KR101866528B1 - Drone - Google Patents

Abstract

The drones are disclosed. According to an exemplary embodiment, a dron is a dron including a main body and at least one rotor portion, wherein the rotor portion has a housing portion in which an interior is empty and in which an upper end portion and a lower end portion are respectively opened and which is fixed to the housing portion from the inside of the housing portion A propeller motor, a propeller which is connected to the propeller motor and rotates by a propeller motor, an air flow discharging portion which is formed communicating with a lower end portion of the housing portion and discharges the airflow generated by the propeller to the outside, And a rotation regulating part formed at the lower end and regulating a rotating direction of the airflow discharging part.

Description

Drone {DRONE}

Embodiments of the invention relate to unmanned aerial vehicle technology.

Drones have been used mainly for military purposes because they are flying by remote control or autonomous flight along a designated route. However, recently, they have been used in various fields such as transportation and security. Is also being utilized.

The drones can be divided into a single rotor helicopter, a coaxial inverted helicopter, and a quad-rotor (quad rotor) depending on the number and type of rotors. Among them, the quadruple rotor is composed of four rotors, in which the two rotors rotate in the clockwise direction and the remaining two rotors rotate in the counterclockwise direction. At this time, the diagonal rotor rotates in the same direction.

Here, if the rotation speed of the rotor in the direction in which the drone is to travel is reduced (low-speed rotation) and the rotation speed of the rotor in the direction opposite to the direction in which the drone is going to advance is increased (high-speed rotation) It is tilted and moved in a tilted direction. That is, since the drone moves in a tilted state in a direction in which it is desired to move, there is a problem that it is difficult to carry a substance such as a liquid.

Korean Patent Registration No. 10-1407722 (Apr. 19, 2014)

An embodiment of the present invention is to provide a dron that can move while maintaining a horizontal position.

According to an exemplary embodiment, a dron is a dron including a main body and at least one rotor portion, the rotor portion including: a housing portion having an inside and an upper end and a lower end opened, respectively; A propeller motor fixed to the housing part inside the housing part; A propeller connected to the propeller motor and rotated by the propeller motor; An air flow discharging portion formed to communicate with a lower end portion of the housing portion and discharging the air flow generated by the propeller to the outside and being rotatable; And a rotation adjusting part formed at a lower end of the housing part and adjusting a rotating direction of the airflow discharging part.

The housing part may include at least one section in which the cross-sectional area decreases from the upper end of the housing part to the lower end of the housing part.

The drone may further include at least one support portion that connects the propeller motor and the housing portion so that the propeller motor is fixed at the center of the upper end of the housing portion.

The airflow outlet may be bent in a horizontal direction at a lower end of the housing part.

The airflow generated by the propeller moves downward from the inside of the housing part and flows into one end of the airflow discharge part, and the direction of the airflow inside the airflow discharge part can be vertically switched and discharged to the outside.

The airflow outlet may be provided to be rotatable 360 degrees with respect to the axis of the rotation control unit.

The rotation regulating unit includes: a fixing part formed at a lower end of the housing part; And a rotating part rotatably connected to the fixing part and connected to one end of the airflow discharging part.

Wherein the fixing portion includes: a fixing body protruding downward from a lower end of the housing portion and communicating with a lower end of the housing portion; And a stator coil formed on an outer circumferential surface of the fixed body, wherein the rotating portion surrounds the fixed body at an outer side of the fixed body and is spaced apart from the fixed body, A rotating body connected to the lower end of the housing part; A magnet rotor facing the stator coil at an inner surface of the rotating body and spaced apart from the stator coil; And a connecting portion for rotatably connecting the rotating body with the fixed body.

