KR101914960B1 - Ducted fan based unmanned air vehicle system - Google Patents

Abstract

The present invention relates to an array of a plurality of unmanned aerial vehicles, and more particularly, to a ducted fan-based unmanned aerial vehicle system which can be combined / separated using electromagnets and is robust against disturbances such as wind blasts, A plurality of ducted fan unmanned aerial vehicles connected to an inner circumferential surface of the rotor, a rotor blade for flying, and a cylindrical duct having a plurality of electromagnet arrays arranged on an outer circumferential surface thereof; And a plurality of ducted fan unmanned aerial vehicles to control the flight direction of each ducted fan unmanned aerial vehicle and to control the flight direction of each ducted fan unmanned aerial vehicle during flight by selectively operating the electromagnet array, And a remote control device for transmitting a coupling pattern in which a flight body coupling type and a flight body placement position are defined according to the weather conditions of the ducted fan unmanned air vehicle.

Description

[0001] DUCTED FAN BASED UNMANNED AIR VEHICLE SYSTEM [0002]

 The present invention relates to an array of a plurality of unmanned aerial vehicles, and more particularly, to a ducted fan-based unmanned aerial vehicle system capable of combining / separating using electromagnets and being robust against disturbances such as wind blasts.

Generally, the unmanned helicopter in the form of a rotary wing is heavily biased toward the end of the rotary wing during flight. As a result, the distribution of the downward flow suddenly increases in the end region of the rotating blade. In addition, the unmanned helicopter generates vortexes at the tip of the rotating wing during flight, which causes the drag of the rotating wing to increase, which in turn decreases the efficiency of the unmanned helicopter.

In order to overcome such disadvantages, a ducted fan unmanned air vehicle using ducts as a passage through which air or other fluid flows and a duct as a structure has been developed. The ducted fan unmanned aerial vehicle includes a fuselage for flight, a rotor blade, a duct, a stator and four steering surfaces.

A general ducted fan unmanned aerial vehicle can achieve greater propulsion force in the absence of a duct, but has a limited weight that can be carried by a single module, and is vulnerable to disturbances such as blasts due to its tail-free structure. That is, a single module of a conventional ducted fan unmanned aerial vehicle is vulnerable to a disturbance such as a gust of wind due to limited steering force, and there is a limitation in the weight of the object that can be carried due to limited thrust.

It also includes an electromagnet for coupling. When a current flows through the conductor of the electromagnet, a concentric magnetic field is formed around the conductor. By using this principle, a magnetic field different from that of the permanent magnet can be obtained, and when the current flowing through the wire is blocked, the magnetic field disappears.

Raymond Oung, Raffaello D'Andrea, "The Distributed Flight Array: Design, Implementation, and Analysis of a Modular Vertical Take-off and Landing Vehicle," International Journal of Robotics Research,

Raymond Oung, Frederic Bourgault, Matthew Donovan, and Raffaello D'Andrea, "The Distributed Flight Array", IEEE ICRA, 2010.

The present invention provides a ducted fan-based unmanned aerial vehicle system capable of overcoming the limited steering force and thrust limit of a single ducted fan unmanned aerial vehicle.

Another object of the present invention is to provide a ducted fan-based unmanned aerial vehicle system capable of performing coupling / separation using an electromagnet.

In order to achieve the above object, a ducted fan-based unmanned aerial vehicle system according to an embodiment of the present invention is connected to a body accommodating a driving motor, avionics equipment and a power supply device, and a rotor blade A plurality of ducted fan unmanned aerial vehicles having a cylindrical duct having a plurality of electromagnet arrays arranged on an outer circumferential surface thereof; And a plurality of ducted fan unmanned aerial vehicles to control the flight direction of each ducted fan unmanned aerial vehicle and to provide a combined pattern in which the airborne coupling type and the airborne placement position are defined according to the weather conditions in flight, And each of the ducted fan unmanned aerial vehicles can selectively operate a plurality of electromagnet arrays based on a coupling pattern to perform flight combining.

In one embodiment of the present invention, the ducted fan unmanned aerial vehicle includes a body accommodating a driving motor, aviation equipment and a power supply unit; A duct connected to the body through a support and having a circular inner circumferential surface; A rotor blade provided inside the duct and rotated by a driving motor; And a plurality of electromagnet arrays arranged at regular intervals along an outer circumferential surface of the duct.

