KR101654544B1

KR101654544B1 - A unmanned aircraft having landing and retention capabilities

Info

Publication number: KR101654544B1
Application number: KR1020160039309A
Authority: KR
Inventors: 이희우
Original assignee: 주식회사 케바드론
Priority date: 2016-03-31
Filing date: 2016-03-31
Publication date: 2016-09-06

Abstract

The present invention relates to an unmanned aerial vehicle equipped with landing and storage functions.
More particularly, the present invention relates to a liquid crystal display device, A plurality of wing frames, one end of which is coupled to the main body and the other end of which is coupled with a propeller; A leg rotatably coupled to the lower portion of the plurality of vane frames in a vertical direction; A camera installed at a lower portion of the main body and installed to be rotatable in a horizontal direction; And a controller for controlling rotation of the propeller, rotation of the leg, horizontal rotation of the camera, and photographing. According to the present invention, since the legs coupled to the plurality of vanes are rotatably coupled to each other in the vertical direction, it is possible to improve the photographing field of view by the camera, measure the distance between the main body and the ground, It is possible to prevent damage caused by collision of the camera installed on the lower part of the camera with the ground and to minimize the drag generated in forward flight.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an air-

The present invention relates to an unmanned aerial vehicle equipped with landing and storage functions.

More particularly, the present invention relates to an unmanned aerial vehicle equipped with a landing and storage function capable of improving a photographing field of view by a camera when a leg coupled to a plurality of blades is rotatably coupled in a vertical direction.

An unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV) can be automatically controlled by an onboard computer mounted without a person on board, And is being developed in various forms and sizes mainly in the field of surveillance and reconnaissance.

In particular, the unmanned airplane can be classified into a fixed wing type and a rotary wing type unmanned airplane, and the rotating wing unmanned airplane can be classified into a stationary wing type unmanned airplane, And it is possible to easily approach the obstacle and to approach the target, so that it is possible to carry out near-field surveillance and reconnaissance.

One of the technologies related to such an unmanned aerial vehicle is disclosed in Patent Document 10-2015-0146040.

1 is a view showing a conventional guardless UAV. Referring to FIG. 1, a conventional guardless UAV is described. The UAV is collected and transmitted to a guard server, and a corresponding operation is performed when an emergency occurs.

The conventional guardless UAV will be described in detail. The conventional UAV is composed of a guardless UAV 1 that is controlled by an aircraft communication unit and collects aerial images, a mobile terminal 2 that requests security by the aircraft communication unit, And a security management server 3 for managing the aerial images collected from the aircraft 1 to collect aerial images of the mobile terminal 2 requesting security and use the mobile terminal 2 on the basis of the collected aerial images To a guarded unmanned aerial vehicle.

However, in the above-described conventional technique, since the image capturing unit 4 provided in the guardian UAV 1 and acquiring an aerial image is located on the lower side of the body of the guard UAV 1, the guard UAV 1 There is a problem that the photographing field is obscured by the legs provided on the left and right sides of the body.

Japanese Patent Application Laid-Open No. 10-2015-0146040 (December 31, 2015) Patent Registration No. 10-1262968 (Feb. Patent Registration No. 10-1288898 (Jul. 17, 2013)

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above problems, and it is an object of the present invention to provide an image pickup apparatus capable of improving a photographing field of view by a camera by coupling a leg coupled to a plurality of vanes, And an unmanned airplane equipped with a landing function.

Another problem to be solved by the present invention is to measure the distance between the main body and the ground surface so that the legs are automatically pivoted so as to prevent damage caused by collision of the camera installed on the lower part of the main body with the ground surface, And to provide a landing function capable of minimizing the drag generated during the unmanned airplane.

Another object of the present invention is to provide an unmanned airplane equipped with a landing and storage function for facilitating carrying and loading by allowing a wing frame provided at left and right sides of the main body to be rotated to the rear of the main body have.

According to an embodiment of the present invention, there is provided an unmanned aerial vehicle including a landing and a landing function. A plurality of wing frames, one end of which is coupled to the main body and the other end of which is coupled with a propeller; A leg rotatably coupled to the lower portion of the plurality of vane frames in a vertical direction; A camera installed at a lower portion of the main body and installed to be rotatable in a horizontal direction; And a controller for controlling rotation of the propeller, rotation of the leg, horizontal rotation of the camera, and photographing.

Further, the control unit may rotate the leg upward when the main body is away from the ground, and may rotate the leg in a downward direction when the main body comes close to the ground.

