KR101697681B1 - Fixed Rotor type dron - Google Patents

Abstract

Disclosed is a fixed rotor type dron which can move at a high speed relative to a dron of a conventional helicopter structure, has less energy consumption than a speed, and performs attitude control using a fixed rotor to achieve good and stable attitude control. To this end, the present invention relates to an airfoil structure body having an airfoil structure in which a player has a positive angle of attack with respect to a propulsion direction, a plurality of rotor holes formed in the body and a rotor hole And the stationary rotor may be disposed at an inclination in the moving body so that the discharged air is directed to the discharge angle between the direction of the forward movement of the moving body and the direct lower side of the moving body.

Description

Fixed Rotor type dron

[0001] The present invention relates to a fixed rotor type dron, and more particularly, to a propulsion system using a fixed rotor to obtain propulsive force, To a rotor type drone.

After unveiling the unmanned delivery service using Dron, the unmanned airplane from the US Amazon Company (http://www.amazon.com/), the company plans to apply it to various fields including drones, aerial photography, air surveillance, Is increasing. The drones are developed in such a way as to obtain a sufficient lift by using a plurality of rotors mounted on the fuselage. This method is similar to the conventional helicopter starting method, in which the rotor attached to the fuselage is inclined to determine the propulsion direction, When the rotor is attached to the body, a method of determining the propulsion direction of the body by making a difference in thrust between the rotors is used. For such helicopter type drone, Publication No. 10-2014-0038495 exemplifies a dron using four rotors disposed radially from the center of the body. Publication No. 10-2014-0038495 illustrates the use of a rotor arranged radially at the center of the body at a uniform angle, which is in fact the same type as the drones disclosed by Amazon, And one of the four rotational forces is reduced so that the fuselage tilts in a direction in which the rotational force is weak. However, the helicopter-

1) Since the air generated in the rotor is not directed in the direction of the backward direction,

2) For the same reason, the speed of the drone is slower than the amount of rotation of each rotor,

3) When determining the propulsion direction by adjusting the angle of the rotor, it is required to control the posture of high difficulty like the helicopter,

4) The attitude control for adjusting the angle of the rotor lowers the reliability and durability of the drone.

5) On the other hand, the drones that should be operated unmanned should have a high driving force and distance to the energy consumed,

6) It requires faster mobility than conventional helicopter drones,

7) Simple and high reliability is required.

An object of the present invention is to provide a dron that is capable of low energy consumption, high speed, simple structure and attitude control, and securing structural reliability.

According to the present invention, there is provided an airfoil structure body in which a player has a positive angle of attack with respect to a propulsion direction, a plurality of rotor holes formed in the body, And a stationary rotor provided in each of the rotor holes, wherein the stationary rotor is achieved by a stationary rotor type dron which is arranged obliquely in the body such that the discharge air is directed to the discharge angle between the inversion direction of the body and the direct lower space of the body .

The fixed rotor type drones according to the present invention can move at a high speed relative to the drones of a conventional helicopter structure, have less energy consumption than speed, and can achieve good and stable attitude control by using a fixed rotor for attitude control, The reliability and durability of the rotor and its peripheral components can be improved.

1 shows a side view of a fixed rotor type dron according to an embodiment of the present invention.
FIGS. 2 and 3 are perspective views of the fixed rotor type drone according to the embodiment as viewed from above.
4 is a perspective view of the fixed rotor-type drones according to the embodiment as viewed from below.
5 and 6 show a conceptual diagram for explaining the flying concept of the fixed rotor type dron according to the embodiment.
Figs. 7 to 9 show reference drawings for a process in which the fixed rotor type drone according to the embodiment floats on the ground and moves in the propulsion direction A. Fig.
FIG. 10 is a block conceptual diagram of an example of a rotor control unit housed in a fixed rotor type dron according to an embodiment.

