WO2019059428A1 - Unmanned aerial device - Google Patents

Abstract

The objective of the present invention is to provide an unmanned aerial device capable of creating great thrust without causing interference with an external obstacle, by using a single-shaft rotor having a pair of propellers. To this end, the present invention provides the unmanned aerial device comprising: the pair of propellers for rotating oppositely to each other around a rotary shaft; a driving part, which is positioned at the upper part of the rotary shaft, for driving the propellers; a fuselage having a hollow portion in which the rotary shaft is disposed; and at least one supporting frame for supporting the driving part on the fuselage.

Description

Unmanned flight device

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned flight device, and more particularly, to a unmanned flight device capable of flying with a single shaft rotor and a pair of propellers included therein.

In recent years, unmanned aerial vehicles (UAVs) have become widely popular as hobby vehicles as well as military or civilian reconnaissance aircraft, and a variety of unmanned aerial vehicles have been developed.

1 is a perspective view of a conventional unmanned aerial vehicle. As shown in Fig. 1, the conventional unmanned flight control apparatus 10 is configured such that a plurality of rotors 12a to 12d rotate the propeller to float the moving body 11 in the air. At this time, the power of at least one of the plurality of rotors 12a to 12d is regulated, thereby enabling takeoff and landing of the moving body 11 and change of direction.

However, in the conventional unmanned flight control apparatus 10, a plurality of propellers are exposed to the outside, and various problems may occur.

Specifically, a plurality of propellers exposed to the outside may cause the propeller or the obstacle to be damaged by the rotation due to interference with the surrounding obstacles during the flight, and the rotating propeller may be a threat to people or animals. In addition, the propeller can easily interfere with the adjacent object even when not in flight, which makes it difficult to store and transport the unmanned flight device 10. When the unmanned aerial vehicle 10 collides with the surrounding obstacle, There is a problem in that the rotation of the vehicle can interfere with the surrounding obstacle and can not be taken off again.

On the other hand, a camera is mounted on an unmanned flight device for free photographing without restriction of a photographing position, and a lot of photographing using an unmanned flight device has been attempted. Reference numeral 3 in Fig. 1 denotes a camera, A rotatable support frame for permitting rotation about the longitudinal or lateral axis so that the camera 13 can be placed horizontally or vertically irrespective of the motion of the moving body 11 for stable photographing of the camera 3. [ It refers to a gimbal.

The present invention provides a unmanned aerial vehicle capable of generating a large thrust without causing interference with an external obstacle by using a single shaft rotor having a pair of propellers.

In order to solve the above problems, the present invention provides a propeller comprising: a pair of propellers rotating in opposite directions about a rotational axis; a driving unit for driving the propeller, the moving unit being located above the rotational shaft; And at least one support frame for supporting the driving unit.

According to an embodiment, the pair of propellers may be installed in the hollow portion so as not to protrude to the outside of the body.

According to an embodiment, the upper outer surface of the driving unit or the upper outer circumferential surface of the moving body may be formed as a curved surface in the shape of a convex cyclic rod.

According to one embodiment, the body may be annular, and the overall thickness may become narrower from the inside to the outside.

According to an embodiment, the first angle formed by the rotation axis and the first inclined plane formed on the upper inner circumferential surface of the moving body may be larger than the second angle formed between the rotation axis and the second inclined plane formed on the outer circumferential surface of the driving unit.

According to an embodiment, the width between the inner surface of the intake port of the body and the outer surface of the driving portion becomes narrower toward the lower side, and the lower inner peripheral surface of the body may have a vertical shape without the inclined surface.

According to an embodiment, the adapter may further include an adapter for mounting a peripheral device to the unmanned flight device, the adapter being located at a lower end of the rotation shaft.

According to one embodiment, there are provided left and right rudders spaced parallel to and spaced from each other along the fore and aft direction so as to traverse the hollow portion, and front rudder and rearward rudder spaced apart from each other in parallel to each other across the hollow portion .

According to one embodiment, each of the left, right, front and rear rudders may comprise a rudder drive shaft formed along the length direction and a rudder blade coupled with the rudder drive shaft and rotated about the rudder drive shaft have.