A first coupling member rotatably installed in the wing frame and having one end inserted into the leg and a slide groove formed in the other end; A second coupling member having one end slidably coupled to the slide groove of the first coupling hole and the other end integrally coupled to the rotation shaft, and a worm gear coupled to a center of the rotation shaft; A driving motor fixed to the wing frame; And a leg drive unit including a worm installed in contact with the worm gear and rotated by the drive motor.

A first coupling member rotatably installed in the wing frame and having one end inserted into the leg and a slide groove formed in the other end; A second coupling means formed in a '?' Shape, one end being slidably coupled to the slide groove, the other end being formed with a nut, and being rotatable about a center; A driving motor coupled to the vane frame to rotate about a motor shaft; And a leg driven part including a bolt rotated by the driving motor in a state of being coupled with the nut.

Further, the wing frame is formed with a receiving groove for receiving the leg when the leg is rotated in an upward direction.

The wing frame may further include a wing driving unit for rotating the wing frame in the horizontal direction. The wing frame is coupled to the left, right, and rear sides of the main body, respectively, A wing frame coupled to the left and right sides of the main body by the wing driving part is rotated and folded in a backward direction of the main body and wing frames coupled to the left and right sides of the main body by the wing driving part, And is rotated and developed in the left and right directions.

Further, the wing frame is characterized in that the area of the central portion is formed narrower than the area of both ends.

The wing frame may be inclined upwardly from one end of the wing frame to the other end of the propeller.

Further, the propeller is positioned above the main body by the inclination of the vane frame.

According to the unmanned aerial vehicle equipped with the landing and storing function according to the embodiment of the present invention, the legs coupled to the plurality of blades are rotatably coupled in the vertical direction, thereby improving the imaging field of view by the camera .

According to the present invention, since the leg is automatically rotated by measuring the distance between the main body and the ground, it is possible to prevent damage caused by collision of the camera installed on the lower part of the main body with the ground, There is an effect that can be minimized.

Further, according to the present invention, the blade frame provided on the right and left sides of the main body rotates to the rear of the main body, thereby facilitating carrying and loading.

1 is a view showing a conventional unmanned aerial vehicle for a guard;
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a landing /
3 is a view showing a landing state of a UAV provided with a landing and storing function according to the present invention.
FIGS. 4A and 4B are diagrams showing a rotation state of a leg of a UAV provided with a landing and storing function according to an embodiment of the present invention; FIG.
FIGS. 5A to 5C are diagrams showing a rotation state of a leg of a UAV provided with a landing and storage function according to another embodiment of the present invention; FIG.
FIG. 6 is a side view of an unmanned aerial vehicle equipped with a landing and storage function according to the present invention; FIG.
7A and 7B are views showing a rotation state of a wing frame of a UAV provided with a landing and storing function according to the present invention;

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

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 terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the term "comprises" or "having ", etc. is intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, And does not preclude the presence or addition of one or more other features, integers, integers, steps, operations, elements, components, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be construed as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings, and the inventor should properly interpret the concept of the term to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention. Further, it is to be understood that, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Descriptions of known functions and configurations that may be unnecessarily blurred are omitted. The following drawings are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification. It is to be noted that the same elements among the drawings are denoted by the same reference numerals whenever possible.

BACKGROUND OF THE INVENTION Field of the Invention [0002] The present invention relates to an unmanned aerial vehicle having a landing and a storage function capable of improving a photographing field of view by a camera when a leg coupled to a plurality of blades is rotatably coupled in a vertical direction.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an unmanned aerial vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a view showing a flying state of a UAV provided with a landing and storing function according to the present invention, and FIG. 3 is a diagram showing a landing state of an UAV having a landing and storing function according to the present invention.

2 and 3, the unmanned aerial vehicle according to the present invention is provided with a main body 10, a plurality of units 10, one end of which is coupled to the main body 10, and the other end of which is coupled with a propeller 21 A leg 30 which is rotatably coupled to the lower portion of the plurality of vane frames 20 so as to be vertically rotatable; And a controller 50 for controlling rotation of the camera 40 and rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing.

The plurality of vane frames 20 may be radially deployed in the main body 10 and configured to have the same spacing from each other.

The control unit 50 rotates the legs 30 upward when the main body 10 moves away from the ground and rotates the legs 30 downward when the main body 10 approaches the ground . That is, when the unmanned airplane of the present invention is in flight, the control unit 50 rotates the leg 30 in the upward direction. When the unmanned airplane makes landing, the control unit 50 rotates the leg 30 in the downward direction .

FIGS. 4A and 4B are views showing a rotation state of a leg of a UAV provided with a landing and storing function according to an embodiment of the present invention.

4A and 4B, a leg drive unit 60 may be further provided on a coupling portion between the wing frame 20 and the leg 30 to rotate the leg 30 in a vertical direction.