Four rotors attached to the body are mentioned in this specification. In the description of the drawings, the reference numerals for the rotors can be changed, but all relate to the same rotor, and some of the reference numerals may be omitted or changed depending on the angle of view of the body.

The angle of attack referred to herein may mean the angle between the propulsion direction of the body and the airflow. Normally, if the angle of attack is a positive value, the body has the characteristic of floating in the air, and in the opposite case, it may have a characteristic of descending to the ground.

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a side view of a fixed rotor type drone according to an embodiment of the present invention, FIGS. 2 and 3 are perspective views of a fixed rotor type drone according to an embodiment viewed from above, FIGS. 5 and 6 show a conceptual diagram for explaining the flying concept of the fixed rotor type dron according to the embodiment. FIG.

Referring to FIGS. 1 to 6, the fixed rotor type drill according to the embodiment includes a body 100, rotor holes 111, 114, 122 and 124, rotors 112, 113, 121 and 123, 131, and 132, and a camera 140. The body 100 can accommodate a battery and a rotor control unit, and as shown in Fig. 1, the side end face has an airfoil structure capable of obtaining lifting force like a wing of an aircraft. The airfoil structure has a wing structure that allows the moving body 100 to obtain lift when the propelling direction of the moving body 100 is the A direction. The conventional drones having the structure of the helicopter do not have a moving body of the airfoil structure, It corresponds to the wing structure of an aircraft using engine or propeller power. When the moving body 100 moves toward the propelling direction A, the rotors 112, 113, 121, and 123 can discharge the air in the B direction to provide thrust to the moving body 100. [ This structure differs from the conventional drone and corresponds to a structure in which the propulsive force of the rotors 112, 113, 121, and 123 directly applies thrust to the moving body 100 in the propelling direction A. Accordingly, the moving body 100 can move quickly in the propelling direction A, and it is not necessary to use excessive energy to float the moving body 100.

In Fig. 1, the front end of the moving direction A of the moving body 100 is referred to as a "bow" and the end of the reverse driving direction is referred to as a "rear end". An imaginary line connecting the fore and aft of the body 100 is referred to as a reference line RF and the angle between the reference line and the horizontal line RH corresponds to the angle of attack? This is because the air flow toward the moving body 100 corresponds to the horizontal RH when the moving body 100 moves in the propelling direction A. Normally, The angle formed by this angle is called the angle of attack. The angle of attack θ at this time has a positive value and the angle of incidence of the moving body 100 is in the range of When moving toward the propelling direction A, the body 100 can be floated by the air current.

In FIG. 2, it is exemplified that the moving body 100 is provided with four rotors 112, 113, 121, and 123. Each of the rotors 112, 113, 121 and 123 is uniformly fixedly arranged on the moving body 100. When the moving body 100 moves in the propelling direction A, 121, and 123 are not changed. That is, in the fixed rotor type drone according to the embodiment, the rotors 112, 113, 121, and 123 are fixed to the moving body 100 and do not rotate or twist the rotating shaft to control the attitude of the moving body 100. That is, it is a fixed rotor.

In order for a helicopter-type air vehicle to move at a high speed while controlling the attitude using the rotor, it is necessary that the rotor is configured to discharge the air in the reverse propelling direction opposite to the propelling direction (A). In the case of a tilt rotor, when the rotor is in a landing state and in a flying state, the rotor must rotate about 45 to 90 degrees. In many cases, the air discharged from the rotor is floated in the air and causes an accident or a breakdown due to incompatibility of the propulsion power and the propulsion force in the course of the propulsion toward the reverse propulsion direction. At present, the V-22 Osprey, which is being operated by the US Army, caused accidents due to the rotor's attitude control during the take-off and landing of the rotor. This means that the pendent rotor is as difficult to control as it is effective and has a high risk.

If the air condition is not uniform and the airflow is strong and the rotors 112, 113, 121 and 123 are rotated to control the attitude of the body 100, the floating force against the body 100 becomes weak, At this time, the moving body 100 can not turn or move in a desired direction due to the airflow, and the moving body 100 loses its lifting force and may fall or be swept into the airflow.