In one embodiment of the present invention, the plurality of electromagnet arrays may be disposed to face each other at four positions along the outer circumferential surface of the duct so as to coincide with the steering surface.

In one embodiment of the present invention, each of the electromagnet arrays may be composed of a plurality of electromagnets arranged vertically with alternating polarities.

In one embodiment of the present invention, each of the electromagnet arrays may be composed of a plurality of electromagnets in the form of engaging grooves and engaging projections, which are arranged alternately in different polarities vertically.

In one embodiment of the present invention, the plurality of electromagnet arrays may be arranged to have different polarities from the neighboring electromagnet arrays.

In one embodiment of the present invention, the remote control device stores a plurality of engagement patterns corresponding to a plurality of weather situations, changes the engagement pattern according to the weather conditions, and when the disturbance is canceled, It is possible to transmit a flight decoupling signal.

In order to achieve the above object, a ducted fan-based unmanned aerial vehicle system according to another embodiment of the present invention is connected to a body accommodating a driving motor avionics device and a power supply device, and a rotor blade for flying is arranged on an inner circumferential surface thereof A plurality of ducted fan unmanned aerial vehicles having a cylindrical duct having a plurality of electromagnet arrays arranged on an outer circumferential surface thereof; And a remote control device for storing a flight coupling type corresponding to a disturbance on the plurality of ducted fan unmanned aerial vehicles. A master ducted fan unmanned aerial vehicle which first senses disturbance among the ducted fan unmanned aerial vehicles, And the position of each of the ducted fan unmanned aerial vehicles is determined and transmitted based on the type of the ducted fan unmanned aerial vehicle and the position of the ducted fan unmanned aerial vehicle. It is possible to perform flight combining.

In another embodiment of the present invention, the ducted fan unmanned aerial vehicle includes a body accommodating a driving motor, aviation equipment and a power supply unit; A duct connected to the body through a support and having a circular inner circumferential surface; A rotor blade provided inside the duct and rotated by a driving motor; And a plurality of electromagnet arrays arranged at regular intervals along an outer circumferential surface of the duct.

In another embodiment of the present invention, each of the electromagnet arrays can be operated or shut off according to the power supplied or disconnected from the power supply unit under the control of the control unit.

In another embodiment of the present invention, each ducted fan unmanned aerial vehicle selectively controls a plurality of electromagnet arrays on the basis of the aviation coupling type and the detailed arrangement position of each aviation body to perform aviation coupling, So as to be aligned with the outer circumferential surface of the duct.

In another embodiment of the present invention, each of the electromagnet arrays is constituted by a plurality of electromagnets in which mutually different polarities are alternately arranged vertically, or a plurality of electromagnets in the form of engaging grooves and engaging projections in which mutually different polarities are alternately arranged vertically , And the engaging groove and the engaging projection may be formed in a semicircular, conical, or polygonal shape.

In another embodiment of the present invention, the plurality of electromagnet arrays may be arranged to have different polarities from the neighboring electromagnet arrays.

In another embodiment of the present invention, the master ducted fan unmanned aerial vehicle may change the coupling pattern according to the change of the weather condition, and may transmit the airbag unblocking signal to another ducted fan unmanned air vehicle when the disturbance is eliminated.

According to the embodiment, when a plurality of ducted fan unmanned aerial vehicles for group flight are operated, a combination form (shape) of a flying object corresponding to a weather condition in the sky and a detailed arrangement position of each flying object are determined, A plurality of ducted fan unmanned aerial vehicles are combined by operating a plurality of electromagnet arrays formed on the outer circumferential surface of the duct of each ducted fan unmanned vehicle according to the shape (shape) and the detailed arrangement positions of the respective aviation vehicles, It is possible to carry a heavier object, and it is possible to implement a flying object array having robustness and high stability against strong disturbances such as gusts.

1 is a block diagram of a ducted fan-based unmanned aerial vehicle system according to an embodiment of the present invention;
2 is a perspective view of a ducted fan unmanned aerial vehicle according to an embodiment of the present invention;
Figures 3 and 4 illustrate exemplary electromagnet arrays according to the present invention;
5 is a plan view of a plurality of ducted fan unmanned aerial arrays coupled by an electromagnet array.
6 is a perspective view of a plurality of ducted fan unmanned aerial arrays coupled by electromagnet arrays;

Hereinafter, an organic flying array according to the present invention will be described with reference to the accompanying drawings.