A dronon according to another exemplary embodiment is a dron, comprising: a body; A first rotor unit connected to the main body and formed in a first direction with respect to the main body, the first rotor unit rotating in a first rotation direction; A second rotor part connected to the main body and formed in a second direction opposite to the first direction with respect to the main body, the second rotor part rotating in the first rotation direction; A third rotor part connected to the main body and formed in a third direction perpendicular to the first direction with respect to the main body and rotating in a second rotation direction opposite to the first rotation direction; And a fourth rotor portion connected to the main body and formed in a fourth direction opposite to the third direction with respect to the main body, the fourth rotor portion rotating in the second rotation direction, The rotation speed difference between the first rotor portion and the fourth rotor portion is within a predetermined critical rotation speed difference when the at least one of the movement, the left movement, the right movement, the upward movement, And to move while maintaining the state.

Each of the first rotor portion and the fourth rotor portion includes an air flow discharging portion that is bent in a horizontal direction at a lower end portion to discharge the airflow generated by the rotor portion and is rotatable about a center axis of the rotor portion .

Wherein at least one of the forward and backward movement, the leftward movement, and the rightward movement of the drone causes the direction of each of the airflow discharge portions of the first rotor portion to the fourth rotor portion to move in a direction opposite to a direction .

The drones rotate the air flow discharging portion of the first rotor portion in the direction corresponding to the first direction and move the air flow discharging portion of the second rotor portion in the second direction in correspondence with the second direction The air flow discharging portion of the third rotor portion may be rotated in the direction corresponding to the third direction and the air flow discharging portion of the fourth rotor portion may be rotated in the direction corresponding to the fourth direction.

Wherein each of the first rotor portion and the fourth rotor portion includes a housing portion in which an interior is hollow and an upper end portion and a lower end portion are respectively opened; A propeller motor fixed to the housing part inside the housing part; A propeller connected to the propeller motor and rotated by the propeller motor; An air flow discharging portion formed to communicate with a lower end portion of the housing portion and discharging the air flow generated by the propeller to the outside and being rotatable; And a rotation adjusting part formed at a lower end of the housing part and adjusting a rotating direction of the airflow discharging part.

The housing part may include at least one section in which the cross-sectional area decreases from the upper end of the housing part to the lower end of the housing part.

The drone may further include at least one support portion that connects the propeller motor and the housing portion so that the propeller motor is fixed at the center of the upper end of the housing portion.

The airflow outlet may be bent in a horizontal direction at a lower end of the housing part.

The airflow outlet may be provided to be rotatable 360 degrees with respect to the axis of the rotation control unit.

The rotation regulating unit includes: a fixing part formed at a lower end of the housing part; And a rotating part rotatably connected to the fixing part and connected to one end of the airflow discharging part.

Wherein the fixing portion includes: a fixing body protruding downward from a lower end of the housing portion and communicating with a lower end of the housing portion; And a stator coil formed on an outer circumferential surface of the fixed body, wherein the rotating portion surrounds the fixed body at an outer side of the fixed body and is spaced apart from the fixed body, A rotating body connected to the lower end of the housing part; A magnet rotor facing the stator coil at an inner surface of the rotating body and spaced apart from the stator coil; And a connecting portion for rotatably connecting the rotating body with the fixed body.

According to the embodiment of the present invention, the airflow discharging portion is formed by being bent in the horizontal direction and rotatably provided in each rotor portion, so that the dron can be moved forward, backward, leftward, rightward, upward, The drones can be maintained in a horizontal state.

Figure 1 schematically illustrates a drones according to an embodiment of the invention;
FIG. 2 is a cross-sectional view of a rotor portion in a drone according to an embodiment of the present invention. FIG.
3 is a plan view showing a state in which a drone moves according to an embodiment of the present invention.
4 is a plan view showing a state in which the dron is lifted and lowered according to an embodiment of the present invention.
5 is a plan view showing a state in which a drone is rotated according to an embodiment of the present invention.
6 is a block diagram illustrating and illustrating a computing environment including a computing device suitable for use in the exemplary embodiments.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to provide a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely an example and the present invention is not limited thereto.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification. The terms used in the detailed description are intended only to describe embodiments of the invention and should in no way be limiting. Unless specifically stated otherwise, the singular forms of the expressions include plural forms of meanings. In this description, the expressions "comprising" or "comprising" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, Should not be construed to preclude the presence or possibility of other features, numbers, steps, operations, elements, portions or combinations thereof.