On the other hand, in the case of the fixed rotor type drone according to the embodiment, the rotors 112, 113, 121, and 123 are fixed structures and do not have a rotating structure such as a tilt rotor.

The fixed rotor type drones according to the embodiments are lifted into the air and then the forehead of the body 100 descends toward the ground due to the dead load of the front blades 131 and 132 and the rotors 112, 113 and 123 for discharging the air at the discharge angle since the air discharge direction of the discharge rollers 123 and 123 is naturally discharged toward an angle (hereinafter referred to as "discharge angle") between the reverse propulsion direction and the direct- 121, and 123, respectively. For this purpose, the front blades 131 and 132 can be disposed in the forward direction of the moving body 100 and support the moving body 100 on the ground when the moving body 100 is in a landing state, When the player is in the floating state, a pair of players may be placed on the players of the body 100 so that the players are suspended toward the direct downward room. The front wings 131 and 132 may be disposed symmetrically with respect to a reference line RF connecting the fore and aft ends of the body 100. In FIG 2, And the wings 131 and 132 are arranged.

Meanwhile, the fixed rotor type drone according to the embodiment has the rotors 112, 113, 121, and 123 housed in the rotor holes 111, 114, 122, and 124 to minimize the influence of external airflow. The motor 113c, the blade 113a and the rotating shaft 113b constituting the rotors 112, 113, 121 and 123 are accommodated and fixed in the rotor holes 111, 114, 122 and 124, The moving bodies 112, 113, 121 and 123 can advance the moving body 100 in the propelling direction A by discharging the air flowing into the rotor holes 111, 114, 122 and 124 at the discharging angle? That is, when the floating structure of the rotor 112, 113, 121, 123 applies a floating force to the moving body 100, the influence of the external airflow is minimized and the moving body 100 can be stably lifted and started.

1, the rotor 100 is supported in the propelling direction A as shown in FIG. 1, and the rotor 112, 113, 121, The air is discharged in the B direction. That is, although the rotors 112, 113, 121 and 123 according to the embodiment are arranged in an inclined form with respect to the center line RF and the rotors 112, 113, 121 and 123 are fixed, When the moving body 100 is stopped in the air, it is possible to perform the attitude control by discharging the air in the C direction.

The side face of the moving body 100 has a positive angle of attack angle with respect to the propelling direction A after the moving body 100 is lifted to the air as the moving body 100 is deflected by the angle? The posture can be determined. When the angle of attack of the moving body 100 has a positive value, the moving body 100 floats to the air. On the contrary, when the moving body 100 has a negative value, the moving body 100 descends to the ground. The posture of the fixed rotor type drones according to the embodiment is arranged such that the angle of view of the lateral cross-sectional view after the body 100 takes off from the ground has a positive angle. In this state, the rotor 112, 113, 121 And 123 are directed to the direction B, unlike a dron of a normal helicopter structure, movement by a rear thrust is enabled.

Meanwhile, the camera 140 shown in the figure is an example of a case where the fixed rotor type dron according to the embodiment is used for aerial photographing. In addition to this, the camera 140 may be used for delivering articles, mounting weather equipment, And the like, which are used for various purposes.

The front blades 131 and 132 are provided to stabilize the posture of the moving body 100 and are formed on both sides of the center line RF. However, one of the front blades 131 and 132 may be formed on the upper surface of the moving body 100, 100, or one or more of them may be installed on the lower surface of the body 100. [ The sizes and arrangement positions of the front blades 131 and 132 can be changed according to the output of the rotors 112, 113, 121 and 123 or the volume or weight of the moving body 100. It is to be noted, however, that the structure and arrangement position are not limited by the illustrated examples.

