaining rotor is a reverse pitch.

In an aspect of an embodiment of the present invention, it further comprises a fixing module for fixing the sub-frame to the main frame in a state located in the first position.

In an aspect of an embodiment of the present invention, the fixing module may include a metal piece installed on any one of the main frame and the sub frame; And a magnet installed in the other of the main frame and the sub frame. It includes, and is fixed to the main frame in the state in which the sub-frame is located in the first position by the magnetic attraction between the metal piece and the magnet.

In an aspect of an embodiment of the present invention, the fixing module further includes an elastic member for elastically supporting the metal piece on either one of the main frame and the subframe.

In one aspect of an embodiment of the present invention, the rolling member, the holder is installed on the bottom of the main frame; And a cloud ball rotatably installed in the holder to perform a cloud movement along the ground.

Another aspect of an embodiment of the present invention, the cross-section is formed in a regular polygonal shape, the receiving space is defined therein, the main frame having a cloud member on the bottom; Four sub-frames mounted on the main frame so as to be swingable between a first position accommodated in the accommodation space and a second position drawn out of the accommodation space; Four rotors each installed in the subframe; And a control unit controlling the driving of the rotor to perform any one of a ground movement mode moving along the ground and a magnetic rising mode rising on the ground. And in the ground movement mode, the rotor is controlled to rotate in a direction in which thrust toward the outside of the main frame is generated by the control unit while the subframe is located at the first position. The subframe is ground-moved in the state where the subframe is located at the first position by the thrust generated by the rotor, and in the magnetic force raising mode, in the state where the subframe is located at the first position, The rotor is controlled to rotate in a direction in which a thrust toward the inside of the main frame is generated, so that the sub-frame is swinged at the first position by the thrust generated by the rotor and is positioned at the second position to provide magnetic force. To rise.

In another aspect of the embodiment of the present invention, the control unit controls so that only a part of the rotor operates when the moving direction is changed in the ground movement mode.

Another aspect of an embodiment of the present invention, the main frame is formed in a polyhedral shape including at least an upper surface and a plurality of side surfaces, the main frame provided with a cloud member on the bottom; A plurality of sub-frames mounted on the main frame so as to be swingable between a first position positioned parallel to a side of the main frame and a second position positioned parallel to an upper surface of the main frame; A plurality of rotors respectively installed in the subframes; And a control unit for controlling the driving of the rotor so that the rotor rotates in the forward or reverse direction. And the rotor rotates in the forward direction, the subframe moves along the ground while the subframe is positioned at the first position, and when the rotor rotates in the reverse direction, the subframe is positioned at the second position. The magnetic force rises in the state.

In another aspect of an embodiment of the present invention, the subframe is swinged from the first position to the second position by reverse rotation of the rotor, and the subframe is moved at the second position by the weight of the subframe and the rotor. Swing to the first position.

According to the drone capable of moving the ground and the magnetic force according to the embodiment of the present invention configured as described above, the following effects can be expected.

First, in the embodiment of the present invention, the sub-frame in which the rotor is installed is swinged with respect to the main frame and selectively accommodated in the accommodation space of the main frame. Therefore, in the embodiment of the present invention, by relatively reducing the volume of the drone, it is possible to prevent damage to the drone during the storage or transport of the drone and at the time of storage or transport easier.

In addition, in the embodiment of the present invention, it is possible to move horizontally along the ground or ascend from the ground according to the position of the sub-frame to the main frame. Therefore, according to the embodiment of the present invention, the drone can be horizontally moved along the ground as well as in flight.

1 is a perspective view showing a state in which the sub-frame is located in the first position in the ground movement and magnetically elevated drone according to an embodiment of the present invention.

Figure 2 is a perspective view showing the state in which the sub-frame is located in the first position in an embodiment of the present invention from a different angle.

3 is a perspective view showing a state in which a sub-frame is positioned in a second position in an embodiment of the present invention.

Figure 4 is an exploded perspective view showing an embodiment of the present invention.