According to one embodiment, the flying direction of the UAV is changed according to the rotation of the rudder blade around the rudder drive shaft, and the rudder blade is coupled to one side of the rudder drive shaft, And the propeller may not be interfered with each other.

According to one embodiment, the body may have a height such that the rudder blade is not exposed below the bottom surface.

According to one embodiment, the UAV may further include a landing gear including a plurality of support legs formed along a part of an inner circumferential surface at a lower end of the body.

According to one embodiment, the support legs may be folded or unfolded by both side ends hinged to the inner peripheral surface of the lower end of the moving body, and the support legs rotate about the hinge axis.

According to one embodiment, the moving body is annular, and the lower outer circumferential surface of the moving body has an upward tapered shape, and the landing gear includes a supporting foot extended from one side of the supporting leg The support leg may be bent upward along the outer surface of the lower portion of the body when the landing gear is folded.

According to one embodiment, the UAV may include a plurality of support frames, and a plurality of fingers disposed between adjacent two of the plurality of support frames.

In the UAV according to an embodiment of the present invention, there is no possibility that the propeller rotating because the propeller is not exposed to the outside may interfere with the external obstacle, and thus the possibility of falling of the UAV is small. In addition, since the propeller is not exposed to the outside, it is easy to store and transport the unmanned aerial vehicle.

In addition, since the unmanned flight device according to the embodiment of the present invention employs a single-shaft rotor having a pair of propellers, the size of the propeller can be designed to be larger than that of the same-sized airplane, have.

In addition, the unmanned aerial vehicle according to an embodiment of the present invention maximizes the amount of outside air introduced from the upper side by making the width between the inner surface of the intake port of the body and the outer surface of the driving portion located at the central portion, The thrust loss of the device can be minimized.

Also, the unmanned aerial vehicle according to an embodiment of the present invention may have a low overall height by disposing a rudder structure inside the fuselage body but not protruding outside the fuselage body.

1 is a perspective view of a conventional unmanned aerial vehicle.

FIGS. 2A and 2B are perspective views illustrating an entire unmanned flight device according to an exemplary embodiment of the present invention.

FIG. 3 is a plan view of the unmanned aerial vehicle of FIG. 2b.

4 is a bottom view of the UAV of FIG. 2B.

5 is a front view of the UAV of FIG. 2B.

6 is a side view of the UAV of FIG. 2B.

FIG. 7 is a conceptual diagram illustrating the principle of flight of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG.

8 is a longitudinal cross-sectional view of an unmanned aerial vehicle according to an embodiment of the present invention.

9 is a view showing the air flow of the outside air flowing into the UAV according to the embodiment of the present invention.

10 is a view illustrating a rudder of an unmanned aerial vehicle according to an embodiment of the present invention.

FIGS. 11A to 11C are views for explaining the structure and direction of a rudder of an unmanned aerial vehicle according to an embodiment of the present invention.

12 is a view illustrating an example of operation of a rudder according to the flight direction of the UAV according to an embodiment of the present invention.

FIG. 13 is a view showing a state where the landing gear of the UAV is unfolded according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix " module " and " part " for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms.

The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, the terms " comprises " or " having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

2A and 2B are a perspective view, FIG. 3 is a plan view, FIG. 4 is a bottom plan view, FIG. 5 is a front view, and FIG. 6B is a plan view of the unmanned flight device according to the embodiment of the present invention. Is a side view.

2A to 6, the UAV 100 according to an embodiment of the present invention includes a moving body 110, a driving unit 130, a pair of propellers 131 and 132, 123).

However, it is needless to say that the components shown in Figs. 2A to 6 are not essential, so that an unmanned flight device having more or fewer components can be implemented.

Hereinafter, each component will be described.

The body 110 forms an appearance of the UAV 100. The body 110 has a hollow portion for accommodating a rotor including a pair of propellers 131 and 132, and the body 110 formed in a vertical direction through the center portion may have an annular shape.

