KR102212029B1 - Ratating flying object - Google Patents

Abstract

Disclosed is a rotating flight vehicle. According to one embodiment, the rotating flight vehicle includes: a body having a penetrating hole and including an upper body and a lower body; a horizontal flight propulsion part positioned at a central portion of the body to perform rotational motion; a lower propulsion part positioned on a lower side of the horizontal flight propulsion part to adjust flight motion through the rotational motion; a control part adjusting the rotational motion of the horizontal flight propulsion part and the lower propulsion part; and a performing part detecting surrounding environmental information and photographing a surrounding environment, thereby adjusting the flight motion in accordance with a motion value received from a user and detecting the external environment and present flight posture to autonomously maintain the stable flight posture. Also, the rotating flight vehicle can more stably fly through the rotational motion of the horizontal flight propulsion part.

Description

Rotating vehicle{RATATING FLYING OBJECT}

The description below relates to a rotating vehicle.

Drone refers to a military unmanned aerial vehicle in the form of an airplane or helicopter capable of flying and controlling by induction of radio waves without a pilot. In addition to military use, drones are actively used in the private sector. Multiple propellers connected to multiple wings of a drone can control the drone's takeoff, landing, and flight direction, because multiple propellers utilize the law of action and reaction. However, a plurality of propellers are usually exposed to the outside of the drone body and are directly exposed to the external environment, and it is difficult to fly when the climatic conditions are poor, such as convection phenomenon is unstable and heavy rain falls. Therefore, there is a need for a drone technology capable of stable flight by minimizing the influence from the external environment and maintaining the attitude of the drone itself.

In this regard, the flying disc flight principle can be considered. Specifically, when the disk is flying at the same time as the rotational movement than when flying without rotational movement, more stable flight is possible. For example, by flying the disk at the same time as the rotational motion, the left and right shaking may be reduced to increase flight stability, and the lift may be higher than the gravity value through the rotational motion, so that the flight altitude may be maintained.

In addition, in order to maintain the drone's posture by itself, it is necessary to control the drone posture by checking the current drone operation state and calculating a required motion value. Therefore, there is a need for a technology capable of maintaining the flight posture by identifying the current operating state through the attached self-sensor.

In this regard, Patent Publication No. 10-1885640 discloses a drone. The drone can control its posture and flight direction, and is formed in a disk shape, thereby minimizing air resistance when the rotor is not installed.

The above-described background technology is possessed or acquired by the inventor in the process of deriving the present invention, and is not necessarily a known technology disclosed to the general public prior to filing the present invention.

An object of a rotating vehicle according to an embodiment is to provide a vehicle capable of more stable flight through a horizontal flight propulsion unit located at the center of the body and rotating.

The purpose of a rotating vehicle according to an embodiment is to configure a body including an upper body and a lower body located on the upper and lower sides with respect to the horizontal flight propulsion unit, and a lower propulsion unit that controls the flight movement inside the lower body, It is to provide a vehicle that minimizes the impact from the environment.

The purpose of a rotating vehicle according to an embodiment is to control the operation of the horizontal flight propulsion unit and the lower propulsion unit based on the information detected by the execution unit sensing surrounding environment information and the sensing unit sensing current flight posture and location information. It is to provide a vehicle that can maintain its own flight posture through wealth.

The rotating vehicle according to an embodiment forms an exterior and includes a through hole formed therethrough to allow air to flow in and out, and is located at a central portion of the body and is centered on a rotating shaft penetrating the center of the body. It may include a rotating horizontal flight propulsion unit, a lower propulsion unit positioned under the horizontal flight propulsion unit and controlling a flight motion through a rotational motion, and a control unit for adjusting the rotational motion of the horizontal flight propulsion unit and the lower propulsion unit.

The rotating vehicle according to an embodiment may further include a performing unit for sensing surrounding environment information and photographing the surrounding environment.

The body may include an upper body positioned above the horizontal flight propulsion unit and a lower body positioned below the horizontal flight propulsion unit.

When viewed from the side of the rotating vehicle, the height of the upper body may be longer than that of the lower body.

The execution unit may be coupled to at least one or more of an outer surface of the horizontal flight propulsion unit and a lower surface of the lower body, and may transmit sensing and photographed information to the control unit.