On the other hand, directional terms such as the top, bottom, one side, the other, and the like are used in connection with the orientation of the disclosed figures. Since the elements of the embodiments of the present invention can be positioned in various orientations, directional terms are used for illustrative purposes and not limitation.

Also, the terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

1 is a schematic view of a drone according to an embodiment of the present invention. Fig. 1 shows an example of a dron, and the shape and structure of the dron can be changed appropriately.

Referring to FIG. 1, a dron 100 includes a body 102, an arm frame 104, and a rotor portion 106. Here, the rotor section 106 includes a first rotor section 106-1, a second rotor section 106-2, a third rotor section 106-3, and a fourth rotor section 106-4 can do. In addition, the arm frame 104 includes the first arm frame 104-1, the second arm frame 104-2, the third arm frame 104-3, and the fourth arm frame 104-4 can do.

The drones 100 may be referred to as an Unmanned Aerial Vehicle (UAV), which is a vehicle flying by remote control or autonomously flying along a designated route without a person on board, but may be operated by a remote control But may include any type of aircraft capable of autonomous flight along a specified path, and is not limited to a specific name and form. The drones 100 may be used in various applications such as military, transportation, crime prevention, observation, and photographing. The drones 100 may be used for various purposes such as a camera, an infrared sensor, a thermal sensor, a posture sensor, And the like can be mounted.

The body 102 may be located at the center of the drones 100. Modules, circuits, and components for controlling the drones 100 may be built in or attached to the main body 102. In addition, various auxiliary devices such as a camera or a sensor may be mounted on the main body 102. A battery or the like for driving the rotor unit 106 may be mounted on the main body 102. A pedestal 111 may be provided on the lower side of the main body 102. A plurality of pedestals 111 may be spaced apart from each other on the lower side of the main body 102. The pedestal 111 serves to support the drones 100 from the ground when the drones 100 land.

The arm frame 104 serves to connect the main body 102 and the rotor portion 106. The first arm frame 104-1 may connect the main body 102 and the first rotor portion 106-1. The first arm frame 104-1 may protrude in the first direction from the outer circumferential surface of the main body 102 and may be connected to the first rotor portion 106-1. The second arm frame 104-2 may protrude from the outer circumferential surface of the main body 102 in a second direction opposite to the first direction and may be connected to the second rotor portion 106-2. The second arm frame 104-2 may be provided on the same straight line as the first arm frame 104-1. The third arm frame 104-3 may protrude from the outer circumferential surface of the main body 102 in a third direction perpendicular to the first direction and may be connected to the third rotor portion 106-3. The fourth arm frame 104-4 may protrude from the outer circumferential surface of the main body 102 in a fourth direction opposite to the third direction and may be connected to the fourth rotor portion 106-4. The fourth arm frame 104-4 may be provided on the same straight line as the third arm frame 104-3.

That is, the first arm frame 104-1 to the fourth arm frame 104-4 may be radially spaced apart from each other at a predetermined angular interval on the outer circumferential surface of the main body 102. However, the present invention is not limited to this, and the first arm frame 104-1 and the second arm frame 104-2 are integrally formed, and the third arm frame 104-3 and the fourth arm frame 104-4 May be integrally formed.