As described above, the body 110 may be in the form of surrounding the hollow portion, and the specific shape is not particularly limited. For example, the body 110 may have a circular or polygonal cross-section, but it is preferable that at least part of the outer surface of the flying UAV 100 is curved to minimize the resistance to air Do.

In addition, the body 110 may have an empty space, that is, a hollow portion, and the hollow portion may include a circuit board for controlling various components included in the UAV 100, an ultrasonic sensor module, A peripheral device, a motor for rotating the rudder driving shafts 141 to 144, a battery for supplying power to various parts, and the like.

The driving unit 130 is for rotating a pair of propellers 131 and 132 around a single rotating shaft 135 and may include at least one motor (not shown).

The driving unit 130 may be coupled to the moving body 110 by at least one supporting frame 121 to 123 so that the driving unit 130 including the motor may be positioned above the rotating shaft 135.

The supporting frames 121 to 123 are for supporting the driving unit 130 to the moving body 110. The driving frames 130 and the supporting frames 121 to 123 are rotated by the rotation of the first and / or second propellers 131 and 132, 123 may be able to fly. At this time, the number of the support frames 121 to 123 for supporting the driving unit 130 is not particularly limited and only one can be provided as shown in FIG. 2A, and as shown in FIG. 2B, A plurality of (e.g., three) support frames 121 to 123 of two or more can be radially installed along the outer circumferential surface of the driving unit 130 for stable support of the driving unit 130. The present invention will be described based on the unmanned aerial vehicle shown in FIG. 2B, but is not intended to limit the scope of the present invention.

The support frames 121 to 123 may have a tubular shape in which the inside is hollow and the tubular support frames 121 to 123 may be electrically connected to the driving unit 130 by electric wiring for supplying electric power to the driving unit 130, A communication wire for transmitting a control signal or receiving various sensing signals from the driving unit 130 may be incorporated.

The first and second propellers 131 and 132 are installed on the one rotary shaft 135 and the pair of propellers 131 and 132 are connected to the driving unit 130 as shown in FIG. (Axially) on the downwardly-formed rotary shaft 130 at different heights. The unmanned flight device 100 generates the air current passing through the hollow portion of the moving body 110 by the pair of propellers 131 and 132 rotating around the rotating shaft 135. As a result, And can float in the air.

Here, when the moving body 110 is taken off, it is preferable that the propellers 131 and 132 rotate about coaxial axes but rotate in different directions. That is, when the first propeller 131 rotates in the clockwise direction, the second propeller 132 can rotate in the counterclockwise direction. On the contrary, when the first propeller 131 rotates in the counterclockwise direction, 2 propeller 132 can rotate clockwise. As the first and second propellers 131 and 132 rotate in opposite directions to each other, the UAV 100 can generate a larger lift in the vertical direction.

According to one embodiment, the single rotation shaft 135 and the propellers 131 and 132 are coupled by a gear module composed of a plurality of gears such that the first and second propellers 131 and 132 are disposed in opposite directions And / or may have different rotational speeds.

According to another embodiment, the driving unit 130 may include first and second motors for individually driving the first and second propellers 131 and 132, 1 and the second shaft can be combined so as to be rotatable individually. At this time, the second shaft is installed so as to be inserted into the first shaft of the tubular shape, and thereby, by rotation of the first shaft and the second shaft provided on the coaxial shaft, the first and second shaft combined with the respective first and second shafts The propellers 131 and 132 can be individually controlled by the driving direction and the driving speed of the first and second motors.

Meanwhile, the UAV 100 according to the embodiment of the present invention may include an adapter 150 for connecting to a peripheral device at a lower end of a rotary shaft 135, An adapter support can be inserted into the tubular second shaft and the adapter 150 can be coupled to the distal end of the adapter support so as not to be affected by rotation of the second propeller 131, have. That is, first and second shafts of tubular shape are provided on the coaxial shaft, and an adapter supporter that is not connected to the motor in the driving unit 130 may be inserted into the second shaft.

On the other hand, the first or second propeller 131 or 132, which rotates about a single rotary shaft 135, includes at least two blades for generating lift, but the number of the blades is not particularly limited.