The horizontal flight propulsion unit may include a rotating substrate connected to the rotating shaft and rotating around the rotating shaft, and a horizontal propulsion unit located at one side of the rotating substrate and connected to the rotating substrate and controlling the rotational motion of the rotating substrate. .

The rotating substrate may include an outer substrate that has a ring shape and controls the flow of air that is exposed to the outside, and a central substrate that is connected to the outer substrate and the rotation shaft to be located inside the outer substrate.

The outer substrate may include auxiliary wings that operate vertically with respect to the outer substrate.

The control unit includes a receiving unit that receives a signal related to motion control and information that detects the surrounding environment, a calculation unit that calculates an operation value for maintaining flight posture based on the information received from the receiving unit, and the information received by the receiving unit and the It may include an adjustment unit that adjusts the operation of the horizontal flight propulsion unit and the lower propulsion unit based on the operation value calculated by the calculation unit.

The control unit may further include a sensing unit that detects information on location information and flight attitude according to flight.

The receiving unit may include an operation command input unit for receiving an operation command from a user, and an execution information receiving unit for receiving information detected and photographed by the execution unit.

The control unit controls the operation of the lower propulsion unit by using a contact method for controlling the operation of the lower propulsion unit by changing an electric signal in a state in contact with the lower propulsion unit and an electric phenomenon in a state spaced apart from the lower propulsion unit. At least one of the wireless methods may be used to transmit a motion control signal to the lower propulsion unit.

The lower propulsion unit is connected to the plurality of propellers and the body and the plurality of propellers to control the flight movement through the rotational movement and to adjust the rotational speed and rotation direction, and transmit power and control signals for the operation of the plurality of propellers. It may include a power transmission unit for transmitting to the plurality of propellers.

According to the rotating vehicle according to an embodiment, a more stable flight may be possible through a horizontal flight propulsion unit located at the center of the body and rotating.

According to the rotating vehicle according to an embodiment, by configuring a body including an upper body and a lower body positioned at the upper and lower sides with respect to the horizontal flight propulsion unit, and a lower propulsion unit for controlling the flight movement inside the lower body, the external environment during flight You can minimize the impact from it.

According to another rotating vehicle according to an embodiment, an execution unit for sensing surrounding environment information and an adjustment unit for adjusting the operation of the horizontal flight propulsion unit and the lower propulsion unit based on the information detected by the sensing unit detecting current flight posture and location information. Through this, it can maintain its own flight posture.

The following drawings appended to the present specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the present invention, so the present invention is limited to those described in the It is limited and should not be interpreted.
1 is a perspective view of a front surface of a rotating vehicle according to an embodiment.
2 is a perspective view of the rear surface of the rotating vehicle according to the embodiment.
3 is a side cross-sectional view of a rotating vehicle according to an embodiment.
4 is a plan view of a horizontal flight propulsion unit according to an embodiment.
5 is a plan view of a lower propulsion unit according to an embodiment.
6 is a block diagram of a control unit according to an embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing an embodiment, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the constituent elements of the embodiment, terms such as first, second, A, B, (a), (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but another component between each component It should be understood that may be “connected”, “coupled” or “connected”.

Components included in one embodiment and components including common functions will be described using the same name in other embodiments. Unless otherwise stated, descriptions in one embodiment may be applied to other embodiments, and detailed descriptions in the overlapping range will be omitted.

1 is a perspective view of the front of the rotating vehicle according to the embodiment, Figure 2 is a perspective view of the rear of the rotating vehicle according to the embodiment, Figure 3 is a side cross-sectional view of the rotating vehicle according to the embodiment, Figure 4 is an embodiment A plan view of a horizontal flight propulsion unit according to an example, FIG. 5 is a plan view of a lower propulsion unit according to an embodiment, and FIG. 6 is a block diagram of a control unit according to the embodiment.

The rotating vehicle 1 can fly in the air. The rotating vehicle 1 may enable a more stable flight through the rotational motion of the central part. The rotating vehicle 1 may adjust the flight posture by itself through an operation signal received from a user and a measured current operation state value. For example, the rotating vehicle (1) receives the motion signal for the posture required from the user, grasps the operating state of each component for the current flight posture, calculates the motion value for the required flight posture, and then each component You can adjust the operation of the. In addition, even without receiving an operation signal from the user, the rotating vehicle 1 can control the operation of each component by itself by sensing instability such as shaking of the rotating vehicle 1 in order to adjust the unstable flight posture. The rotating vehicle 1 may include a body 10, a horizontal flight propulsion unit 11, a lower propulsion unit 13, a control unit 12 and an execution unit 14.