The terms and words used in the specification and claims of the present invention should not be construed to be limited to ordinary or dictionary meanings and the inventor should appropriately define the concept of the term to describe its invention in the best way It should be construed in the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments and the drawings described in the specification of the present invention are merely the most preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention. Therefore, It should be understood that there may be variations.

Whenever a component is referred to as "including" an element herein, it is to be understood that it may include other elements, unless the context otherwise requires.

The present invention is characterized in that a unmanned aerial vehicle system is operated by combining a plurality of ducted fan unmanned aerial vehicle modules.

1 is a block diagram of a ducted fan-based unmanned aerial vehicle system according to an embodiment of the present invention.

As shown in FIG. 1, the ducted fan-based unmanned aerial vehicle system according to the embodiment of the present invention includes a plurality of ducted fan unmanned air vehicles 100 in which a plurality of electromagnet arrays are arranged on the outer circumferential surface of the duct, , Controlling the flight direction of each ducted fan unmanned aerial vehicle by performing communication with the plurality of ducted fan unmanned aerial vehicles (100), controlling the operation of each ducted fan unmanned aerial vehicle and the electromagnet array during flight, And a remote control device (200) for selectively controlling the number of the unmanned aerial vehicles and the combined position.

Each of the ducted fan unmanned aerial vehicles 100 is connected to a moving body in which a driving motor, avionics equipment, and a power supply unit are housed. A rotor blade for flying is disposed on an inner circumferential surface of the duct, and a cylindrical duct having a plurality of electromagnet arrays Respectively.

The remote control device 200 may be implemented as a fixed or mobile remote control device. When it is recognized that the disturbance such as a gust of wind is generated due to the weather condition of the airflow over which the plurality of ducted fan unmanned air vehicles 100 are flying, the remote control apparatus 200 may be provided with a plurality of ducted fan unmanned air vehicles 100 A control signal for flight coupling can be transmitted. In this case, the remote control apparatus 200 can transmit the coupling pattern (eg, cross linkage) in which the arrangement form (shape) of the flight body for coupling and the detailed placement position for each flight number are specified to all the ducted fan unmanned air vehicle 100 .

Also, the remote control device 200 may store the coupling pattern in the ducted fan unmanned air vehicle 100 before flying. In this case, the combined pattern includes only the arrangement form (shape) of the flight body and does not include the detailed arrangement position by flight number. The ducted fan unmanned air vehicle 100 detects a disturbance such as a gust of wind by sensing a weather condition in the air while flying, and when the disturbance is detected, the ducted fan unmanned air vehicle 100, The detailed arrangement position of each flight number is determined on the basis of the stored arrangement form (shape) of the flight body and the spacing distance between the remaining ducted fan and the unmanned flying body 100, Shape) and the detailed arrangement position by the flight number can be transmitted, or only the detailed arrangement position according to the flight number can be transmitted.

For the above two embodiments, the present invention can constitute and operate a plurality of combining patterns corresponding to a plurality of weather conditions (information), and a plurality of effective combining patterns corresponding to the plurality of weather situations can be practically Can be verified.

FIG. 2 is a perspective view of a ducted fan unmanned aerial vehicle according to an embodiment of the present invention, and FIGS. 3 and 4 show different embodiments of the electromagnet array according to the present invention.

2, an individual ducted fan unmanned air vehicle 100 includes a moving body 10, a duct 21 formed at a lower portion of the moving body 10 and having a circular inner circumferential surface, A support base 11 supporting the moving body 10 so that the rotor 10 is positioned at the upper center of the duct 21 and a rotor blade 20 provided inside the duct 21 and rotated by a motor a stator 30 mounted on the rotor blade 20 and a circular landing table 12 connected to a lower portion of the duct 21 for supporting the duct 21 from the ground during landing A steering surface 31 connected between the duct 21 and the landing platform 12 and an electromagnet array 40 attached to the outside of the duct 21.

Although not shown in the figure, the moving body 10 contains a motor for driving the rotor blade 20, a power supply device, a receiver, and avionics devices such as a flight control device (sensor portion, communication portion, control portion and others).

The support base 11 is composed of four leg-like support members formed along the upper outer circumferential surface of the duct 21 so that the body 10 and the duct 21 are engaged with each other.

The steering surface 31 is connected to a sub motor in the duct 21 through a hinge and controls a moving direction of the flying object in accordance with surface tilt control by the sub motor. Between the duct 21 and the landing platform 12, a support member for reducing the load is provided.