The pair of propellers 131 and 132 are installed in the hollow portion so that the propeller does not protrude out of the body 110 so that the rotating propeller does not interfere with the external obstacle, Can be prevented. In addition, since the propeller is not exposed to the outside, there is an advantage that the unmanned aerial vehicle can be easily stored and transported.

The shape of the blades of the first or second propeller 131 or 132 is not particularly limited, but it is preferable that the cross section of the blades of the first and second propellers 131 and 132 is curved so that a large lift is generated. That is, the propeller blade may have a shape that is twisted at a predetermined angle with respect to the longitudinal direction, and may have a shape in which the width of the blade decreases gradually toward the distal end (the distal end from the rotation axis). According to another embodiment, the distal end of the wing may further include a wing piece that is bent and extended in the up or down direction.

The first or second propeller 131 or 132 is coupled to the rotation shaft 135 in a state in which the wing is inclined by a predetermined angle (?) In the gravity direction from the horizontal direction so as to generate a larger lift force by rotation. .

Since the unmanned flight control apparatus 100 according to the present invention employs the first and second propellers 131 and 132 having a single shaft and has a propeller larger in size than a flying body of the same size, Lt; / RTI >

Meanwhile, the shape of the upper surface of the UAV 100 according to an embodiment of the present invention is preferably formed as a curved surface of a cycloid shape which is convexed upward as shown in FIGS.

Specifically, the upper outer surface of the driving unit 130, the upper outer surface of the support frames 121 to 123 and / or the upper outer surface of the body 110 have a convexly curved surface in a convex shape, ) Allows high-speed airflow during lateral, lateral, and left-to-right flight so that it can fly with low air resistance.

At this time, the driving unit 130, the supporting frames 121 to 123 and the moving body 110 can have a curved surface in which the driving body 130, the supporting frames 121 to 123 and the moving body 110 ) May not be formed at the portions where they face each other. That is, the curved surfaces of the support frames 121 to 123 may extend to the upper outer surface of the driving unit 130 and the upper outer surface of the body 110.

Of course, the lower outer circumferential surface of the body 110 may also have a curved surface in the form of a cycloid.

As a result, the entire thickness of the annular body 110 becomes narrower from the inside to the outside, so that the UAV 100 can be prevented from receiving high air resistance when flying in the lateral direction.

Hereinafter, the principle of generating the thrust by the unmanned aerial vehicle according to an embodiment of the present invention will be described in detail.

7 is a view for explaining a concept of generating thrust in the UAV according to an embodiment of the present invention.

The moving body 110 has an air inlet 101 at the center for sucking outside air. That is, by the rotation of the propellers 131 and 132, the outside air flows into the inside of the moving body 110 through the inlet 101. The outside air flows into the outside through the air outlet 102 located below the moving body 110 . The diameter of the intake port 101 (specifically, the diameter of the upper end portion of the intake port 101) is larger than the diameter of the exhaust port 102 so that the inner circumferential surface of the body 110 has a width inlet / narrow outlet.

A driving unit 110 disposed on an inner surface of the intake port 101 of the moving body 110 and a central portion of the moving body 110 to maximize the amount of outside air flowing from the upper side of the moving body 110, The width of the outer side surface of the upper portion 130 may be narrower toward the lower side. 9, the first angle formed by the rotation axis 135 and the first inclined plane f1 formed on the inner peripheral surface of the body 110 is the angle formed by the rotation axis 135 and the outer peripheral surface of the driving unit 130. In other words, The second angle formed by the second inclined surface f2 formed on the second inclined surface f2.

The airflow formed by the rotation of the propellers 131 and 132 is formed by the outside air being sucked from the upper side of the hollow portion of the body 110 and discharged downward while the upstream side of the airflow is wide and the downstream side is narrow, The amount of outside air introduced from above the moving body 110 is maximized and the speed of the outside air discharged to the lower side of the moving body 110 increases so that the loss of thrust can be minimized.