5 is a schematic view showing an embodiment of the present invention.

Hereinafter will be described in more detail with reference to the accompanying drawings, a drone capable of moving the ground and the magnetic force according to an embodiment of the present invention.

1 is a perspective view illustrating a state in which a subframe is positioned in a first position in a ground moving and magnetically capable drone according to an embodiment of the present invention, and FIG. 2 is a position of a subframe in a first position in an embodiment of the present invention. 3 is a perspective view showing a state in which the sub-frame is located in the second position in an embodiment of the present invention, Figure 4 is an exploded perspective view showing an embodiment of the present invention, Figure 5 Is a schematic view showing an embodiment of the present invention.

First, referring to FIGS. 1 to 4, the drone 10 (hereinafter, referred to as a “drone”) capable of ground movement and magnetic elevation according to the present embodiment may include a main frame 100, a subframe 200, and a rotor. 300.

The main frame 100 defines the overall appearance of the drone 10. In the present embodiment, the main frame 100 is formed in a polyhedron whose cross section is formed in a regular polygon as a whole, for example, a cube. Substantially, the main frame 100 defines an accommodation space A therein. The main frame 100 includes an upper frame 110 and a side frame 120.

The upper frame 110 defines an upper appearance of the main frame 100. The upper frame 110 includes four upper rods 111, four upper corner members 113, and a top plate 115. The upper rod 111, the upper corner member 113, the upper plate 115, etc. may be formed of a lightweight material, for example, carbon fiber, to secure the required strength.

In more detail, the upper rod 111 may be formed in a pipe shape of a predetermined length. The upper rod 111 is disposed so as to form a rectangular frame as a whole.

The upper corner member 113 interconnects an end portion of the adjacent upper rod 111 and an end portion of the first side rod 121 to be described later. To this end, two upper insertion holes 113a and one side insertion hole 113b are formed in the upper corner member 113. The upper insertion hole 113a is disposed in the horizontal direction to be orthogonal to each other, and the side insertion hole 113b is disposed in the vertical direction to be orthogonal to the imaginary plane in which the upper insertion hole 113a is located. In addition, a coupling protrusion 113c is provided on an upper surface of the upper corner member 113. The coupling protrusion 113c is for fixing the top plate 115.

On the other hand, the upper plate 115 is a plate-like member that substantially defines the appearance of the upper surface of the main frame 100, the lower surface of the upper plate 115, various components for driving the rotor 300 Can be installed. Coupling grooves 115a are formed in the upper plate 115. The coupling protrusion 113c is inserted into the coupling groove 115a to fix the upper plate 115 to the upper corner member 113. In addition, the upper plate 115 is provided with an upper stopper 117. The upper stopper 117 serves to limit the swing range of the subframe 200 with respect to the main frame 100. For example, the upper stopper 117 may protrude from an edge of the upper plate 115 to be positioned on a trajectory in which the subframe 200 swings.

The side frame 120 defines a side appearance of the main frame 100. The side frame 120 includes four first side rods 121, four second side rods 122, and four side corner members 123. The first side rod 121, the second side rod 122, and the side corner member 123 also have the same carbon as the upper rod 111, the upper corner member 113, and the upper plate 115 described above. It may be molded into a fiber or the like.

The first and

second side rods

121 and 122 may be formed in a pipe shape having a predetermined length, similarly to the upper rod 111. The first side rod 121 is disposed in a vertical direction intersecting in a direction orthogonal to the upper rod 111 and connected to the upper corner member 113. Substantially an upper end of the first side rod 121 will be inserted into the side insertion hole 113b. The second side rod 122 is disposed in a horizontal direction intersecting in a direction orthogonal to the first side rod 121, that is, in a horizontal direction parallel to the upper rod 111.

