KR101668639B1 - Flight System of mother-baby unmanned aerial vehicle using magnetic force - Google Patents

Flight System of mother-baby unmanned aerial vehicle using magnetic force Download PDF

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Publication number
KR101668639B1
KR101668639B1 KR1020150154173A KR20150154173A KR101668639B1 KR 101668639 B1 KR101668639 B1 KR 101668639B1 KR 1020150154173 A KR1020150154173 A KR 1020150154173A KR 20150154173 A KR20150154173 A KR 20150154173A KR 101668639 B1 KR101668639 B1 KR 101668639B1
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KR
South Korea
Prior art keywords
unmanned
charity
aerial vehicle
charitable
airplane
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KR1020150154173A
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Korean (ko)
Inventor
송재근
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유콘시스템 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • H02J17/00—
    • B64C2201/024—
    • B64C2201/066—

Abstract

More specifically, the present invention relates to a flight system of a UAV, and more particularly, to a UAV having a smaller size than a UAV, The coupling or separation of the unmanned airplane relates to a mothership-charity unmanned airplane flight system using a magnetic force that can be realized through a magnetic force generating member including a magnetic body provided on a mothership unmanned aerial vehicle and a pneumatic provided on a charity unmanned aerial vehicle.
In addition, the present invention relates to a method and system for connecting a plurality of charitable unmanned airplanes to a motherless unmanned airplane by magnetically coupling the unmanned airplane to a motherless unmanned airplane, It is possible to achieve the effect that the flight time and the flight distance for performing the mission of the charity UAV can be made longer by reducing the power consumption for the take-off flight of the charity UAV; The flight of the chartered unmanned aerial vehicle can be combined with the flightless unmanned aerial vehicle to return to its original position; In the case of multiple charitable unmanned aircraft for flight, it is possible to easily control each charitable unmanned airplane through a mothership unmanned aircraft.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a flight-

The present invention relates to a flight system of a UAV, and more particularly, to a UAV that is a mother ship unmanned airplane, which can be combined with or separated from one or more small unmanned UAVs smaller than a master unmanned airplane The combination or separation of the above-mentioned unmanned aerial vehicle and the charitable unmanned aerial vehicle is performed by a magnetic force generating member including a magnetic body provided on the unmanned aerial vehicle and a bomber-charity unmanned aerial vehicle using a magnetic force, ≪ / RTI >

An unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV) can be automatically controlled in position and position by an onboard computer (microcomputer) Which can be moved to a desired position by command of the user, has been developed in various forms and sizes mainly in the field of surveillance and reconnaissance.

Unmanned aerial vehicles can also be classified as stationary wing (fixed wing) and rotary wing (flywheel) unmanned aircraft depending on their form. Among them, the rotary wing type UAV can perform the mission in the absence of the runway because it is possible to perform stop flight and vertical takeoff and landing, compared with the fixed wing type UAV, and is less affected by the terrain such as the obstacle, In particular, in the case of a coaxial inverted helicopter composed of two upper and lower main rotors, it is possible to simplify the shape because there is no tail rotor, It is known to be suitable for the shape of an aircraft.

In addition, a multi-copter, which is one of a rotary wing type unmanned aerial vehicle (hereinafter referred to as a 'wing-wing unmanned aerial aircraft'), is configured to use two or more rotors (rotary wing)

Unmanned aerial vehicles can also be used to carry out missions on areas where it is difficult for a person to carry out missions. For unmanned aircraft, a daytime camera, a night camera, a composite aperture radar (SAR) ) And the like.

The following is a representative prior art for unmanned aerial vehicles.

Korean Patent Registration No. 10-1262968 discloses an unmanned aerial vehicle including an unmanned aerial vehicle for mounting an unmanned airplane and an unmanned airplane equipped with a spherical mounting portion, Wherein the unmanned aerial vehicle includes a spherical mount for landing with the unmanned ground vehicle, wherein the unmanned ground vehicle includes a spherical mount part for allowing a part of the spherical mount part of the unmanned aerial vehicle to be inserted, And a restraining arm for fixing the unmanned airplane landed on the landing unit. The restraining arm includes a recessed hemispherical landing unit corresponding to a shape of a part of the landing unit.