The body 10 may form an exterior. The body 10 may include a shape for the rotating vehicle 1 to perform a stable flight. For example, the body 10 may have a flying saucer shape. According to such a structure, the lift acting on the body 10 during flight may increase and the resistance force caused by air may decrease.

The body 10 may include an upper body 10a located on the upper side of the horizontal flight propulsion unit 11. The body 10 may include a lower body 10b located under the horizontal flight propulsion unit 11. The upper body 10a may have a curved shape. Conversely, the lower body 10b may have a flat shape. Specifically, the upper surface of the upper body 10a may include a curved surface, and the lower surface of the lower body 10b may include a flat surface. In addition, on the basis of viewing the rotating vehicle 1 from the side, the height of the upper body 10a may be longer than the height of the lower body 10b. According to this structure, a difference in velocity of air flowing between the upper surface of the upper body 10a and the lower surface of the lower body 10b occurs, so that a lift force can act on the body 10.

The body 10 may rotate around a rotation axis. For example, the upper body 10a and the lower body 10b may be connected to the rotation shaft. The upper body 10a, the lower body 10b, and the rotation shaft are connected to each other and can rotate at the same time. Therefore, through the rotational motion of the body 10, the flying disk flight principle is applied, so that the rotating vehicle 1 can make a more stable flight.

The lower body 10b may protect the lower propulsion part 13 from external impact. For example, the lower propulsion unit 13 is located on the lower side of the horizontal flight propulsion unit 11 and on the inner side of the lower body 10b, so that the lower propulsion unit 13 can be safely driven during flight, the lower body 10b is It is possible to protect the lower propulsion part 13 from external impact.

The body 10 may include a through hole 100 formed therethrough to allow air to flow inside and out. For example, the through hole 100 may be located in each of the upper body 10 and the lower body (10b). The through hole 100 may be configured in plural. The through hole 100 may have an S-shape. According to such a structure, the through hole 100 may reduce the possibility that foreign substances such as stones and bullets move into the body 10. However, the shape of the through hole 100 is not limited to one embodiment and may include various shapes.

The horizontal flight propulsion unit 11 is located at the central portion of the body 10 and may rotate about a rotation axis penetrating the center of the body 10. For example, when not in flight, the axis of rotation can be perpendicular to the ground. Based on the side view of the body 10, the horizontal flight propulsion unit 11 may be located in the central portion of the body 10. The horizontal flight propulsion unit 11 is located in the center of the body 10 and rotates, thereby adjusting the flight direction of the rotating vehicle. Specifically, by using the flight principle of the flying disk, a pressure difference between the left and right of the rotating vehicle may occur according to the rotational motion of the horizontal flight propulsion unit 11. The flight direction of the rotating vehicle 1 may be determined by the difference in left and right pressure. In addition, the horizontal flight propulsion unit 11 can prevent shaking during flight. The horizontal flight propulsion unit 11 can stably adjust the flow of gas flowing on the outer surface of the body 10 through a rotational motion. In addition, the horizontal flight propulsion unit 11 moves independently of the rotation axis and can adjust the left and right flight directions and horizontal flight with respect to the forward direction of the rotating vehicle 1. The horizontal flight propulsion unit 11 may include a rotating substrate 110 and a horizontal propulsion unit 111.

The rotating substrate 110 may be connected to a rotating shaft passing through the center of the body 10. The rotating substrate 110 may rotate about a rotation axis. For example, the rotating substrate 110 may include a rotating bearing. The rotating substrate 110 is connected to a rotating shaft through a rotating bearing, and can rotate around the rotating shaft. The rotating substrate 110 may include an outer substrate 1100 and a central substrate 1101.

The outer substrate 1100 has a ring shape, and may control the flow of air that is exposed to the outside and contacts it. The outer substrate 1100 may include auxiliary blades 1100a that operate upward and downward based on the outer substrate 1100. For example, the auxiliary blade 1100a may control the flow of air flowing through the outer surfaces of the upper body 10a and the lower body 10b. In other words, when the auxiliary wing 1100a operates downward, the speed of air flowing on the outer surface of the upper body 10a increases, so that the body 10 can move upward by receiving a lift force. Conversely, when the auxiliary wing 1100a operates upward, gravity acts on the body 10 more than lift, so that the body 10 can move downward. As a result, the direction of flight of the rotating vehicle can be adjusted through the vertical motion of the auxiliary wing 1100a.