The side corner member 123 connects the first side rod 121 and the second side rod 122. In the side corner member 123, one first side insertion hole 123a and two second side insertion holes 123b are formed, respectively. The first side insertion hole 123a is disposed in the vertical direction, and the second side insertion hole 123b is disposed in the horizontal direction so as to be orthogonal to each other on an imaginary plane orthogonal to the first side insertion hole 123a. do.

In the present embodiment, the main frame 100 is provided with a rolling member 130. The rolling member 130 is in rolling motion substantially in contact with the ground when the drone 10 moves horizontally along the ground. The rolling member 130 includes a holder 131 and a rolling ball 133. The holder 131 may be installed at a bottom edge of the main frame 10, that is, at a bottom of the side corner member 123. And the rolling ball 133 is in contact with the ground in the state accommodated in the holder 131 to make a rolling motion.

Next, the subframe 200 is swingably installed in the main frame 100 in the swing direction S. FIG. Substantially, the sub frame 200 is provided on the upper rod 111. In the present exemplary embodiment, the subframe 200 may include a first position (see FIG. 1) located side by side on the side frame 120 and a second position (parallel) on the upper frame 110. Swing between). Substantially, the sub-frame 200 is accommodated in the accommodation space A in the state where it is located in the first position, and outside of the accommodation space A in the state where it is located in the second position. Will be withdrawn.

More specifically, in this embodiment, the subframe 200 is composed of four corresponding to the side surface of the main frame 100. The subframe 200 includes a base 210, an orifice 220, a rotor mount 330, and a connection bar 340.

The base 210 is substantially rotatably connected to the upper rod 111. To this end, the base 210, the rotating tube 211 is provided. The upper rod 111 is inserted into the pivot tube 211. The pivot tube 211 may be configured as a pair disposed to be spaced apart from each other.

The orifice 220 is fixed to the base 210 or integrally formed with the base 210. The orifice 220 guides the airflow formed by the rotor 300, and its cross-sectional area is gradually reduced in the flow direction of the airflow. In addition, the front end 221 of the orifice 220, the main frame 100, substantially the first and second in the process of the sub-frame 200 swings from the second position to the first position It is a part caught by one side of the

side rods

121 and 122. Of course, according to the position of the orifice 220 with respect to the base 210, a separate protrusion that is applied to the first and

second side rods

121 and 122 may be provided in the orifice 220.

The rotor mount 330 is a portion on which the rotor 300 is mounted. The rotor mount 330 is located inside the orifice 220. For example, the rotor mount 330 may be formed in a disc shape.

The connection bar 340 connects the rotor mount 330 to the orifice 220. The connecting bar 340 includes first and second connecting bars 341 and 342. The first connection bar 341 connects the rotor mount 330 to the orifice 220 in a region relatively spaced from the base 210. The second connection bar 342 connects the rotor mount 330 to the orifice 220 in a region relatively adjacent to the base 210. In the present embodiment, the first connecting bar 341 may be configured as one, and the second connecting bar 342 may be configured as two having a relatively thicker thickness than the first connecting bar 341. .

Meanwhile, the rotor 300 provides thrust for ground movement and magnetic force increase of the drone 10. The rotor 300 is installed in the subframe 200 and the rotor mount 330, respectively. Therefore, the rotor 300 is accommodated in the accommodation space A in a state where the subframe 200 is positioned at the first position.

The rotor 300 includes a prop 310 and a motor 320 providing a driving force for the rotation of the prop 310. In the present embodiment, for example, two props 310 of the rotor 300 may be maintained to maintain the overall balance of the drone 10 when the rotor 300 is driven, that is, when the prop 310 is rotated. ) Is the forward pitch (direction), and the other two of the rotor 300 may be the reverse pitch (direction).

Meanwhile, the drone 10 may further include a fixing module 400. The fixing module 400 fixes the subframe 200 to the main frame 10 to maintain the first position. The fixing module 400 includes a metal piece 410, a magnet 420, an elastic member 430, and a housing 440.