In addition, the above-described prior art has an effect that it is possible to easily take off and land regardless of whether the unmanned ground vehicle is horizontal or not during the combined landing as well as the single landing, and the unmanned airplane can be stably fixed after landing. However, In the case where the vehicle can not enter the area, there is a problem that the unmanned airplane can not be input due to the short flight time of the unmanned airplane. Therefore, there is a need for continuous research and development to solve the problem.

Korean Registered Patent No. 10-1262968 (Feb. Korean Patent Publication No. 10-2015-0023395 (Feb. Korean Registered Patent No. 10-1229846 (Jan. 30, 2013)

A conventional unmanned airplane is configured such that a pilot located on the ground is allowed to fly alone using a flight controller such as a pilot, so that a plurality of unmanned airplanes For the flight, multiple unmanned aircrafts had to take off and land;

Especially, the power consumption of the UAV is the largest when taking off the UAV, which causes the shortening of the flight time and the flight distance for performing the mission of the UAV.

The main objective is to provide a solution point to the problems that difficulty in controlling each unmanned airplane occurs when a plurality of unmanned airplanes simultaneously fly for mission execution.

The present invention has been made to solve the above-

A mother line unmanned aircraft having at least one magnetic force generating member including a magnetic body for forming or releasing a magnetic force to the outside; And at least one charitable unmanned airplane that is equipped with a magnetic body and is configured to be attached to or detached from a magnetic body by a magnetic force formed by the magnetic force generating member, Mothership - presents a charitable unmanned aircraft flight system.

The above-described self-powered mothership-charitable unmanned airplane flight system according to the present invention as described above combines one or more charitable unmanned aerial vehicles into a masterless unmanned airplane by magnetically coupling the unmanned airplane to the motherless unmanned airplane, It is possible to carry out mission through charitable unmanned aircraft after separating charitable unmanned airplane from unmanned airplane, thereby reducing consumption of power for takeoff flight of charitable unmanned airplane, so that the flight time and flight distance for carrying out the mission of charitable unmanned airplane An effect can be obtained;

The flight of the chartered unmanned aerial vehicle can be combined with the flightless unmanned aerial vehicle to return to its original position;

In the case of multiple charitable unmanned aircraft for flight, it is possible to easily control each charitable unmanned airplane through a mothership unmanned aircraft.

1 is a perspective view showing a state in which a charitable unmanned aerial vehicle is mounted on a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention.
FIG. 2 is a side view showing a state where a charitable unmanned aerial vehicle is mounted on a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention; FIG.
FIG. 3 is a side view showing a state in which a charity unmanned aerial vehicle is flying for coupling with a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention.
4 is a perspective view showing a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention.
FIG. 5 is a perspective view showing a state in which a pilotless unmanned aerial vehicle is flying for coupling with a mother ship unmanned aerial vehicle using a magnetic force according to a preferred embodiment of the present invention; FIG.
FIG. 6 is a plan view showing a state in which a charitable unmanned aerial vehicle is coupled to a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention. FIG.
FIG. 7 is a side view showing a state in which a charitable unmanned aerial vehicle is coupled to a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention; FIG.
FIG. 8 is a plan view showing a state in which a charitable unmanned aerial vehicle is unspoken in some coupling compartments of a mother ship unmanned aerial vehicle using magnetic force according to a preferred embodiment of the present invention. FIG.

The present invention relates to a flight system of an unmanned aerial vehicle, and more particularly, to a flightless system of a unmanned aerial vehicle, comprising: a mother ship unmanned air vehicle (10) having at least one magnetic force generating member including a magnetic body (11) A plurality of magnetic members 21 that are attached to or detached from the magnetic body 11 by the magnetic force formed by the magnetic force generating member and are coupled to or separated from the motherboard unmanned air vehicle 10, And a charitable unmanned airplane (20).

First, the mothership unmanned air vehicle 10 and the charity unmanned airplane 20 according to the present invention may be any one of a fixed wing or a rotary wing. The aircraft 20 will be described as a multi-copter type UAV having a plurality of guide bodies 22 having a rotor outside the main body as a preferred embodiment.