In addition, the lower inner circumferential surface of the body 110 has a vertical shape without an inclined surface, and the air flow discharged to the lower side of the hollow portion is straight, thereby suppressing the generation of vortices that may occur in the lower portion of the body 110 during flight .

Hereinafter, the principle of switching the flight direction of the UAV according to an embodiment of the present invention will be described in detail.

FIG. 10 is a view showing the rudder of the UAV according to an embodiment of the present invention, and FIGS. 11A to 11C are views for explaining the structure and direction of the rudder of the UAV according to an embodiment of the present invention. to be.

As shown in FIGS. 10 and 11a to 11c, the UAV 100 according to an embodiment of the present invention may include a plurality of rudders to fly in the lateral direction, that is, in the forward, backward, leftward, and rightward directions.

The UAV 100 may have a plurality of rudders to fly in the lateral direction. According to one embodiment, the UAV 100 includes a rudder disposed along the fore and aft direction so as to cross a hollow formed at the center of the body 110, and a rudder disposed along the lateral direction to cross the hollow The UAV 100 preferably includes left and right rudders spaced parallel and spaced apart from each other along the longitudinal direction so as to cross the hollow portion and spaced apart in parallel along the left and right direction across the hollow portion And may include deployed front and rear rudders.

For example, as shown in Fig. 12, when the rudder is viewed from the upper side, the arrangements of the front side, the right side, the front side and the rear side rudder are set so that each rudder is positioned at a position corresponding to each of the corners of the quadrangle .

Each of the left rudder, the right rudder, the front rudder and the rear rudder includes rudder driving shafts 141 to 144 formed along the longitudinal direction and a pair of right and left rudder driving shafts 141 to 144 coupled with the rudder driving shafts 141 to 144, (Not shown). At this time, the rudder blades 1411 to 1441 may be coupled to one side of the rudder drive shafts 141 to 144 or may be coupled to both sides of the rudder drive shafts 141 to 144, but in the present invention, However, when one of the rudder blades 1411 to 1441 is coupled to one side of the rudder drive shafts 141 to 144, the rudder blades 1411 to 1441 are coupled to the lower side of the rudder drive shafts 141 to 144 So that the rotating rudder blades 1411 to 1441 do not interfere with the propellers 131 and 132. It is preferable that the rotation range of the rudder blades 1411 to 1441 is limited so that the rotating rudder blades 1411 to 1441 and the propellers 131 and 132 do not interfere with each other.

The rudder driving shafts 141 to 144 may rotate about the longitudinal direction, and a motor for rotating the rudder driving shafts 141 to 144 may be provided in the moving body 110. At this time, in order to transmit the driving force of the motor to the rudder driving shafts 141 to 144 and fix the rudder driving shafts 141 to 144 to the moving body 110, at one end of the rudder driving shafts 141 to 144, (1412 to 1442) may be combined.

As a result, when at least one of the plurality of rudder drive shafts 141 to 144 rotates by a predetermined angle in any direction, an air flow for propelling the airframe is applied to the rotated rudder blade, direction, and the body 110 rotates with the rotational force by the transverse force.

For example, as shown in FIG. 11A, when the rudder drive shafts 141 to 144 are not rotated, the moving body 110 is raised or lowered by the rotation of the propellers 131 to 132 in place, Alternatively, as shown in FIG. 11B, when one or a corresponding pair of rudder drive shafts 141 to 144 is driven and the rudder blades 1411 to 1441 are rotated in the clockwise direction on the drawing reference basis, If one or a corresponding pair of rudder drive shafts 141 to 144 is driven and the rudder blades 1411 to 1441 are rotated in the counterclockwise direction on the basis of the drawing, as shown in Fig. 11C, The body 110 can fly in the left direction.