The leg drive part 60 includes a first coupling part 61 rotatably installed in the wing frame 20 and having one end inserted into the leg 30 and formed with a slide groove 61a at the other end, And a worm gear 62b is formed at the center of the rotary shaft 62a and the other end is integrally coupled to the rotary shaft 62a, A driving motor 63 fixed to the wing frame 20 and a worm 64 installed in contact with the worm gear 62b and rotated by the driving motor 63. The driving motor 63 may include a coupling part 62,

That is, when the worm 64 is rotated by the driving motor 63, the worm gear 62b which is installed in contact with the worm 64 is rotated, and the rotation shaft 62a is rotated by the rotation of the worm gear 62b The second engagement hole 62 is rotated about the center. The first coupling hole 61 in which one end of the second coupling hole 62 is slidably engaged is rotated by the rotation of the second coupling hole 62 and inserted into the first coupling hole 61 The combined legs 30 are turned upward and folded.

At this time, the worm gear 62b can be rotated only by the rotation of the worm 64, and the drive motors 63 provided in the plurality of wing frames 20 can be respectively controlled, The degree of spreading of the legs 30 can be set differently according to the flatness of the landing position where the user wants to land.

FIGS. 5A to 5C are views showing a rotation state of a leg of a UAV provided with a landing and storing function according to another embodiment of the present invention. FIG.

5A through 5C, a leg driving unit 60 may be further provided at a coupling portion between the wing frame 20 and the leg 30 to rotate the leg 30 in a vertical direction.

The leg drive part 60 includes a first coupling part 61 rotatably installed in the wing frame 20 and having one end inserted into the leg 30 and formed with a slide groove 61a at the other end, A second engaging hole 62 formed in the shape of an "a", one end of which is slidably engaged in the slide groove 61a, the other end thereof is formed with a nut 62c and is rotatable around the center, A drive motor 63 coupled to the vane frame 20 to rotate about a center axis 63 and a bolt 65 rotated by the drive motor 63 in combination with the nut 62c have.

That is, when the bolt 65 is rotated by the driving motor 63, the second coupling hole 62, which is engaged with the bolt 65, is advanced along the longitudinal direction of the bolt 65, The motor 63 is rotated about the motor shaft 63 to rotate the second engagement hole 62 and the first end of the second engagement hole 62 is rotated by the rotation of the second engagement hole 62 The legs 30 inserted into the first coupling hole 61 are engaged with the first coupling hole 61 while sliding along the slide groove 61a of the first coupling hole 61 to rotate the first coupling hole 61, And is in a folded state.

At this time, the second coupling hole 62 can be advanced and rotated only by the rotation of the bolt 65 engaged with the nut 62c formed in the second coupling hole 62, The unmanned airplane of the present invention can control the degree of spreading of the legs 30 according to the degree of flatness of the landing position of the unmanned airplane.

6 is a side view of an unmanned aerial vehicle having a landing and landing function according to the present invention.

Referring to FIG. 6, the wing frame 20 of the present invention may be inclined upwardly from one end of the wing frame 10 to the other end of the propeller 21.

That is, the wing frame 20 has a height higher than the height of one end of the wing frame 20, which is formed on the main body 10, So that the propeller 21 is positioned higher than the main body 10.

Accordingly, the distance between the propeller 21 and the ground surface is increased, so that the driving safety of the propeller 21 can be improved.

The end of the leg 30 may further include a contact member 31 to be brought into close contact with the wing frame 20 when the leg 30 is rotated in the upward direction. The contact member 31 may be formed in the form of a sieve to hold the wing frame 20.

Also, in the wing frame 20, when the leg 30 is rotated in an upward direction, a leg receiving groove for receiving the leg 30 may be formed. In this case, the leg-receiving grooves may be formed along the longitudinal direction of the wing frame 20 to accommodate the legs 30, and the leg-receiving grooves may be formed such that the legs 30 are rotated So that the legs 30 are held so as not to be separated from the leg-receiving grooves.

7A and 7B are views showing a rotation state of a wing frame of a UAV provided with a landing and storing function according to the present invention.

7A and 7B, a wing drive unit 70 for horizontally rotating the wing frame 20 may be further provided at a coupling portion between the main body 10 and the wing frame 20.

That is, the plurality of wing frames 20 are coupled to the left and right sides of the main body 10 by the wing drive part 70 when the wing frame 20 is folded on the left, right and rear sides of the main body 10, The wing frame 20 can be folded and rotated in the rear direction of the main body 10 and the wing frame 20 coupled to the left and right sides of the main body 10 by the wing driving part 70, Can be rotated and developed in the left and right directions of the main body 10.