Further, the multi-copter is provided with a plurality of rotors around the main body for generating lift by rotating in the horizontal direction, and the rotor is provided on the other side of the guide body 22, one side of which is connected to the main body. Also, the multi-copter is a kind of a rotary wing that can take-off flight, rise fly, fall fly, forward fly, reverse fly, left turn fly, right turn fly, and land fly by adjusting the rotational direction and rotational speed of the plurality of rotors.

In addition, a well-known technique can be applied to the detailed description of the rotation direction and the rotation speed of the rotor provided in the multi-copter according to the present invention, and a description related to the main technical idea of the present invention will be specifically described below.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown.

More specifically, the mother-of-cordless unmanned air vehicle (10) includes at least one magnetic force generating member including a magnetic body (11) for forming or releasing a magnetic force to the outside. .

1, the power of the rotor for generating the thrust is stronger, the power for generating power is larger, and the power of the at least one charity unmanned air vehicle 10 is higher than that of the charity unmanned air vehicle 20, (20).

1, a plurality of guide bodies protrude from an outer side of the main body and the main body, and each of the ends of the plurality of guide bodies includes a rotor for generating thrust.

That is, the main body includes a plurality of rotors rotating in the horizontal direction on the outer side, and corresponds to the body of the mother-of-cordless aircraft 10 of the multi-copter type.

That is, the main body may include a general flight control device such as a power source for flying a multi-copter, a micom, a communication transmitting and receiving device, and a gyro sensor, , An inertial navigation system or an image photographing device, and the configuration of the flight control device and the additional device can be well known in the art.

A plurality of rotors provided outside the main body are configured to rotate by a driving body (not shown) such as a motor, and generate lift by rotation. At this time, the rotation direction and the rotation speed of the driving body for rotating the rotor are controlled by the microcomputer of the flight control device included in the main body.

In addition, the number of the driving bodies is equal to the number of the rotors in the same manner as a general multi-copter, and is equally distributed on the outside of the main body, and the rotor is provided on the upper portion or the lower portion of the plurality of driving bodies. That is, the driving body is housed in a nacelle, which is equidistantly provided on the outer side of the bus 10, and is supplied with power from a power source included in the main body, Control can be received.

In addition, if the multi-copter stably supports the weight of the main body while supporting the weight of the main body, the rotor can be provided in a plurality of portions at various portions outside the main body. When the rotor rotates, It should be obvious that it should not be.

1, the main body of the mother-of-cordless aircraft 10 has a flat bottom, and a space for allowing at least one charity unmanned air vehicle 20 to be coupled to or separated from a lower portion of the flat main body The ensured will be described as a preferred embodiment.

The magnetic force generating member includes a magnetic body 11 to generate a magnetic force on the outside of the wireless unmanned aerial vehicle. The magnetic force generating member generates a magnetic force for coupling the unarmed airplane 20 to the unmanned aerial vehicle 10.

That is, the magnetic force generating member receives the power of the aircraft 10 and forms a magnetic force on the magnetic body 11 by using the supplied power source. At this time, the magnetic body 11 operates on the principle of the electromagnet, and when the power is supplied, a magnetic force is formed and when the power supply is stopped, the magnetic force is released.

The magnetic force generating member may further include a generally known configuration including a magnetic body 11 and a power supply for controlling the intensity of the power supplied to the magnetic body 11 and power supply, an electric circuit for supplying power, .

In addition, the magnetic generating member may be constituted by a single unit, the single magnetic generating member may include a single magnetic body 11, and a plurality of the charity unmanned air vehicles 20 may be combined with the mother- A plurality of magnetic bodies 11 may be provided on a single magnetic generation member or a single or a plurality of magnetic bodies 11 may be provided on each of the plurality of magnetic generation members.

In association with the above, the magnetic force acting on the charity unmanned air vehicle 20 coupled to the mother ship unmanned aircraft 10 can be formed by the single or plural magnetic bodies 11.