3, the electromagnet array 40 is disposed at regular intervals on the outer circumferential surface of the duct 21 so as to coincide with the control surface 31, and is connected to a power source device of the moving body 10 Can be formed in a structure in which they are interlocked. Each of the electromagnet arrays 40 is magnetized in response to a control of a control unit (not shown) and is supplied or cut off by a power supply unit. That is, when a current flows through the conductor of the electromagnet 40, a concentric magnetic field is formed around the conductor. By using this principle, a magnetic field different from that of the permanent magnet can be obtained, and when the current flowing through the wire is blocked, the magnetic field disappears.

Therefore, the control unit of each ducted fan manned vehicle 100 communicates with the remote control device 200 on the ground via the communication unit, and controls the steering surface according to the coupling pattern transmitted from the remote control device 100, By turning the operation of the array 40 on and off, the operator can use the remote control device to connect the ducted fan-unmanned aerial vehicle to be coupled to each other among the plurality of ducted fan unmanned aerial vehicles, The desired electromagnet array can be selected.

The electromagnet array 40 may be installed so as to be opposed to four positions of the outer circumferential surface of the duct 21 (to coincide with the steering surface), and three electromagnets are vertically disposed at each position. Therefore, in the embodiment of the present invention, four electromagnet arrays, that is, a total of twelve electromagnets 40 may be disposed on the outer circumferential surface of the duct 21. [ The position and the number of the electromagnet array 40 can be changed and used by the operator appropriately.

The electromagnet arrays 40 disposed on the outer circumferential surface of the duct 21 may be arranged to have opposite polarities at respective positions. For example, an electromagnet array of N-pole, S-pole and N-pole arrangement is disposed vertically at the first position of the outer circumferential surface of the duct 21, and an array of S-poles, N-poles and S-poles is arranged at the neighboring second position An electromagnet array can be arranged.

In another embodiment of the present invention, the electromagnet array 41 is disposed at regular intervals so as to coincide with the steering surface 31 on the outer circumferential surface of the duct 21, and the ducted fan- An engaging groove or an engaging projection corresponding to the S pole and the N pole on the outer circumferential surface can be formed. For example, the S-pole may be formed as an engagement groove, the N-pole may be formed as an engagement protrusion, and the two ducted fan unmanned air vehicles 100 may be coupled to each other by being inserted into the engagement protrusion have. The coupling grooves or coupling protrusions may be semicircular, conical, or may have a " C " shape as shown in FIG.

The arrangement and polarity arrangement of the electromagnet array 40 may serve as a guide when a plurality of unmanned aerial vehicles are coupled by the electromagnet 40.

The operation of the ducted fan-based unmanned aerial vehicle system according to the embodiment of the present invention will now be described.

Figure 5 is a perspective view of a plurality of ducted fan unmanned aerial arrays coupled by an electromagnet array and Figure 6 is a top view of a plurality of ducted fan unmanned aerial arrays coupled by an electromagnet array.

In the ducted fan-based unmanned aerial vehicle system according to the embodiment of the present invention, all the control operations can be controlled by the remote control device 200. The remote control device 200 may be implemented as a fixed or mobile remote control device.

The remote control device 200 may receive the weather condition of the upper and lower surfaces of a plurality of ducted fan unmanned aerial vehicles 100 from another weather observation device or GPS to sense occurrence of disturbance. When the occurrence of the disturbance is detected or expected as a result of detection, the remote control device 200 may transmit a control signal to the plurality of ducted fan unmanned air vehicles 100 to instruct the combination of the plurality of air vehicles. To this end, the remote control device 200 confirms the type of disturbance sensed or predicted, and then arranges a combination form (shape) corresponding to the type of the disturbance identified and a flight object (flight object identifier) After the position is defined, it is included in the binding pattern and transmitted to all the ducted fan unmanned air vehicles 100.

Therefore, each ducted fan unmanned vehicle 100 recognizes the coupled shape (shape) and the ducted fan unmanned air vehicle 100 to which the ducted fan unmanned air vehicle 100 is to be coupled based on the coupling pattern transmitted from the remote control device 200, And controls the inclination of the plane of the control surface 31 to approach the ducted fan unmanned air vehicle 100 to which it is to be coupled. 2 and 3, the two ducted fan unmanned vehicles 100 adjacent to each other when power is applied to one of the plurality of electromagnet arrays 40 disposed on the outer circumferential surface of the duct 21, The two electromagnet arrays 40 having different polarities can be contended with each other.