The rotor portion 106 provides lifting and thrust to the drones 100. Each of the rotor units 106-1 to 106-4 has a propeller. Here, the first rotor portion 106-1 and the second rotor portion 106-2, which face diagonally with respect to the main body 102, may be provided so as to rotate in the same rotational direction. The third rotor portion 106-3 and the fourth rotor portion 106-4, which are diagonally opposed to each other with respect to the main body 102, may be provided so as to rotate in the same rotational direction. At this time, the first rotor portion 106-1 and the second rotor portion 106-2 may be provided to rotate in the first rotation direction. Further, the third rotor section 106-3 and the fourth rotor section 106-4 may be provided so as to rotate in a second rotation direction opposite to the first rotation direction. Although the number of the rotor sections 106 is described here, the number of the rotor sections 106 is not limited to four, but may be provided in various other numbers. As the number of the rotor sections 106 is changed, the number and structure of the arm frames 104 can be changed accordingly.

Hereinafter, the configuration of the rotor unit 106 will be described in detail with reference to FIG. The rotor portion 106 includes a housing portion 121, a propeller motor 123, a support portion 125, a propeller 127, an air flow outlet portion 129, and a rotation control portion 131 .

The housing part 121 may be formed in a hollow cylindrical shape. However, the shape of the housing part 121 is not limited to this, but may be formed in various other shapes (for example, a square pillar or the like). The housing part 121 can be formed by opening the upper end and the lower end. The housing part 121 may be provided with an upper end and a lower end communicating with each other. The housing portion 121 may be provided such that the open area of the lower end portion is smaller than the open area of the upper end portion. The housing part 121 may include at least one section having a smaller sectional area from the upper end to the lower end. In the exemplary embodiment, the housing portion 121 may be provided such that the cross-sectional area gradually decreases from the upper end portion to the lower end portion.

The propeller motor 123 may be provided inside the housing part 121. The propeller motor 123 can rotate the propeller 127 in a predetermined rotation direction. The propeller motor 123 can adjust the rotational speed of the propeller 127 under the control of a flight control unit (not shown) (which may be provided in the main body 102). The propeller motor 123 can receive power from a battery (not shown) provided in the main body 102.

The supporting part 125 serves to fix the propeller motor 123 to the housing part 121. [ The propeller motor 123 can be fixed by the support portion 125 at the center of the open upper end of the housing portion 121. The propeller motor 123 may be fixed in a floating state at the center of the upper end of the housing part 121 by the support part 125. [ The support part 125 may be provided by connecting the housing part 121 and the propeller motor 123. One end of the support part 125 may be connected to the housing part 121 and the other end of the support part 125 may be connected to the propeller motor 123. In the exemplary embodiment, a plurality of support portions 125 are provided radially at predetermined angular intervals on the outer peripheral surface of the propeller motor 123 to fix the propeller motor 123 to the housing portion 121.

The propeller 127 is connected to the propeller motor 123. The propeller 127 rotates by the driving force of the propeller motor 123. The power required for the drones 100 to fly by the rotation of the propeller 127 is obtained. The cut surface of the propeller 127 may have an airfoil shape. In this case, when the propeller 127 rotates, the upper end surface of the propeller 127 becomes faster in air flow than the lower end surface, so that the surface pressure is lowered.

The air discharge portion 129 is rotatably provided at the lower end of the housing portion 121. [ Specifically, the airflow discharge unit 129 may be connected to the rotation control unit 131 and rotated by the rotation control unit 131. The air discharge unit 129 may be provided so as to be rotatable 360 degrees about the axis of the rotation control unit 131 (i.e., with respect to the center axis of the rotor unit 106). The air discharge unit 129 may be provided in such a form that the interior thereof is empty so that the air flows.