More specifically, as shown in Fig. 12 (a), when the rudder blades 1411 and 1431 disposed at the front and rear are rotated toward the "front" direction, the body moves forward, As described above, when the rudder blades 1411 and 1431 arranged in the front and rear direction are rotated toward the " rear " direction, the gas will fly backward. As shown in Fig. 12C, when the rudder blades 1421 and 1441 disposed on the left and right are rotated toward the " right " direction, the gas flows to the right, When the left and right rudder blades 1421 and 1441 are rotated toward the " left " direction as in Fig. As shown in Figs. 12 (e) and 12 (f), the rudder blades 1421 and 1441 disposed on the front, rear, left, and right sides do not rotate but rotate in one of the pair of propellers 131 and 132 If the propeller rotates faster than the other propeller rotating in the other direction, the body 110 rotates in place (yawing) in the opposite direction of the propeller rotating faster. Needless to say, it is possible to fly in various flight directions by driving combinations of the rudder blades 1421 and 1441 shown in each of Figs. 12 (a) to 12 (f).

At this time, if the rudder driving shafts 141 to 144 are installed to cross the inner circumferential surface of the moving body 110 and have a thickness such that the rudder blades 1421 and 1441 are not exposed under the bottom surface of the moving body 110, There is an effect that the overall height of the UAV 100 can be lowered without the rudder blade projecting out of the base.

Although the height or the size of the moving body 110 according to the embodiment of the present invention is not particularly limited, the height of the moving body 110 may be determined by the first and second propellers 131 and 132 and the rudder blades 1411 to 1441 It is preferable that the height is not less than the combined height. That is, by preventing the propellers 131 and 132 and the rudder blades 1411 to 1441 from protruding outside the moving body 110 when the moving body 110 is placed on the ground, the propellers 131 and 132 and the rudder blades 1411 1441) is prevented from interfering with external obstacles so that the possibility of collision by external obstacles can be remarkably reduced and re-takeoff is possible without the need to eliminate the interference with external obstacles in case of a fall, ) Can be easily stored and transported.

Meanwhile, the UAV 100 according to an embodiment of the present invention may include a landing gear. The landing gear is for supporting the weight of the aircraft when the unmanned flying device 100 is moored on the ground, and the landing gear is located at a lower portion of the unmanned flight device 100 and unfolded at landing And supports the body 110 away from the ground. When the unmanned flight control device 100 is taken off and flying, the landing gear may be folded so as not to interfere with an external obstacle.

The landing gear may be folded into a body and unfolded by a body in various manners. However, the landing gear according to an embodiment of the present invention may have a structure in which the landing gear is formed along a part of the inner peripheral surface of the lower end of the body 110 And may include a plurality of support legs 161 and 162 formed therein.

Each of the support legs 161 and 162 may be an annular part so that the entirety of the plurality of support legs 161 and 162 is formed along the inner peripheral surface of the lower end of the body 110 when the landing gear is folded. The number of the support legs 161 and 162 is not particularly limited but is preferably two or more to support the base body. In the case where the support legs 161 and 162 are two, the support legs 161 and 162 may be semi- have.

At this time, both ends of the support legs 161 and 162 are hinged to the inner peripheral surface of the lower end of the body 110, and the landing gear can be folded or unfolded by rotation about the hinge shafts 163 and 164 have. More specifically, the state where the landing gear according to the embodiment of the present invention is folded is shown in FIGS. 2A to 6, and the state where the landing gear is unfolded is as shown in FIG. That is, when the landing gear is folded, the plurality of support legs 161 and 162 are not exposed to the outside, and when the landing gear is unfolded, the plurality of support legs 161 and 162 are raised, .

The landing gear may further include support legs 1611, 1612, 1621, and 1622 extending from one side of the support legs 161 and 162, according to one embodiment. Accordingly, when the landing gear is unfolded, the support feet 1611, 1612, 1621, and 1622 can be placed along the ground to stably support the gas.

At this time, the support feet 1611, 1612, 1621, and 1622 may be bent along the lower outer surface of the body 110 so that the landing gear does not protrude outward from the outer surface of the body 110 when the landing gear is folded, The support feet 1611, 1612, 1621, and 1622 may also be bent upward along the outer surface of the body 110 when the lower outer surface of the body 110 is tapered upward.

Here, the number of the support feet 1611, 1612, 1621, and 1622 formed on one support legs 161 and 162 is not particularly limited, but is preferably two or more.