Thereafter, when a disturbance in the sky over which a plurality of ducted fan unmanned air vehicles 100 fly is released, the remote controller 200 transmits a release signal to each ducted fan unmanned air vehicle 100, Thereby preventing the coupling of the flight arrays shown in Fig.

As described above, in the embodiment of the present invention, the remote control device 200 receives the weather state of the air over the plurality of ducted fan unmanned air vehicles 100 from a separate weather observation device or GPS to detect the occurrence of disturbance do. Therefore, there may be a case where it does not accurately reflect the meteorological condition which changes in real time in the air in real time.

In another embodiment of the present invention, the operator stores only the coupling pattern in all the ducted fan unmanned air vehicles 100 through the remote control device 200 before flying, and the subsequent flight coupling is performed using a plurality of ducted fan unmanned air vehicles 100) directly detects the weather condition of the air conditioner so that it can be performed through interlocking operation between them.

That is, the plurality of ducted fan unmanned air vehicles 100 detect the disturbance by sensing a weather condition in the air during the flight. The ducted fan unmanned air vehicle 100, which first senses the disturbance, And transmits a control signal indicating that it is 'master'. Upon receiving the control signal, the ducted fan unmanned flying vehicle 100 terminates the weather condition detection and waits for reception of the coupling pattern.

The ducted fan manned vehicle 100 set as the master determines the type of disturbance sensed and determines a coupling shape (shape) corresponding to the type of disturbance detected, and then determines the position and position of the remaining ducted fan unmanned air vehicle 100 The detailed arrangement position of each flight number is determined on the basis of the separation distance, and the combined placement pattern is included in the combination pattern and transmitted to the other ducted fan unmanned air vehicle 100. To this end, each ducted fan unmanned air vehicle 100 transmits and receives the position of the other party through the sensor unit and the communication unit.

Therefore, each ducted fan unmanned vehicle 100 recognizes the coupled shape (shape) and the ducted fan unmanned air vehicle 100 to which the ducted fan unmanned air vehicle 100 is to be coupled based on the coupling pattern transmitted from the remote control device 200, And controls the inclination of the plane of the control surface 31 to approach the ducted fan unmanned air vehicle 100 to which it is to be coupled. 2 and 3, the two ducted fan unmanned vehicles 100 adjacent to each other when power is applied to one of the plurality of electromagnet arrays 40 disposed on the outer circumferential surface of the duct 21, The two electromagnet arrays 40 having different polarities can be contended with each other. When the disturbance is released, the ducted fan manned vehicle 100, which is set as the master, releases the power of the electromagnet array 40 to release the coupling of the unmanned aerial vehicle array shown in FIG.

The above-mentioned two embodiments can be selectively operated by the operator considering the configuration of the system, the operating personnel, the communication state, and the like in a complex manner. In addition, the control unit of each ducted fan manned vehicle 100 performs the first embodiment, and when the communication with the remote control device 200 on the ground deteriorates (enters the shade area), the control unit switches to the second embodiment, And when the communication condition is good, the air vehicle combination can be performed again according to the first embodiment.

As described above, according to the present invention, when a plurality of ducted fan unmanned aerial vehicles that operate in a group flight are operated, a coupling shape (shape) of a flying object corresponding to a weather condition in the sky and a detailed arrangement position of each flying object are determined, And a plurality of ductile fan unmanned aerial vehicles are combined by operating a plurality of electromagnet arrays formed on the outer circumferential surface of each ducted fan unmanned vehicle according to the detailed arrangement positions of the respective flying bodies, It is possible to carry a heavier object, and it is possible to realize a flying body array having robustness and high stability against strong disturbances such as gusts.

The ducted fan-based unmanned aerial vehicle system according to the present invention described above can be applied to a configuration and a method of the above-described embodiments in a limited manner, but the embodiments are not limited to the technical ideas and essential features It will be understood that the invention may be embodied in other specific forms. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive.