The air discharge unit 129 communicates with the lower end of the housing unit 121 and discharges the airflow generated by the rotation of the propeller 127 to the outside. That is, when the propeller 127 rotates, the air around the propeller 127 is pushed to the rear of the propeller 127 (i.e., inside the housing part 121). The airflow inside the housing part 121 is discharged to the outside through the airflow discharging part 129 via the lower end part of the housing part 121. [

The air discharge unit 129 may be bent in a horizontal direction (for example, a direction parallel to the paper surface). That is, the air discharge unit 129 may be provided to discharge the airflow generated by the rotation of the propeller 127 in a direction perpendicular to the gravity direction. When the propeller 127 rotates, the airflow generated by the rotation of the propeller 127 moves downward (that is, in the direction of gravity) from the housing part 121 and flows into one end of the airflow discharge part 129, The airflow discharging portion 129 is bent in the horizontal direction so that the direction of the airflow is switched and discharged in the direction perpendicular to the gravity direction at the other end of the airflow discharging portion 129. [ Thus, the direction of movement of the drone 100 can be easily controlled by changing the rotating direction of the airflow discharging portion 129 by allowing the airflow to be discharged in the horizontal direction from the airflow discharging portion 129.

The rotation regulating part 131 may be connected to one end of the air flow discharging part 129 at a lower end of the housing part 121. The rotation regulating unit 131 can rotate the air flow discharging unit 129. The rotation control unit 131 can control the rotation direction of the airflow discharge unit 129 under the control of a flight control unit (not shown). In an exemplary embodiment, the rotation regulator 131 may be implemented in the form of a brushless motor.

The rotation regulating portion 131 may include a fixing portion 131a and a rotation portion 131b. The fixed portion 131a may include the fixed body 131a-1 and the stator coil 131a-2. The fixed body 131a-1 may be formed at the lower end of the housing part 121. [ The fixed body 131a-1 may be formed to protrude downward from the lower end of the housing part 121. [ The first through hole 141 may be formed in the fixed body 131a-1 so that air can flow. The stator coil 131a-2 may be formed on the outer peripheral surface of the fixed body 131a-1. A plurality of stator coils 131a-2 may be formed along the outer circumferential surface of the fixed body 131a-1.

The rotating part 131b may include a rotating part body 131b-1, a magnet rotor 131b-2, and a connecting part 131b-3. The rotating body 131b-1 may be formed at one end of the airflow discharging unit 129. The rotary body 131b-1 may be formed to surround the fixed body 131a-1 from the outer side of the fixed body 131a-1 and be spaced apart from the fixed body 131a-1. The second through hole 143 may be formed in the rotary body 131b-1 so that the lower end of the housing part 121 and one end of the airflow discharge part 129 are communicated. The magnet rotor 131b-2 may be formed to face the stator coil 131a-2 on the inner surface of the rotating body 131b-1. The magnet rotor 131b-2 may be formed with a certain distance from the stator coil 131a-2. The connection portion 131b-3 can rotatably connect the rotary body 131b-1 to the fixed body 131a-1.

By adjusting the direction and intensity of the current flowing through the stator coil 131a-2, the rotation direction and the rotation angle of the rotation part 131b can be adjusted, and thereby the rotation direction and the rotation angle of the airflow discharge part 129 can be adjusted .

The airflow discharging portion 129 is formed by being bent in the horizontal direction at the lower end portion of the housing portion 121 and is rotatably provided so that the drones 100 move horizontally when the drones 100 move or rotate, State can be maintained. A detailed description thereof will be described later.

3 is a plan view illustrating a state in which a drone is moved according to an embodiment of the present invention.

3 (a), the first rotor portion 106-1 and the second rotor portion 106-2 rotate in the clockwise direction, and the third rotor portion 106-3 and the fourth rotor portion And the rotating shaft 106-4 may be set to rotate counterclockwise. When the drone 100 is to be moved forward, the rotation speed difference between the first rotor unit 106-1 and the fourth rotor unit 106-4 may be within a predetermined threshold rotation speed difference, The direction of the airflow discharging portions 129-1 to 129-4 of the first rotor portion 106-1 to the fourth rotor portion 106-4 is changed in the direction opposite to the direction in which the drones 100 are to be moved . As a result, the airflow is discharged in the direction opposite to the direction in which the drones 100 are intended to move (that is, in the backward movement direction) in each of the air discharge units 129-1 to 129-4, And moves forward. Here, the preset critical rotation speed difference means a rotation speed difference between the first rotor unit 106-1 and the fourth rotor unit 106-4 such that the tilting of the drones 100 does not occur. In this case, the drone 100 can move forward while maintaining the horizontal state.