Meanwhile, the unmanned flight control apparatus 100 according to an embodiment of the present invention can perform an autonomous flight according to a predetermined route, but it is also possible to provide a control command from a remote terminal (or a control device) And a control unit for controlling the operation of at least one component included in the UAV 100 by a control command received through the communication unit.

The UAV 100 may include an obstacle detection sensor for sensing a forward object on a side surface of the body 110 and / or a bottom surface of the body 110. [ The obstacle detection sensor may be an ultrasonic sensor having a module for transmitting an ultrasonic wave and a module for receiving the transmitted ultrasonic wave according to an embodiment. The ultrasonic sensor may be disposed on the bottom surface of the body 110 At least one may be provided, and at least one side surface of the moving body 110 may be provided along the outer circumferential surface, as shown in FIG. Reference numeral 112 in FIG. 4 denotes a vertical ultrasonic sensor provided on the bottom surface of the body 110. The vertical ultrasonic sensor 112 senses a front object on the bottom surface of the object 110 or measures the distance to the front object . Reference numeral 111 in FIG. 5 denotes a horizontal ultrasonic sensor provided on a side surface of the moving body 110. The horizontal ultrasonic sensor 111 detects a forward object on the side surface of the moving body 110, To be measured.

The control unit can control the flight so that the moving body 110 does not collide with the obstacle by using the distances to the adjacent obstacles measured by the ultrasonic sensors 111a to 111d and 112 and the ultrasonic sensors 111a to 111d And 112 to the remote terminal so that the remote terminal can display the distance to the adjacent obstacle.

14, the UAV 100 includes a plurality of supporting frames 121 to 123, and a plurality of supporting frames 121 to 123, which are formed in the radial direction from the outside of the driving unit 13, A large number of flesh is arranged so as to have a narrow gap between two adjacent support frames of the support frames 121 to 123 so that a plurality of fins 124 in the form of a net can serve as a protection net covering the intake port 101 (See Fig. 14).

A plurality of flesh 124 serving as a protection net prevents the user's hands from moving on the rotating propellers 131 and 132 or prevents foreign substances from being sucked by the propellers 131 and 132 through the air inlet 101 Thereby preventing unintended injuries of the user, improving flight stability of the UAV 100, and preventing damage to the UAV 100. [0064]

Meanwhile, in the UAV 100 according to the embodiment of the present invention, the fluorescent material may be applied to at least a part of the surface exposed to the outside.

At least one of the unmanned flight devices 100 may be provided in order to inform the outside of the position of the unmanned airplane device 100 while the unmanned airplane device 100 is in flight in the dark or to reduce the risk of losing the dropped unmanned airplane device 100 At least a portion of the surface of the structure may be coated with a fluorescent material.

In the meantime, the UAV 100 according to an embodiment of the present invention includes a camera 110, a light emitting means, a receiving means, a communication network constituting means, a speaker, a microphone, a temperature sensor, a wind direction sensor, A peripheral module including at least one of a positioning module, a solar module, a display means and an additional battery.

The unmanned flight device 100 including at least one peripheral device can acquire and acquire a surrounding image using a camera, or inform the outside of the position of the unmanned airplane device using light emitting means, It is also possible to carry goods carried by the article receiving means or to establish radio communication between two or more communication nodes by using the communication network constituting means or to output a sound around the wireless flying apparatus by using a speaker, You can collect the sound around the wireless flight device, determine the weather condition of the wireless flight device by using the temperature, the wind direction and the air flow sensor, or use the positioning module to determine the exact position of the wireless flight device or use the solar module Thereby supplying electric power or storing electric power to the configuration included in the wireless flight device, Utilized can be added to ensure the flight time of flight wireless devices by providing an image on a peripheral device or a wireless flight, using an additional battery.

It is needless to say that the peripheral device is not limited thereto and may be various application devices.

The unmanned flight device 100 may include an adapter 150 for mounting the peripheral device so that the peripheral device can be mounted and detached to the unmanned flight device 100. [ The adapter 150 is coupled to the lower end of the rotary shaft 135 and is rotatably supported by the first and second tubular members 131 and 132 so that the adapter 150 is not affected by the rotation of the propellers 131 and 132, 2 shaft may be coupled to the distal end of an adapter support mounted within the shaft.