More specifically, the metal piece 410 is provided on the main frame 10, for example, the second side rod 122. The magnet 420 has one side of the subframe 200, for example, the orifice 220 so as to correspond to the metal piece 410 in a state where the subframe 200 is located at the first position. It can be installed on one side of. The elastic member 430 may elastically support the metal piece 410 and may be installed on the second side rod 122. In addition, the housing 440 may be installed in the second side rod 122, and the housing 440 may include a part of the elastic member 430 and the metal piece 410.

The drone 10 according to the present embodiment further includes a signal receiving module 500, a battery 600, and a control unit 700. The signal receiving module 500 receives a signal for controlling the drone 10 from a controller (not shown). The battery 600 supplies power for the operation of the drone 10. The control unit 700 controls the operation of the drone 10.

In particular, in the present embodiment, the control unit 700 controls the operation of the drone 10 in at least two modes according to the signal received by the signal receiving module 500. Here, the 'two modes' includes a ground moving mode in which the drone 10 moves along the ground, and a magnetic rising mode in which the drone 10 rises to the ground.

In the ground movement mode, the thrust generated by the operation of the rotor 300 is directed toward the outside of the main frame 100 while the subframe 200 is located at the first position. The rotor 300 is driven. Substantially, in the ground movement mode, the control unit 700 controls the electric power to be supplied from the battery 600 to the motor 320 with a current having a predetermined polarity so that the motor 320 rotates in the forward direction. . Accordingly, the drone 10 moves horizontally along the ground with the subframe 200 positioned at the first position due to the thrust generated by the rotor 300. In the ground movement mode as described above, when the signal receiving module 500 receives a signal relating to the change of direction of the drone 10 moving horizontally along the ground, the control unit 700 of the rotor 300 By stopping either one, the direction of movement of the drone 10 can be switched.

In the magnetic lift mode, the rotor 300 is driven so that the thrust generated by the operation of the rotor 300 faces the inside of the main frame 100 in the state of being positioned at the first position. Let's do it. Substantially, in the magnetic rising mode, the control unit 700 controls the electric power to be supplied from the battery 600 to the motor 320 with a current having a predetermined polarity so that the motor 320 rotates in the reverse direction. . Therefore, the sub-frame 200 is swinged from the first position to the second position by the thrust generated by the rotor 300, so that the thrust generated from the rotor 300 is substantially upwards and downwards. Therefore, the drone 10 can be raised by magnetic force.

As described above, while the subframe 200 swings from the first position to the second position, one side of the base 210 is caught by the upper stopper 117. Therefore, the subframe 200 is no longer swinged at the second position.

Next, when the signal receiving module 500 receives a signal for stopping or landing the drone 150, the control unit 700 cuts off the power applied to the rotor 300. Therefore, the subframe 200 is swinged from the first position to the second position by the weight of the subframe 200 and the rotor 300. At this time, in the state where the sub-frame 200 is located in the second position, both are contacted by the magnetic attraction between the metal piece 410 and the magnet 420. Accordingly, the subframe 200 may be maintained at the first position. In addition, in the present embodiment, since the metal piece 410 is elastically supported by the elastic member 430, the impact or noise generated when the subframe 200 is located in the first position can be prevented. In the process of the subframe 200 swinging from the second position to the first position, the front end 221 of the orifice 220 is caught by the first and

second side rods

121 and 122. As a result, the subframe 200 does not swing beyond the first position.

Meanwhile, in the present embodiment, the upper rod 111, the first and

second side rods

121 and 122 are inserted into and fixed to the upper corner member 113 or / and the side corner member 123. At this time, the sub-frame 200 is previously coupled to the upper rod 122 before inserting the upper rod 122 into the upper corner member 113. The main frame 100 is assembled by fixing the upper plate 115 to the upper corner member 113. In this state, by mounting the rotor 300 to the sub-frame 200, the production of the drone 10 is completed.

Within the scope of the basic technical idea of the present invention, many modifications are possible to those skilled in the art, and the scope of the present invention should be interpreted based on the appended claims. will be.