3 (b), when the dragon 100 is to be moved to the left, the rotational speed difference between the first rotor unit 106-1 and the fourth rotor unit 106-4 is set to a predetermined threshold The direction of the airflow discharging portions 129-1 to 129-4 of the first rotor portion 106-1 to the fourth rotor portion 106-4 may be rotated to the right while the rotational speed difference is within the difference between the rotational speeds. Then, the drones 100 are moved to the left side by the reaction of the air currents discharged from the respective air discharge units 129-1 to 129-4.

As described above, the drones 100 can be lifted by the respective propellers of the first rotor section 106-1 to the fourth rotor section 106-4 (as each section of the propeller is formed in the form of an airfoil, The elevation caused by the lowering of the pressure of the upper end surface of the hour propeller) maintains the altitude, and as the rotational direction of each of the air discharge units 129-1 to 129-4 is changed, , Backward movement, leftward movement, rightward movement, and the like.

4 is a plan view showing a state in which the drone is lifted and lowered according to an embodiment of the present invention.

Referring to FIG. 4, when the dragon 100 is to be moved up or down, the rotational speed difference between the first rotor portion 106-1 and the fourth rotor portion 106-4 is within a predetermined threshold rotational speed difference The first airflow outlet 129-1 rotates in a direction corresponding to the direction of the first arm frame 104-1 while the second airflow outlet 129-2 rotates in the direction corresponding to the direction of the first arm frame 104-1, -2), the third airflow discharge portion 129-3 rotates in a direction corresponding to the direction of the third arm frame 104-3, and the fourth airflow discharge portion 129 -4 can be rotated in a direction corresponding to the direction of the fourth arm frame 104-4. That is, in the central portion of the drones 100, the total reaction by each air stream of the first air stream discharge portion 129-1 to the fourth air stream discharge portion 129-4 can be made close to zero or zero.

The first rotor unit 106-1 to the fourth rotor unit 106-4 are controlled so that the rotational speed difference between the first rotor unit 106-1 to the fourth rotor unit 106-4 is within a predetermined threshold rotational speed difference, 106-4 are increased to increase the lift, the drones 100 are lifted. When the rotation speed of the first rotor unit 106-1 to the fourth rotor unit 106-4 is lowered to reduce lift The drones 100 descend.

5 is a plan view illustrating a state in which a drone is rotated according to an embodiment of the present invention.

5, when the drones 100 are rotated in the counterclockwise direction, the rotational speed difference between the first rotor portion 106-1 and the fourth rotor portion 106-4 is set to a predetermined threshold rotation The first air flow discharging portion 129-1 is rotated in the right moving direction while the second air flow discharging portion 129-2 is rotated in the left moving direction while the third air flow discharging portion 129 -3) can be rotated in the forward movement direction, and the fourth air flow discharge portion (129-4) can be rotated in the backward movement direction.

FIG. 6 is a block diagram illustrating and illustrating a computing environment 10 including a computing device suitable for use in the exemplary embodiments. In the illustrated embodiment, each of the components may have different functions and capabilities than those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12. In one embodiment, computing device 12 may be an unmanned aircraft (e.g., drones 100).

The computing device 12 includes at least one processor 14, a computer readable storage medium 16, The processor 14 may cause the computing device 12 to operate in accordance with the exemplary embodiment discussed above. For example, processor 14 may execute one or more programs stored on computer readable storage medium 16. The one or more programs may include one or more computer-executable instructions, which when executed by the processor 14 cause the computing device 12 to perform operations in accordance with the illustrative embodiment .