5 shows a state in which the moving body 100 floats from the ground to the air. As shown in FIG. 5, the rotors 110 and 120 are disposed on the moving body 100 in a state of being deflected by? Relative to the center line RF. Therefore, as shown in FIG. 5, when the rotors 110 and 120 rotate, the angle of attack of the moving body 100 can float in the air with a positive value.

6 is a view showing a rotor 120 deflected by θ relative to the center line RF of the moving body 100 after the rotation amount of the rotor 120 is made larger than the rotor 110 so that the bow of the moving body 100 is inclined in the D2 direction. (110, 120) discharges air in the direction D1. At this time, it can be seen that the body 100 maintains a positive angle of attack. In this state, when the rotors 110 and 120 rotate, the air discharged from the rotors 110 and 120 moves in the direction of D1 The air discharged and discharged in the direction D1 can generate a thrust force to move the moving body 100 in the propelling direction A while supporting the load of the moving body 100. [

Accordingly, the moving speed of the moving body 100 is increased compared to the conventional helicopter structure, and a large part of the thrust of the rotors 110 and 120 is used to move the moving body 100 in the propelling direction A It is possible to reduce the consumption amount of a battery (e.g., a lithium polymer battery) built in the moving body 100. [ If a rotor of a conventional helicopter structure is mounted on the moving body 100 according to the embodiment, the mounted rotor must individually control the rotation speed of the rotor in order to float the moving body 100 and move it in the propelling direction A A tilt rotor having a complicated structure for tilting the rotor is used after the moving body 100 is lifted or the moving body 100 is moved in the propelling direction A by increasing or decreasing the rotation amount of each rotor, The entire thrust must be obtained.

In the case of a tilt rotor, it is a well known fact that it is difficult to apply to a remote controlled unmanned dron because a posture control is complicated and a skilled pilot is required so that a commercialized gas is currently in one hand,

If you borrow an existing helicopter structure, you must inherit the disadvantages of existing helicopter structures (eg, low travel speeds).

However, the fixed rotor type drone according to the embodiment can discharge air toward the reverse propelling direction like a propeller airplane, but it does not require a long runway unlike the conventional propeller airplane. Although the rotor 110 and 120 are fixed to the moving body 100, the rotors 110 and 120 are arranged at angles that allow the rotors 110 and 120 to lift the moving body 100, The thrust of the rotors 110 and 120 is directed to the direction B through a single attitude control (posture control of changing the bow of the moving body 100 in the direction D2) after the moving body 100 is lifted by the moving body 100. [

Figs. 7 to 9 show reference drawings for a process in which the fixed rotor type drone according to the embodiment floats on the ground and moves in the propulsion direction A. Fig. 7 to 9 will be described with reference to FIGS. 1 to 6. FIG.

First, in Fig. 7, the moving body 100 is supported on the ground by the front blades 131, 132. The direction of the discharge air discharged from the rotors 112, 113, 121, 123 housed in the rotor holes 111, 114, 122, 124 of the moving body 100 is the ground (Land) The arrangement relationship is determined to be vertical, which corresponds to a major feature of the fixed rotor type drone according to the embodiment. The discharged air of the rotors 112, 113, 121, and 123 is discharged in the direction A1 when the moving body 100 is landed on the ground, and the moving body 100 is lifted in the air do.

8, the bow of the body 100 lifted in the air is rotated in the C1 direction by a dead load, and the discharge air of the rotors 112, 113, 121, and 123 is discharged in the A1 direction, Is slightly floated into the air. That is, the athlete 100 is lifted in the air as shown in Fig. 9 while the athlete is directed toward the ground direction, i.e., directly below and the aft is directed toward the air.

9, after the moving body 100 is lifted, the bow posture is controlled so as to face the propelling direction A, and the discharge air of the rotors 112, 113, 121, In the direction D1. At this time, the air discharged from the rotors 112, 113, 121, 123 is discharged at an angle between A1 and D1, that is, the discharge angle? S, and the discharge angle? . At this time, it is important that the rotors 112, 113, 121, and 123 are not rotated or moved by the moving body 100, and are fixed.