The charitable unmanned airplane 20 is provided with a paternal adult body 21 and is configured such that the paternal adult body 21 adheres to or falls off the magnetic body 11 by the magnetic force formed by the magnetic force generating member, (10), which is coupled to the mother-of-wheel-less aircraft (10) as a magnetic force, is taken off and taken off by the take-off flight by the mother-beaver unmanned aircraft (10) To perform the necessary tasks.

That is, the charitable unmanned airplane 20 is configured such that the power of the rotor for generating thrust is smaller and the power for generating power is smaller than that of the unmanned aerial vehicle 10.

The charitable unmanned airplane 20 is provided with a plurality of guide bodies 22 protruding from the main body and the main body on the outside of the main body and the main body such as the above- Each of which is constituted by a multi-copter type having a rotor for generating thrust.

In addition, the zygomatic body 21 provided in the charity unmanned aerial vehicle 20 can apply gravity by the magnetic force formed by the magnetic body 11 of the unmanned airplane 10, so that the charity unmanned airplane 20 can be operated by a mother- Which can be attached to a generally known magnet such as a metallic material such as iron or a magnetic material.

In the case where the adherent body 21 of the charity unmanned aerial vehicle 20 is made of a magnetic material, the magnetic body of the charity unmanned air vehicle 20 may be formed in the form of a permanent magnet or an electromagnet.

That is, when the magnetic body of the charity unmanned airplane 20 is constituted by a permanent magnet and the charity unmanned airplane 20 is coupled to the unmanned airplane 10, the magnetic body 11 of the unmanned airplane 10, The magnetic body 11 of the mother ship unmanned air vehicle 10 forms a magnetic force acting on the magnetic body of the charger 20 when the charity unmanned air vehicle 20 is separated from the mother ship unmanned air vehicle 10, Thereby forming a magnetic force acting repulsive force on the magnetic body of the UAV 20.

When the magnetic body of the charity unmanned airplane 20 is of an electromagnet type and the charity unmanned airplane 20 is coupled to the unmanned airplane 10, the magnetic body of the charity unmanned airplane 20 and the magnetic body of the unmanned airplane 10 The magnetic body 11 forms a magnetic force acting on the mutually attraction force and when the charitable unmanned airplane 20 is detached from the unmanned airplane 10 on the contrary to the above, the magnetic body of the charitable unmanned airplane 20 and the unmanned airplane 10 form a magnetic force acting on the mutual repulsive force.

1 and 2, when the charity unmanned air vehicle 20 is mounted on the lower portion of the bus 10, the magnetic force 11 is generated by the magnetic force generating member at the lower portion of the unmanned air vehicle 10, And the upper part of the charity unmanned aerial vehicle 20 is provided with a glove 21 which is coupled to the magnetic body 11 in a corresponding manner.

In addition, the mother-of-cordless unmanned air vehicle 10 is provided with a plurality of engaging compartments 12 to which the charity unmanned air vehicles 20 can be respectively coupled, and a magnetic force generating member including the magnetic bodies 11 is provided in the engaging compartment 12 Respectively; The charitable unmanned airplane 20 may be constituted by a plurality of units, and each charitable unmanned airplane 20 may be configured to be coupled to or separated from each of the plurality of engaging compartments 12.

That is, the plurality of coupling compartments 12 are configured to mount each of the plurality of the charity unmanned air vehicles 20 on the divided section of the mother ship unmanned air vehicle 10, and as shown in FIGS. 1 and 2, A plurality of the charity unmanned air vehicles 20 are mounted on a plurality of divided engaging sections 12, respectively.

Each of the plurality of engaging compartments 12 is provided with a magnetic force generating member including a magnetic body 11 so that magnetic force can be formed only on the charity unmanned aerial vehicle 20 mounted on the engaging compartment 12, The magnetic force generating member may be provided in each of the plurality of engaging compartments 12, but a single magnetic force generating member is provided on the unmanned aerial vehicle 10, and a plurality of magnetic bodies 11 connected to the single magnetic force generating member May be provided in each of the plurality of engaging sections (12). Hereinafter, the magnetic force generating member including the magnetic body 11 is provided in the plurality of engaging compartments 12, including both the case where the magnetic force generating members are constituted by a plurality of magnetic force generating members and the case where the magnetic force generating members are constituted by a single unit.