The computer-readable storage medium 16 is configured to store computer-executable instructions or program code, program data, and / or other suitable forms of information. The program 20 stored in the computer-readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, the computer-readable storage medium 16 may be any type of storage medium such as a memory (volatile memory such as random access memory, non-volatile memory, or any suitable combination thereof), one or more magnetic disk storage devices, Memory devices, or any other form of storage medium that can be accessed by the computing device 12 and store the desired information, or any suitable combination thereof.

Communication bus 18 interconnects various other components of computing device 12, including processor 14, computer readable storage medium 16.

The computing device 12 may also include one or more input / output interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more input / output devices 24. The input / output interface 22 and the network communication interface 26 are connected to the communication bus 18. The input / output device 24 may be connected to other components of the computing device 12 via the input / output interface 22. The exemplary input and output device 24 may be any type of device, such as a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touch pad or touch screen), a voice or sound input device, An input device, and / or an output device such as a display device, a printer, a speaker, and / or a network card. The exemplary input and output device 24 may be included within the computing device 12 as a component of the computing device 12 and may be coupled to the computing device 12 as a separate device distinct from the computing device 12 It is possible.

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, . Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by equivalents to the appended claims, as well as the appended claims.

100: Drones
102:
104: arm frame
104-1: first arm frame
104-2: second arm frame
104-3: Third arm frame
104-4: fourth arm frame
106:
106-1: first rotor section
106-2: a second rotor section
106-3: third rotor section
106-4: fourth rotor section
111: Base
121: housing part
123: Propeller motor
125: Support
127: Propeller
129:
131:
131a:
131a-1: fixed body
131a-2: Stator coil
131b:
131b-1: rotating body
131b-2: magnet rotor
131b-3:
141: first through hole
143: second through hole

Claims (19)