In this case, the adapter support may include an electric or telecommunication cable for electrically connecting the adapter 150 to the circuit board located inside the driving unit 130 or the inside of the body 110, .

The adapter 150 may include at least one terminal exposed to the outside for electrically connecting the peripheral device to the peripheral device 110 so that the peripheral device can be attached and detached, May also include at least one terminal exposed to the outside to be electrically connected to the peripheral device.

In order to prevent contaminants such as water and dust from entering into the adapter 150 when the peripheral device is not installed, a surface of the adapter 150, that is, a portion on which the peripheral device is mounted, Can be mounted.

The preferred embodiments of the present invention have been described in detail with reference to the drawings. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Accordingly, the scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning, range, and equivalence of the claims are included in the scope of the present invention Should be interpreted.

Claims (14)

1. A pair of propellers rotating in opposite directions about a rotational axis;

   A driving unit positioned above the rotary shaft for driving the propeller;

   A body having a hollow portion in which the rotation axis is disposed; And

   At least one support frame for supporting the driving part on the body;

   Wherein the unmanned flight device includes:
2. The method according to claim 1,

   Wherein the pair of propellers are installed in the hollow portion so as not to protrude to the outside of the body.
3. The method according to claim 1,

   Wherein the body has an annular shape and the entire thickness thereof becomes narrower from the inside to the outside.
4. The method according to claim 1,

   Wherein the first angle formed by the rotation axis and the first inclined plane formed on the upper inner circumferential surface of the moving body is larger than a second angle formed between the rotation axis and the second inclined plane formed on the outer circumferential surface of the driving unit.
5. The method according to claim 1,

   The width of the inner surface of the intake port of the moving body and the outer surface of the driving unit becomes narrower toward the lower side,

   Wherein the lower inner circumferential surface of the body has a vertical shape without an inclined surface.
6. The method according to claim 1,

   An adapter positioned at a lower end of the rotary shaft for mounting a peripheral device on the unmanned flight device;

   Further comprising: an unmanned aerial vehicle.
7. The method according to claim 1,

   A left rudder and a right rudder spaced parallel to each other along the front-rear direction so as to cross the hollow portion; And

   A front rudder and a rear rudder spaced apart in parallel to each other along the lateral direction so as to cross the hollow portion;

   Further comprising: an unmanned aerial vehicle.
8. 8. The method of claim 7,

   The left rudder, the right rudder, the front rudder and the rear rudder, respectively,

   A rudder drive shaft formed along the longitudinal direction; And

   A rudder blade coupled to the rudder drive shaft and rotated about the rudder drive shaft;

   And an unmanned aerial vehicle.
9. 9. The method of claim 8,

   Wherein the flying direction of the UAV is changed according to the rotation of the rudder blade about the rudder drive shaft,

   Wherein the rudder blade is coupled to one side of the rudder drive shaft so that the rotation range of the rudder blade is limited so that the rudder blade and the propeller do not interfere with each other.
10. 9. The method of claim 8,

    Wherein the body has a height such that the rudder blade is not exposed below the bottom surface.
11. The method according to claim 1,

    The unmanned flight device (1)

    And a landing gear including a plurality of support legs formed along a part of an inner circumferential surface at a lower end of the body.
12. 12. The method of claim 11,

    Wherein the support legs are hinged to the inner circumferential surface of the lower end of the moving body at both ends, and the landing gear is folded or unfolded by rotating the support leg about the hinge axis.
13. 12. The method of claim 11,

    Characterized in that the body is annular and the lower outer circumferential surface of the body has a tapered shape upward,

    Wherein the landing gear further comprises a support leg extending from one side of the support leg, wherein the support foot is bent upward along the outer surface of the lower portion of the body when the landing gear is folded.
14. The method according to claim 1,

    Wherein the unmanned flight device includes a plurality of support frames,

    A plurality of fingers disposed between adjacent two of the plurality of support frames;

    And an unmanned aerial vehicle.

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