That is, if the plurality of coupling sections 12 are formed on the bus 10 and the plurality of the charity unmanned air vehicles 20 are separately mounted on the respective coupling sections 12, In the case where the charitable unmanned aerial vehicle 20 is mounted on one mother ship unmanned airplane 10, the effects of allowing each of the charitable unmanned airplane aircraft 20 to have a certain space and being mounted on the predetermined coupling segment 12 without confusion Can be obtained.

At this time, a magnetic force is generated when each of the magnetic bodies 11 provided in the plurality of engaging compartments 12 is engaged with the corresponding engaging section 12, When disengaged from the UAV 10, the magnetic force is released.

In addition, the coupling method between the charitable unmanned aerial vehicle 20 and the busless unmanned air vehicle 10 mounted on the coupling section 12 having the above-described configuration can be configured in various ways according to the judgment of a person skilled in the art. However, Each of the aircraft 20 is configured to include unique identification information of the charity unmanned aerial vehicle 20; The mother ship unmanned airplane (10) further comprises an identification member (13) for recognizing the unique identification information of the charitable unmanned airplane (20), wherein the identification member (13) Only the charitable unmanned airplane 20 in which the unique identification information is recognized may be configured to designate and combine any one of the plurality of engaging compartments 12 after recognizing the information.

That is, the unique identification information included in the charity unmanned airplane 20 is information indicating each of the plurality of charity unmanned airplane 20, and each charitable unmanned airplane 20 includes different unique identification information.

At this time, the charity unmanned airplane 20 is provided with an electronic tag 23 having unique identification information or a wireless transmission unit (not shown) for transmitting unique identification information, and the unique identification information is recognized And an identification member 13 for detecting the presence or absence of the user. That is, the identification member 13 can recognize the unique identification information included in the charity unmanned airplane 20, in which the unique identification information is embedded in the electronic tag 23, And a communication member capable of recognizing the electronic tag 23 if it is included, and a receiving member capable of recognizing the transmitted unique identification information when the unique identification information is transmitted through the wireless transmission unit.

The configuration of the electronic tag 23 or the wireless transmission unit can use various methods such as a method using a light source, a method using a radio frequency, or a method using a magnetic field.

In other words, after the take-off flight is carried out with the charitable unmanned airplane 20 mounted on the busless unmanned airplane 10, the charitable unmanned airplane 20 is separated from the unmanned unmanned airplane 10 for individual mission The identification member 13 of the mothership unmanned airplane 10 transmits a radio frequency identification for identification to the charity unmanned airplane 20 (The unique identification information included in the electronic tag 23) of the charitable unmanned airplane 20 that is flying in the vicinity of the bus-less unmanned airplane 10, And recognizes the charitable unmanned airplane 20 by inputting the unique identification information to the receiver of the identification member 13 so that the charitable unmanned airplane 20 is connected to any one of the plurality of engaging compartments 12 To the compartment (12).

At this time, the magnetic body 11 provided in one of the engaging compartments 12 to which the corresponding charity unmanned aerial vehicle 20 is coupled can generate a magnetic force to couple the charity unmanned airborne vehicle 20 as an attraction force.

When the charitable unmanned airplane 20 is reloaded to the unmanned aerial vehicle 10 as described above, the automatic flight control device (not shown) further included in the busless unmanned airplane 10 or the charity unmanned airplane 20 So that the charitable unmanned aerial vehicle 20 can be stably reloaded to the engaging section 12 of the unmanned airplane 10 without colliding with the unmanned airplane 10.

At this time, the automatic flight control device includes a busless unmanned air vehicle 10 controlled by a sensor such as a proximity sensor, an image sensor, or a gyro sensor connected to a microcomputer of the bus 10 or the charity unmanned airplane 20, The flight status of the aircraft 20 is automatically determined to be logical so that the charitable unmanned airplane 20 can be stably mounted on the coupling section 12 of the mother ship unmanned airplane 10.