10: Fuselage 11: Support
12: Landing platform 20: Rotor blade
21: duct 30: stator
31: control surface 40: electronic array
100: ducted fan unmanned vehicle 200: remote control device

Claims (16)

A plurality of ducted fan unmanned aerial vehicles connected to a moving body accommodating a motor, aviation equipment and a power supply device, a rotor blade for flying on an inner circumferential surface thereof, and a cylindrical duct having a plurality of electromagnet arrays arranged on an outer circumferential surface thereof; And
A plurality of ducted fan unmanned aerial vehicles communicate with each other to control the flight direction of each ducted fan unmanned aerial vehicle and to provide a combined pattern in which the airborne coupling shape and the airborne placement position are defined according to the weather conditions during the flight, And a remote control device for transmitting to the pan unmanned aerial vehicle,
Wherein each of the ducted fan unmanned aerial vehicles selectively operates a plurality of electromagnet arrays based on a coupling pattern to perform flight combining,
Each of the plurality of electromagnet arrays
And a plurality of electromagnets in the form of engaging protrusions and engaging grooves in which different polarities are alternately arranged vertically. The ducted fan as claimed in claim 1, wherein the ducted fan
A fuselage in which a drive motor, aviation equipment, and power supply are housed;
A duct connected to the body through a support and having a circular inner circumferential surface;
A rotor blade provided inside the duct and rotated by a driving motor; And
And a plurality of electromagnet arrays arranged at regular intervals along an outer circumferential surface of the duct. 2. The apparatus of claim 1, wherein each of the electromagnet arrays
Wherein the control unit is operated or shut off according to a power supplied or disconnected from the power supply unit under the control of the control unit. delete delete delete The apparatus of claim 1, wherein the plurality of electromagnet arrays
Wherein the plurality of electromagnet arrays are arranged to have different polarities from the neighboring electromagnet arrays. The electromagnet array as set forth in claim 1, wherein the electromagnet array disposed at the first position among the plurality of electromagnet arrays has N poles, S poles, and N poles arranged in order, , And an S pole are arranged in this order. The remote control device according to claim 1,
Wherein the plurality of coupling patterns corresponding to a plurality of weather conditions are stored so as to change the coupling pattern according to the weather conditions and when the disturbance is canceled, the air vehicle decoupling signal is transmitted to the ducted fan unmanned air vehicle Based unmanned aerial vehicle system. motor. A plurality of ducted fan unmanned aerial vehicles connected to a moving body accommodating aviation equipment and a power supply device, a rotor blade for flying on an inner circumferential surface thereof, and a cylindrical duct having a plurality of electromagnet arrays arranged on an outer circumferential surface thereof; And
And a remote control device for storing a flight coupling type corresponding to the disturbance in the plurality of ducted fan unmanned aerial vehicles,
A master ducted fan unmanned aerial vehicle which first senses disturbance among the ducted fan unmanned aerial vehicles determines and transmits the aerodynamic coupling type and arrangement position according to the type of disturbance and the position of the ducted fan unmanned aerial vehicle, The unmanned aerial vehicle according to claim 1, wherein the plurality of electromagnet arrays are selectively operated according to the coupling type and the arrangement position,
Each of the plurality of electromagnet arrays
And a plurality of electromagnets in the form of engaging projections, wherein the engaging recesses are arranged alternately in different polarities vertically. The duct according to claim 10, wherein the ducted fan
A fuselage in which a drive motor, avionics equipment and a power supply are housed;
A duct connected to the body through a support and having a circular inner circumferential surface;
A rotor blade provided inside the duct and rotated by a driving motor; And
And a plurality of electromagnet arrays arranged at regular intervals along an outer circumferential surface of the duct. 11. The apparatus of claim 10, wherein each of the electromagnet arrays
Wherein the control unit is operated or cut off according to a power supplied or disconnected from the power supply unit under the control of the control unit. 11. The air conditioner of claim 10, wherein each ducted fan unmanned aerial vehicle
A plurality of electromagnet arrays are selectively controlled on the basis of the flight assembly type and the detailed arrangement position of each flight body to perform flight assembly,
Wherein the plurality of electromagnet arrays are disposed to face each other at four positions along an outer circumferential surface of the duct so as to coincide with the steering surface. 11. The method of claim 10,
The engaging groove and the engaging projection
Circular, polygonal, conical, or polygonal shape. 11. The apparatus of claim 10, wherein the plurality of electromagnet arrays
Wherein the plurality of electromagnet arrays are arranged to have different polarities from the neighboring electromagnet arrays. 11. The method of claim 10, wherein the master ducted fan unmanned aerial vehicle
Wherein the coupling pattern is changed according to the change of the weather condition, and when the disturbance is canceled, the aircraft decoupling signal is transmitted to the other ducted fan unmanned aerial vehicle.

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