A dron comprising a body and at least one rotor portion,
The rotor unit includes:
A housing part having an inner space and an upper part and a lower part opened, respectively;
A propeller motor fixed to the housing part inside the housing part;
A propeller connected to the propeller motor and rotated by the propeller motor;
An air flow discharging portion formed to communicate with a lower end portion of the housing portion and discharging the air flow generated by the propeller to the outside and being rotatable; And
And a rotation adjusting unit formed at a lower end of the housing unit and adjusting a rotating direction of the airflow discharging unit,
And the airflow discharging portion is provided to be bent in a horizontal direction at a lower end portion of the housing portion.
The method according to claim 1,
The housing part,
And at least one section in which the cross-sectional area decreases from the upper end of the housing part to the lower end of the housing part.
The method according to claim 1,
The drones,
Further comprising at least one support portion provided to connect the propeller motor and the housing portion such that the propeller motor is fixed at the center of the upper end of the housing portion.
delete The method according to claim 1,
The airflow generated by the propeller,
Wherein the airflow moves downward from the inside of the housing part and flows into one end of the airflow discharge part, and the direction of the airflow inside the airflow discharge part is vertically switched and discharged outside.
The method according to claim 1,
The air-
And is rotatable 360 degrees about the axis of the rotation control unit.
A dron comprising a body and at least one rotor portion,
The rotor unit includes:
A housing part having an inner space and an upper part and a lower part opened, respectively;
A propeller motor fixed to the housing part inside the housing part;
A propeller connected to the propeller motor and rotated by the propeller motor;
An air flow discharging portion formed to communicate with a lower end portion of the housing portion and discharging the air flow generated by the propeller to the outside and being rotatable; And
And a rotation adjusting unit formed at a lower end of the housing unit and adjusting a rotating direction of the airflow discharging unit,
The rotation control unit may include:
A fixing part formed at a lower end of the housing part; And
And a rotating portion rotatably connected to the fixing portion and connected to one end of the airflow discharging portion,
Wherein the fixing portion includes: a fixing body protruding downward from a lower end of the housing portion and communicating with a lower end of the housing portion; And a stator coil formed on an outer peripheral surface of the fixed body,
The rotary part includes a rotary part body which is formed on the outer side of the fixed part body and spaced apart from the fixed part body so as to surround the fixed part body and is connected to one end of the air discharge part and is connected to the lower end part of the housing part. A magnet rotor facing the stator coil at an inner surface of the rotating body and spaced apart from the stator coil; And a connecting portion for rotatably connecting the rotating body with the fixed body.
delete As a drone,
main body;
A first rotor unit connected to the main body and formed in a first direction with respect to the main body, the first rotor unit rotating in a first rotation direction;
A second rotor part connected to the main body and formed in a second direction opposite to the first direction with respect to the main body, the second rotor part rotating in the first rotation direction;
A third rotor part connected to the main body and formed in a third direction perpendicular to the first direction with respect to the main body and rotating in a second rotation direction opposite to the first rotation direction; And
And a fourth rotor portion connected to the main body and formed in a fourth direction opposite to the third direction with respect to the main body, the fourth rotor portion rotating in the second rotation direction,
The drones are arranged such that, when at least one of a forward movement, a backward movement, a leftward movement, a rightward movement, a upward movement, and a downward movement is performed, a difference in rotational speed between the first rotor section and the fourth rotor section, So that the drone is maintained in a horizontal state,
Each of the first rotor portion and the fourth rotor portion includes an air flow discharging portion that is bent at a lower end portion in a horizontal state and discharges airflow generated by the rotor portion and is rotatable with respect to a center axis of the rotor portion , drone.
delete The method of claim 9,
The drones,
Rotating the at least one air flow discharging portion of the first rotor portion to the at least one fourth rotor portion in a direction opposite to a direction in which the drone is to be moved when at least one of the forward movement, the backward movement, the leftward movement, drone.
The method of claim 9,
The drones,
Rotating the air flow discharging portion of the first rotor portion in the direction corresponding to the first direction and rotating the air flow discharging portion of the second rotor portion in the direction corresponding to the second direction when at least one of the upward movement and the downward movement is performed, And rotates the air flow discharging portion of the third rotor portion in a direction corresponding to the third direction and rotates the air flow discharging portion of the fourth rotor portion in a direction corresponding to the fourth direction.
The method of claim 9,
Wherein each of the first rotor portion and the fourth rotor portion includes:
A housing part having an inner space and an upper part and a lower part opened, respectively;
A propeller motor fixed to the housing part inside the housing part;
A propeller connected to the propeller motor and rotated by the propeller motor; And
And a rotation regulating portion formed at a lower end portion of the housing portion and regulating a rotating direction of the air flow discharging portion.
14. The method of claim 13,
The housing part,
And at least one section in which the cross-sectional area decreases from the upper end of the housing part to the lower end of the housing part.
14. The method of claim 13,
The drones,
Further comprising at least one support portion provided to connect the propeller motor and the housing portion such that the propeller motor is fixed at the center of the upper end of the housing portion.
delete 14. The method of claim 13,
The air-
And is rotatable 360 degrees about the axis of the rotation control unit.
14. The method of claim 13,
The rotation control unit may include:
A fixing part formed at a lower end of the housing part; And
And a rotating portion rotatably connected to the fixing portion and connected to one end of the airflow discharging portion.
19. The method of claim 18,
Wherein the fixing portion includes: a fixing body protruding downward from a lower end of the housing portion and communicating with a lower end of the housing portion; And a stator coil formed on an outer peripheral surface of the fixed body,
The rotary part includes a rotary part body which is formed on the outer side of the fixed part body and spaced apart from the fixed part body so as to surround the fixed part body and is connected to one end of the air discharge part and is connected to the lower end part of the housing part. A magnet rotor facing the stator coil at an inner surface of the rotating body and spaced apart from the stator coil; And a connecting portion for rotatably connecting the rotating body with the fixed body.

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