In addition, each of the plurality of coupling sections 12 formed on the mother-of-cordless unmanned air vehicle 10 may be assigned a plurality of loading compartments of the plurality of charity unmanned air vehicles 20 to be mounted, If the unique identification information is recognized after the charitable unmanned aerial vehicle 20 is adjoined to the unmanned airplane 10 for reloading so as to be suitable for the weight distribution, any one of the plurality of the engaging compartments 12 The charitable unmanned aerial vehicle 20 may be mounted on the designated engaging section 12 of the master unmanned air vehicle 10.

8, a plurality of coupling sections 12 are formed on the bus 10 and a plurality of the charity unmanned air vehicles 20 are mounted on the plurality of coupling sections 12, respectively, There is a fear that the center of gravity of the mother ship unmanned airplane 10 may be disturbed and the stable flight can not be performed. In this case, the mother ship unmanned airplane 10 The included flight control device may operate the rotor in such a manner as to increase or decrease the rotation speed of the rotor of some of the plurality of rotors to form a stable thrust on the entire portion of the unmanned aerial vehicle 10.

In addition, the charity unmanned air vehicle 20 is configured as a multi-copter type having a plurality of guide bodies 22 having a rotor on the outer side of the main body; The guide body 22 having the rotor is folded into the main body of the charity unmanned aerial vehicle 20 when the charity unmanned airplane 20 is coupled to the unmanned airplane 10, Can be configured to unfold in the main body of the charitable unmanned aerial vehicle (20) before or after being detached from the aircraft (10).

That is, when a general multi-copter type unmanned airplane is used as the charity unmanned airplane 20, the drag of the charity unmanned airplane 20 and the guide body 22 connecting the rotor and the main body, The flying drag of the bus 10 can be increased and the power consumption of the bus 10 can be increased.

6 and 7, when the charitable unmanned airplane 20 is configured as a multi-copter type and the charitable unmanned airplane 20 is mounted on the unmanned airplane 10, And the guide body 22 is folded into the main body of the charity unmanned aerial vehicle 20 so that the flying drag of the unmanned aerial vehicle 10 can be reduced.

The charitable unmanned aerial vehicle 20 mounted on the unmanned aerial vehicle 10 with the rotor 22 and the guide body 22 folded and inserted into the main body is rotated before and after being detached from the unmanned aerial vehicle 10, The body 22 can be unfolded again for individual flight.

In addition, since the charitable unmanned airplane 20 has a relatively small size as compared with the busless unmanned airplane 10, the capacity of the power supply built in the charitable unmanned airplane 20 is smaller than the capacity of the power supply built in the unmanned airplane 10 Lt; / RTI > On the contrary, the present invention can be configured to further include a power supply charging member in which the power of the charity unmanned air vehicle 20 can be charged in a state where the charity unmanned airplane 20 is mounted on the busless unmanned air vehicle 10.

That is, the power charging member is connected to the power source of the power charging member connected to the power source of the mother ship unmanned air vehicle 10 or the auxiliary power source, and the power source of the charity unmanned airplane 20 The power source of the charitable unmanned airplane 20 may be connected to each other and the power of the charitable unmanned airplane 20 may be charged in a wireless charging manner.

At this time, when the power charging member of the busless unmanned air vehicle 10 is configured as a wireless charging type, the busless unmanned air vehicle 10 further comprises a wireless charging member; The charitable unmanned airplane 20 may be configured to be charged with power by the wireless charging member in a state of being coupled to the bus 10.

Specifically, a wireless charging member including a power transmission coil is provided on the aircraft 10 without a bus, which corresponds to one side of the coupling space formed by coupling the charitable unmanned airplane 20 to the battarion unmanned airplane 10, The charitable unmanned airplane 20 corresponding to the other side is provided with a wireless charging counterpart including an electric power receiving coil supplied with electric power corresponding to the electric power transmission coil.

That is, when the charity unmanned airplane 20 is configured to be able to receive power from the busless unmanned airplane 10, the power of the charity unmanned airplane 20 is periodically charged, It is possible to realize the effect of continuing to perform the mission.