The central substrate 1101 may be connected to the outer substrate 1100 and the rotation shaft to be positioned inside the outer substrate 1100. A through space may be formed between the central substrate 1101 and the outer substrate 1100. Air introduced into the body 10 from the outside through the through hole 100 may move through the through space. Therefore, through the propulsion of the lower propulsion unit 13, the air can move to the inside and outside of the body 10 and to the upper and lower sides of the horizontal flight propulsion unit 11.

Essential components for flight of the rotating vehicle 1 may be disposed on the outer surface of the central substrate 1101. For example, on the outer surface of the central substrate 1101, a control unit 12 for controlling the operation of the lower propulsion unit 13 and the horizontal flight propulsion unit 11 may be disposed. In addition, a battery that supplies power used as power during flight may be disposed on the outer surface of the central substrate 1101.

The horizontal propulsion unit 111 is located on one side of the rotary substrate 110 and is connected to the rotary substrate 110 and can control the rotational motion of the rotary substrate 110. The horizontal propulsion unit 111 may include a pair of fans. For example, the horizontal propulsion unit 111 may include an electric motor propeller, a ducted fan, a jet turbo engine, and a jet turbo fan for propulsion of the rotating vehicle 1.

A pair of fans of the horizontal propulsion unit 111 are positioned on both sides of the rotation axis, respectively, to generate an output difference to rotate the horizontal flight propulsion unit 11 clockwise or counterclockwise.

The lower propulsion unit 13 is located under the horizontal flight propulsion unit 11 and may adjust the flight motion through rotational motion. Specifically, the lower propulsion part 13 can control the propulsion and take-off and landing of the body 10. For example, the lower propulsion unit 13 may be connected to the body 10 and control the take-off and landing flight motions of the rotating vehicle 1 through a rotational motion. The lower propulsion unit 13 may include a power transmission unit 130 and a plurality of propellers 131.

The power transmission unit 130 may be connected to the body 10 and the plurality of propellers 131 to transmit power and control signals for the operation of the plurality of propellers 131 to the plurality of propellers 131.

The plurality of propellers 131 may control the flight motion through rotational motion, and the rotational speed and rotation direction. For example, the plurality of propellers 131 may control the take-off and landing of the rotating vehicle 1 by adjusting the rotational speed and rotation direction of each propeller. In addition, the plurality of propellers 131 may adjust the rotational speed and rotation direction of each propeller, thereby controlling the forward, backward, and direction control operations of the rotating vehicle 1.

The power transmission unit 130 may rotate about a rotation axis through rotational motion of a plurality of propellers 131. For example, the power transmission unit 130 may be connected to the rotation shaft to be connected to the upper body (10a) and the lower body (10b). In other words, the power transmission unit 130 is connected to the upper body (10a), the lower body (10b), and the rotation shaft to rotate at the same time. In addition, the rotation of the power transmission unit 130 may be adjusted by the rotation speed and rotation direction of the plurality of propellers 131. As a result, the power transmission unit 130 rotates through the rotational motion of the plurality of propellers 131, and the rotating shaft and the body 10 connected to the power transmission unit 130 rotate at the same time, so that the rotating vehicle 1 is a flying disk. The flight principle is applied to allow a more stable flight.

Based on an upward view, the plurality of propellers 131 may be disposed at a position coincident with the position of the through hole 100. In addition, the plurality of propellers 131 may be disposed at a position coincident with the position of the through space. Accordingly, the through hole 100, the through space, and the plurality of propellers 131 may be located in a straight line. As a result, through the rotational motion of the plurality of propellers 131, the external air sequentially moves to the plurality of propellers 131, the through space, and the through hole 100 of the upper body 10a, and the rotating vehicle 1 The lift for flight of can act on the rotating vehicle (1).