Accordingly, when carrying the UAV of the present invention, the wing frame 20 coupled to the left and right sides of the main body 10 can be easily folded and folded in the rear direction of the main body 10, When the UAV of the present invention is used, the wing frame 20 coupled to the left and right sides of the main body 10 can be rotated and used in the left and right directions of the main body 10.

3, a wing frame 20 coupled to left and right sides of the main body 10 in a state in which the legs 30 are rotated upward is provided on both sides of the main body 10, (11) for receiving the wing frame (20) and the leg (30) can be formed when the wing frame (20) is rotated in the backward direction of the wing frame (10).

As described above, according to the present invention, the legs coupled to the plurality of vanes are rotatably coupled to each other so as to improve the imaging field of view by the camera, measure the distance between the main body and the ground, It is possible to prevent breakage caused by collision of the camera installed on the lower part of the main body with the ground and to minimize the drag generated in forward flight.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It can be seen that branch substitution, modification and modification are possible.

10: main body 11: folding receptacle groove
20: wing frame 21: propeller
30: leg 31: tight contact member
40: camera
50:
60: leg drive part 61: first coupling part
61a: slide groove 62: second coupling hole
62a: rotating shaft 62b: worm gear
62c: nut
63: drive motor 63a: motor shaft
64: Worm
70:

Claims

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A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
The control unit (50)
Wherein when the body (10) is away from the ground, the leg (30) is rotated in an upward direction, and when the body (10) approaches the ground, the leg (30) Unmanned aircraft with archiving function.

A main body 10;
A plurality of vane frames (20), one end of which is joined to the main body (10) and the other end is coupled with a propeller (21);
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
At an engagement portion of the wing frame (20) and the leg (30)
A first coupling member 61 rotatably installed in the wing frame 20, one end of which is inserted and coupled with the leg 30, and a slide groove 61a formed at the other end;
The other end is integrally coupled to the rotation shaft 62a and the worm gear 62b is coupled to the center of the rotation shaft 62a A second coupling member 62;
A driving motor 63 fixed to the wing frame 20; And
A worm 64 installed in contact with the worm gear 62b and rotated by the driving motor 63;
And a leg-driving unit (60) including a landing and a landing function.

A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
At an engagement portion of the wing frame (20) and the leg (30)
A first coupling member 61 rotatably installed in the wing frame 20, one end of which is inserted and coupled with the leg 30, and a slide groove 61a formed at the other end;
A second coupling hole 62 formed at one end to be slidable in the slide groove 61a, a nut 62c at the other end, and rotatable around the center, ;
A driving motor (63) coupled to the vane frame (20) to rotate about a motor shaft (63); And
A bolt 65 rotated by the driving motor 63 in a state of being coupled with the nut 62c;
And a leg-driving unit (60) including the landing and holding function.

A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
In the wing frame 20,
Wherein a leg-receiving groove for receiving the leg (30) is formed when the leg (30) is rotated in an upward direction.

A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
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At the end of the leg 30,
Further comprising a contact member (31) for coming into close contact with the wing frame (20) when the leg (30) is rotated in an upward direction.

A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
In the coupling portion of the main body 10 and the wing frame 20,
And a wing drive unit 70 for rotating the wing frame 20 in the horizontal direction,
The plurality of vane frames (20)
In the state of being coupled to the left, right, and rear sides of the main body 10, respectively,
The wing frame 20 coupled to the left and right sides of the main body 10 is rotated and folded in the backward direction of the main body 10 by the wing driving part 70 when folded,
Wherein the wing frame (20) coupled to the left and right sides of the main body (10) by the wing driving part (70) is rotated and developed in the left and right directions of the main body (10) Unmanned aircraft with archiving function.

A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
On both sides of the main body 10,
When the wing frame 20 is rotated in the backward direction of the main body 10 and folded in a state in which the legs 30 are rotated in an upward direction, And a receiving groove (11) is formed in the landing and holding function.

A main body 10;
A plurality of vane frames 20, one end of which is coupled to the main body 10 and the other end of which a propeller 21 is coupled;
A leg 30 rotatably coupled to the lower portion of the plurality of vane frames 20 in a vertical direction;
A camera 40 installed at a lower portion of the main body 10 so as to be rotatable in a horizontal direction; And
A control unit 50 for controlling rotation of the propeller 21, rotation of the legs 30, horizontal rotation of the camera 40, and photographing;
/ RTI >
The wing frame (20)
Wherein the propeller (21) is inclined upwardly from one end of the main body (10) to the other end of the propeller (21).

The method of claim 9,
The propeller (21)
Is positioned above the main body (10) by an inclination of the wing frame (20).