When the power of the charity unmanned airplane 20 becomes insufficient during the mission of the charity unmanned airplane 20, the charity unmanned airplane 20 is returned to the unmanned airplane 10, And may be configured to be reintroduced into the mission.

At this time, the charitable unmanned airplane 20 continuously checks the remaining state of the power source. When the power is insufficient, the charitable unmanned airplane 20 autonomously returns to the unmanned airplane 10 and is coupled to the busless unmanned airplane 10, And can be configured to be separated from the mother ship unmanned aerial vehicle 10 to continue mission performance.

In addition, the autonomous return for charging the power of the charitable unmanned airplane 20 can be controlled by the microcomputer provided in the charity unmanned aerial vehicle 20, and can also be controlled by the pilot located on the ground.

In addition, the mothership unmanned airplane (10) according to the present invention can transmit and receive information for flight with the manipulator of the crew located on the ground, and can also transmit and receive information for flight between the mothership unmanned airplane (10) and the charity unmanned airplane 20), and it is possible to transmit and receive various kinds of collected information and flight information collected through the execution of the mission, and to transmit the control signal by the pilot and the collected information and flight information of the charity unmanned airplane 20 to the master unmanned airplane 10 The manipulator's manipulator and the charitable unmanned aerial vehicle 20 can be interchanged.

A description will be made of a process of flying the mother ship unmanned aerial vehicle 10 and the charity unmanned airplane 20 by the flight system according to the preferred embodiment of the present invention.

First, a mother-of-cordless unmanned air vehicle 10 is configured as a multi-copter type in which a lower main body and a plurality of rotors are disposed on the outer periphery of the main body, and the center of gravity of the mother- And a magnetism generating member 11 is provided on each of the engaging sections 12. The magnetism generating member 11 includes a magnetism generating member 11 embedded in the main body, A magnetic force is generated.

A plurality of rotors provided on the outside of the main body of the charity unmanned airplane 20 are connected to a lower portion of the busless unmanned airplane 10 by a combination of a charity unmanned airplane 20 And is provided at the end of the guide body 22 in such a state that the guide body 22 can rotate without interference.

In addition, a plurality of guide bodies 22 are fastened to the outer periphery of the main body of the charity unmanned air vehicle 20, one side of each guide body 22 is fastened to the main body so as to be folded and unfolded, .

In addition, the upper portion of the charity unmanned aerial vehicle 20 is configured in a flat shape, and the upper part of the charity unmanned aerial vehicle 20 is provided with a metallic member 21 made of a metal, which can be attached to a magnet.

In addition, four charity unmanned aerial vehicles 20 having the above-described configuration are mounted on each of the engaging sections 12 under the unmanned aerial vehicle 10 while the guide body 22 is folded inside the main body.

In this case, the magnetic force generating member of the mother-of-cordless aircraft 10 applies a power to the magnetic body 11 to generate a magnetic force on the magnetic body 11 of the electromagnet principle, and the magnetic force of the mother- 20 so that the charitable unmanned aerial vehicle 20 is mounted on the lower portion of the main body of the unmanned aerial vehicle 10.

Thereafter, the pilot manipulates the pilot to take-off and fly the mothership-unmanned air vehicle 10 on which the charitable unmanned airplane 20 is mounted, and the pilot is allowed to fly at a predetermined high distance.

Thereafter, when the manipulator is operated to stop the operation of the magnetic force generating member of the mother ship unmanned airplane 10 and to adjust the flight of the charity unmanned airplane 20, the guide body 22 is unfolded from the main body of the charity unmanned airplane 20 The rotor rotates, the charitable unmanned airplane 20 is disengaged from the busless unmanned airplane 10, and the charitable unmanned airplane 20 is caused to fly.

Thereafter, the charitable unmanned aerial vehicle 20 autonomously flies over a narrow area where the busless unmanned airplane 10 can not fly by using the image pick-up device, which is a mission executing device mounted on the charitable unmanned airplane 20, .

At this time, the charity unmanned airplane 20 may be controlled by direct radio communication with the control unit, or may be controlled as a control unit through the busless unmanned air vehicle 10, and may be controlled by a self- We can fly.