The control unit 12 may adjust the rotational motion of the horizontal flight propulsion unit 11 and the lower propulsion unit 13. Specifically, the control unit 12 may receive a motion signal from the user and sense the current flight posture, and adjust the operation of the horizontal flight propulsion unit 11 and the lower propulsion unit 13 according to an operation value requested by the user. . For example, when the flight of the rotating vehicle 1 is unstable, the control unit 12 may sense the current flight posture and adjust the operation of the lower propulsion unit 13 and the rotational motion on its own to adjust the unstable state. In addition, when the control unit 12 detects an abnormal operation of the horizontal flight propulsion unit 11, the control unit 12 is the lower propulsion unit 13 so that the rotating vehicle 1 can fly only with the lower propulsion unit 13 You can adjust the operation of the. The control unit 12 may include a receiving unit 120, a sensing unit 121, a calculating unit 122, an adjusting unit 123, and a sensing unit 121.

The receiver 120 may receive a signal related to motion control and information about sensing the surrounding environment. The receiving unit 120 may include an operation command input unit and an execution information receiving unit 120.

The operation command input unit may receive an operation command from a user. For example, the operation command input unit may receive an operation value input to an application of the user's portable terminal. In addition, the operation command input unit may receive an operation value input by the user from the adjustment device of the rotating vehicle 1. The operation command input unit may receive information on the operation of the rotating vehicle 1, such as whether it is forward or backward, direction control, take-off and landing, automatic adjustment of flight posture, flight speed, and operation value of the execution unit 14 from the user.

The execution information receiving unit 120 may receive information detected and photographed by the execution unit 14. For example, the execution information receiving unit 120 may receive surrounding environment information detected by the execution unit 14 and visual information in which the execution unit 14 photographs the surroundings.

The detection unit 121 may detect information on location information and flight attitude according to flight. For example, the sensing unit 121 may include a gyroscope, an accelerometer, a magnetometer, an inertial measurement system, and a GPS. The sensing unit 121 may detect information on the flight posture and flight position, such as flight altitude, flight distance, flight direction, current position, and inclination of the rotating vehicle 1. The information detected by the sensing unit 121 may be transmitted to the calculation unit 122 and the adjustment unit 123.

The calculation unit 122 may calculate an operation value for maintaining the flight posture based on the information received by the reception unit 120. For example, the calculation unit 122 may calculate a posture maintenance value for a stable flight of the rotating vehicle 1 based on the information detected by the detection unit 121. Specifically, the calculation unit 122 may iteratively compare a motion value requested from the user with the current flight posture, including the posture prediction model.

The adjustment unit 123 may adjust the operation of the horizontal flight propulsion unit 11 and the lower propulsion unit 13 based on information received by the receiving unit 120 and an operation value calculated by the calculation unit 122. For example, the adjustment unit 123 is the current horizontal flight propulsion unit 11 and the lower propulsion unit 13 based on the operation command value received by the receiving unit 120 and the operation value calculated for maintaining the posture by the calculation unit 122. ) Compared to the operating state, it is possible to adjust the rotational movement and operation direction of the horizontal flight propulsion unit 11 and the lower propulsion unit 13. Specifically, the adjustment unit 123 can adjust the operation of the horizontal flight propulsion unit 11 such as the output difference of the horizontal propulsion unit 111, the rotational speed of the rotating substrate 110, and the vertical motion of the auxiliary blade 1100a. have. In addition, the adjustment unit 123 may adjust signals related to the operation of the lower propulsion unit 13, such as a rotation speed, a rotation direction, a power transmission method, and an amount of power supply of the lower propulsion unit 13.

The control unit 123 is a contact method for controlling the operation of the lower propulsion unit 13 by changing an electric signal in a state in contact with the lower propulsion unit 13 and an electrical phenomenon in a state spaced apart from the lower propulsion unit 13. By using at least one of the wireless methods for controlling the operation of the lower propulsion unit 13, an operation control signal may be transmitted to the lower propulsion unit 13. Specifically, the control unit 123 may transmit an operation control signal to the power transmission unit 130. For example, the control unit 123 may transmit an operation control signal to the lower propulsion unit 13 through a contact method such as a trolley direct contact method. In addition, the control unit 123 may transmit an operation control signal to the lower propulsion unit 13 using a wireless method such as a magnetic field resonance method, an electromagnetic induction method, an electromagnetic wave method, and a Wi-Fi communication method.