Claims

A main frame having a rolling member;

A plurality of subframes swingably installed on the main frame;

A plurality of rotors respectively installed in the subframes; And

A control unit configured to vary the rotational direction of the rotor so that the rolling member moves in the ground by rolling along the ground or moves upward on the ground; Ground moving and magnetically rising drone comprising a.
The method of claim 1,

The control unit, the ground movement and the magnetic force can be raised drones for changing the polarity of the current supplied to the rotor for varying the rotational direction of the rotor.
The method of claim 1,

The main frame,

An upper frame defining an upper appearance of the main frame; And

A plurality of side frames defining a side appearance of the main frame; Including,

And the subframe swings ground and magnetically lifts between a first position positioned side by side with the side frame and a second position positioned side by side with the upper frame.
The method of claim 3, wherein

And the sub-frame is ground moving and magnetically liftable drones positioned in the accommodation space defined by the main frame and the side frame at the first position.
The method of claim 3, wherein

The rotor is,

Prop; And

A motor providing a driving force for rotating the prop; Including,

At least one prop of the rotor is positive pitch,

At least one prop of the remaining rotors is a reverse pitch ground moving and magnetically powered drone.
The method of claim 3, wherein

And a fixing module configured to fix the subframe to the main frame with the subframe positioned at the first position.
The method of claim 6,

The fixed module,

A metal piece provided on one of the main frame and the sub frame; And

A magnet installed in the other of the main frame and the sub frame; Including,

And a ground moving and magnetically rising drone fixed to the main frame in a state where the subframe is positioned at the first position by a magnetic attraction between the metal piece and the magnet.
The method of claim 7, wherein

The fixed module further includes an elastic member for elastically supporting the metal piece on either one of the main frame and the subframe.
The method of claim 1,

The cloud member,

A holder installed on the bottom of the main frame; And

A drone rotatable ground moving and magnetically rotatable including a cloud ball rotatably installed in the holder and rolling clouds along the ground.
A main frame whose cross section is formed in a polygonal shape to define an accommodation space therein and having a cloud member at a bottom thereof;

Four sub-frames mounted on the main frame so as to be swingable between a first position accommodated in the accommodation space and a second position drawn out of the accommodation space;

Four rotors each installed in the subframe; And

A control unit controlling the driving of the rotor to perform any one of a ground movement mode moving along the ground and a magnetic rising mode rising on the ground; Including,

In the ground movement mode, the rotor is controlled by the control unit to rotate in a direction in which a thrust toward the outside of the main frame is generated by the control unit while the subframe is located at the first position. When the sub-frame is moved to the ground position in the first position by the generated thrust,

In the magnetic force raising mode, the rotor is controlled to rotate in the direction in which the thrust toward the inside of the main frame is generated by the control unit in the state where the subframe is located at the first position. And a ground moving and magnetically rising drone in which the subframe swings at the first position and is positioned at the second position to raise the magnetic force by the generated thrust.
The method of claim 10,

The control unit, the ground movement and magnetic force capable of raising the drone to control so that only a part of the rotor to operate in the moving direction change in the ground movement mode.
A main frame formed in a polyhedron shape including at least an upper surface and a plurality of side surfaces, and having a cloud member at a bottom thereof;

A plurality of sub-frames mounted on the main frame so as to be swingable between a first position positioned parallel to a side of the main frame and a second position positioned parallel to an upper surface of the main frame;

A plurality of rotors respectively installed in the subframes; And

A control unit for controlling the driving of the rotor such that the rotor rotates in the forward or reverse direction; Including,

When the rotor rotates in the forward direction, the subframe moves along the ground with the subframe positioned at the first position,

And a ground moving and magnetically elevating drone which, when the rotor rotates in the reverse direction, magnetically rises with the subframe positioned at the second position.
The method of claim 12,

The subframe swings from the first position to the second position by reverse rotation of the rotor, and ground movement and magnetic force are swinged from the second position to the first position by the weight of the subframe and the rotor. Rising drones.