In addition, the information collected by the charitable unmanned aerial vehicle 20 that is in charge of the mission may be transmitted directly to the pilot, or may be transmitted to the pilot through the pilotless unmanned airplane 10 in real time or may be transmitted to the charitable unmanned airplane 20 or the mothership unmanned airplane 10 May be stored.

Thereafter, the charitable unmanned aerial vehicle 20 whose mission has been completed can return to the ground where the pilot is directly located, or return to the unmanned airplane 10 in flight.

At this time, when the charitable unmanned airplane 20 returns to the mother line unmanned airplane 10, the charitable unmanned airplane 20 grasps the position of the mother bus unmanned airplane 10 and then flows toward the mother bus unmanned airplane 10, And the RF transmitter included in the identification member 13 of the mother-of-cordless aircraft 10 oscillates an RF wave, and the oscillated RF wave is transmitted to an electronic tag 20 provided on the charity unmanned air- And the magnetic force of the magnetic body 11 is formed by operating the magnetic force generating member of the coupling section 12 corresponding to the unique identification information of the charity section 23, 10 to the corresponding engaging section 12 of the corresponding engaging section 12.

The four charitable unmanned air vehicles 20 mounted on the mother ship unmanned airplane 10 can fly individually and the mothership unmanned aircraft 10 whose mission has been completed can operate four charitable unmanned airplanes 20 You can land on the ground by landing on board.

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 exemplary embodiments, but, on the contrary, It is possible to carry out various changes in the present invention.

10: Mother-ship unmanned aircraft 11: Magnetic body
12: engaging compartment 13: identification member
20: Charity Unmanned Aerial Vehicle 21:
22: guide body 23: electronic tag

Claims (6)

(10) having at least one magnetic force generating member including a magnetic body (11) for forming or releasing a magnetic force to the outside;
A plurality of magnetic members 21 that are attached to or detached from the magnetic body 11 by the magnetic force formed by the magnetic force generating member and are coupled to or separated from the motherboard unmanned air vehicle 10, And a charitable unmanned aerial vehicle (20).
The method according to claim 1,
One or more of the above-mentioned mother ship unmanned aircraft (10) or the charity unmanned aerial vehicle (20)
And a plurality of guide bodies (22) having a rotor on the outer side of the main body.
The method according to claim 1,
The mother line unmanned air vehicle (10)
A plurality of engaging compartments 12 to which the charity unmanned aerial vehicle 20 can be coupled respectively are formed and the engaging compartment 12 is provided with a magnetic force generating member including a magnetic body 11,
The charitable unmanned air vehicle (20)
Wherein the plurality of charitable unmanned air vehicles (20) are configured to be coupled to or separated from each of the plurality of engaging compartments (12).
The method of claim 3,
In each of the plurality of charity unmanned air vehicles 20,
Is configured to include unique identification information of the charity unmanned aerial vehicle (20)
The mother line unmanned air vehicle (10)
And the identification member 13 recognizes the unique identification information of the charity unmanned airplane 20 and the identification member 13 recognizes the unique identification information of the charity unmanned airplane 20, Characterized in that only the charitable unmanned airplane (20) in which the identification information is recognized is assigned to one of the plurality of engaging sections (12) so as to be associated with each other. .
The method according to claim 1,
The charitable unmanned air vehicle (20)
And a plurality of guide bodies (22) having a rotor on the outer side of the main body,
The guide body 22 having the rotor is folded into the main body of the charity unmanned aerial vehicle 20 when the charity unmanned airplane 20 is coupled to the unmanned airplane 10, Is configured to unfold in the main body of the charity unmanned aerial vehicle (20) before or after being detached from the aircraft (10).
The method according to claim 1,
The mother line unmanned air vehicle (10)
Further comprising a wireless charging member,
The charitable unmanned air vehicle (20)
And the power is charged by the wireless charging member in a state of being coupled to the mother line unmanned aerial vehicle (10).
KR1020150154173A 2015-11-04 2015-11-04 Flight System of mother-baby unmanned aerial vehicle using magnetic force KR101668639B1 (en)

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