FIG. 10 is a block conceptual diagram of an example of a rotor control unit housed in a fixed rotor type dron according to an embodiment. The description of FIG. 10 will be made with reference to FIGS. 1 to 9 together.

10, the rotor control unit includes an RF unit 201, a drive control unit 202, a driver 203, a first motor M1, a second motor M2, 3 motor (M3) 206, a fourth motor (M4) 207, and a battery (208).

The battery 208 supplies driving power for the first motor 204 to the fourth motor 207, the driving control unit 202, the RF unit 201, and the driver 203. Battery 208 may be comprised of a lithium-ion or lithium-polymer battery. On the other hand, in the embodiment, an internal combustion engine may be used instead of the battery 208 as a driving source of the first motor 204 to the fourth motor 207. [ In this case, the battery 208 shown in Fig. 10 is used only to drive the drive control section 202 and the RF section 201, and the first to fourth motors 204 to 207 are configured as internal combustion engines , And the amount of rotation of the first motor 204 to the fourth motor 207 may be a method of controlling the amount of fuel sprayed into the internal combustion engine. In this case, the driver 203 is removed, and the drive control section 202 can be configured to control the fuel injection amount or the air inflow amount.

The RF unit 201 can receive a terrestrial command by a remote controller (not shown) and provide it to the drive control unit 202. The RF unit 201 receives radio waves provided by a remote controller or a ground station (not shown) located on the ground, and can provide the position information of the moving body 100 to a remote controller or a ground station, if necessary. In this case, the RF unit 201 may incorporate a GPS receiver.

The drive control unit 202 generates control signals for increasing or decreasing the rotation amounts of the first to fourth motors 204 to 207 and supplies the control signals to the driver 203 to control the operation of the moving body 100) can be controlled. The drive control unit 202 can control the posture or the turning direction of the moving body 100 by controlling only the amount of rotation of the first motor 204 to the fourth motor 204. [

The driver 203 may output pulses or voltages for driving the first motor 204 to the fourth motor 207 in response to a control signal provided from the drive control unit 202. [ The first motor 204 to the fourth motor 207 may be driven by a direct current or a PWM method driven by pulses and the driver 203 may be driven by the first motor 204 to the fourth motor 207, The voltage and the current can be controlled or the pulse can be provided according to the driving method of the driving circuit.

100: body 112, 113, 121, 123: rotor
111, 114, 122, 124: rotor holes 131, 132: front wing
140: camera

Claims (7)

A body of an airfoil structure;
A plurality of rotor holes formed in the body;
A fixed rotor installed in each of the rotor holes; And
And a front wing that is vertically coupled to the fuselage of the fuselage and lifts up the fuselage from the ground so that the axis of the fixed rotor is directly under the ground when the fuselage is in a landing state In addition,
The fixed rotor includes:
And the discharge air is inclined in the body so that the discharge air is directed to the discharge angle between the direction of the forward movement of the body and the direct lower side of the body.
delete The method according to claim 1,
The front blades
And the posture is controlled such that the forward air is directed to the discharge angle by causing the bow to face the direct downward direction by dead load after the body is lifted. The method according to claim 1,
The front blades
And a pair of the dancers is disposed symmetrically with respect to a centerline between the bow and the rear of the body. The method according to claim 1,
The player,
And a camera for photographing is mounted. The method according to claim 1,
The fixed rotor includes:
And a plurality of the rear wheels are arranged symmetrically with respect to a center line between the forward and rear ends of the vehicle body,
A rotor disposed on one side of the body relative to the centerline; And
And a rotor disposed on the other side of the moving body with respect to the center line. The method according to claim 6,
A rotor control part accommodated in the inside of the moving body and controlling the turning direction of the moving body by increasing or decreasing the amount of rotation of the rotor arranged on one side of the moving body with respect to the center line and the rotor arranged on the other side of the moving body with respect to the center line; Further comprising a fixed rotor type dron.

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