The execution unit 14 may sense surrounding environment information and photograph the surrounding environment. For example, the execution unit 14 may include a detection sensor. The detection sensor can utilize radar, optical reaction, infrared and ultrasonic. The detection sensor can detect surrounding environment information such as whether or not there is a nearby object, the flow of the surrounding air, the ambient temperature and the surrounding wind strength. In addition, the performing unit 14 may include a photographing unit for photographing the surroundings of the rotating vehicle 1. The photographing unit may photograph surrounding objects, people, and environments as images and convert them into visual information. The execution unit 14 may transmit the detected and photographed information to the controller 12. Additionally, the information detected by the execution unit 14 may be transmitted to the controller 12 and used as reference information for automatic collision avoidance and posture change according to environmental conditions.

The execution unit 14 may be coupled to at least one of an outer surface of the horizontal flight propulsion unit 11 and a lower surface of the lower body 10b. However, this is only an embodiment, and the execution unit 14 may be variously coupled to the outer surface and the inner surface of the rotating vehicle 1 if necessary.

As described above, although the embodiments have been described with reference to the limited drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as the described structure, device, etc. are combined or combined in a form different from the described method, or in other components or equivalents. Even if substituted or substituted by, appropriate results can be achieved.

1: rotating vehicle
10: body (10)
10a: upper body
10b: lower body
100: through hole
11: Level flight propulsion
110: rotating substrate
111: horizontal propulsion unit
1100: outer substrate
1101: central substrate
1100a: auxiliary wing
12: control unit
120: receiver
121: detection unit
122: calculation unit
123: control unit
13: lower propulsion
130: power transmission unit
131: multiple propellers
14: executive

Claims (13)

A body including an upper body and a lower body forming an exterior, and a through hole formed therethrough to allow air to flow inside and outside;
A horizontal flight propulsion unit positioned between the upper body and the lower body, rotating about a rotation axis penetrating the center of the body, and adjusting the left and right flight directions and horizontal flight with respect to the forward direction;
A lower propulsion unit positioned below the horizontal flight propulsion unit and controlling flight motion through rotational motion; And
A control unit for adjusting the rotational motion of the horizontal flight propulsion unit and the lower propulsion unit; And
Including a performing unit for sensing surrounding environment information and photographing the surrounding environment,
The horizontal flight propulsion unit,
An outer substrate including a ring shape and exposed to the outside for controlling the flow of air in contact, and a central substrate connected to the outer substrate and the rotation shaft and located inside the outer substrate, and rotates around the rotation axis Rotating substrate; And
A rotating air vehicle comprising a horizontal propulsion unit located on one side of the rotating board and connected to the rotating board, and controlling the rotational motion of the rotating board through a pair of fans respectively located on both sides with respect to the rotating shaft.
delete delete According to claim 1
From the standard viewed from the side of the rotating vehicle,
The height length of the upper body is longer than the height length of the lower body, the rotating vehicle.
According to claim 4
The execution unit is coupled to at least one of an outer surface of the horizontal flight propulsion unit and a lower surface of the lower body, and transmits sensing and photographed information to the control unit.
delete delete According to claim 1
The outer substrate is
Rotating aircraft comprising auxiliary wings that operate up and down with respect to the outer substrate.
According to claim 1
The control unit
A receiver configured to receive a signal related to motion control and information about sensing the surrounding environment;
A calculation unit that calculates an operation value for maintaining the flight posture based on the information received by the receiving unit; And
And an adjustment unit for adjusting the operation of the horizontal flight propulsion unit and the lower propulsion unit based on the information received by the receiving unit and the operation value calculated by the calculation unit.
The method of claim 9
The control unit further comprises a sensing unit for detecting information on the position information and flight attitude according to the flight, rotating vehicle.
The method of claim 9
The receiving unit,
An operation command input unit for receiving an operation command from a user; And
Rotating aircraft comprising a performance information receiving unit for receiving the information detected and photographed by the execution unit.
The method of claim 9
The adjustment unit,
Among the contact method of controlling the operation of the lower propulsion unit by changing an electric signal in a state in contact with the lower propulsion unit, and a wireless method of controlling the operation of the lower propulsion unit by using an electric phenomenon in a state separated from the lower propulsion unit Using at least one or more to transmit a motion control signal to the lower propulsion unit, the rotating vehicle.
The method of claim 9
The lower pushing part,
A plurality of propellers for controlling flight movements through rotational movements, and for controlling rotational speed and rotational direction; And
It is connected to the body and the plurality of propellers, including a power transmission unit for transmitting power and control signals for the operation of the plurality of propellers to the plurality of propellers, rotating aircraft.

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