KR102219272B1 - Drone capable of repositioning propeller shaft and control method of drone - Google Patents

Abstract

The present invention relates to a drone capable of adjusting the position of a propellor shaft, and a control method thereof. The drone of the present invention comprises: a drone body with an opening formed therein; a plurality of propellor shafts having one side to penetrate the opening of the drone body and disposed inside the drone body, and the other side mounted with a propellor, and disposed in a radial direction of the drone body; and an adjustment means disposed on the drone body, separately connected to each of the propellor shafts, and adjusting a position of the propellor shafts. According to the present invention, when an abnormality occurs in a part of a plurality of propellors mounted on a plurality of propellor shafts, stability and continuity of flight of the drone can be maintained by adjusting positions of the propellor shafts on which normally operated propellors are mounted.

Description

A drone capable of adjusting the position of the propeller shaft and its control method {DRONE CAPABLE OF REPOSITIONING PROPELLER SHAFT AND CONTROL METHOD OF DRONE}

The present invention relates to a drone capable of adjusting the position of a propeller shaft and a control method thereof, and more particularly, to adjust the position of other propellers even when a situation in which normal operation is impossible due to an abnormality or failure occurs in some of a plurality of propellers. Thus, it relates to a drone capable of adjusting the position of a propeller shaft that can maintain flight stability and flight continuity, and a control method thereof.

Multicopter refers to an aircraft flying in the sky using several rotating wings. Recently, it is generally used in a similar meaning to a drone.

Here, drone is a generic term for unmanned aerial vehicles that are not occupied by humans. Drones, largely controlled by radio waves, were initially used militarily for intercepting exercises of air force aircraft, anti-aircraft guns, or missiles.

As wireless technology gradually developed, it was not only used for intercept practice, but also for military reconnaissance aircraft and various weapons to be used to destroy target facilities.

If you look at an attack drone, it has a shape similar to that of a fighter. Instead of a propeller, a pair of large lift wings arranged in both directions in the middle of the body and a pair of tail wings that control the direction of the drone are arranged in the middle part of the body like a normal fighter.

Of course, among attack drones, like a multicopter, a plurality of propellers are arranged in a radial direction, and there are forms that maneuver in a free direction.

These wing-shaped or multicopter-shaped drones are used for purposes such as reconnaissance or bombing.

In recent years, the use of drones is expanding. Small drones have been developed and used for leisure purposes, and the popularization of drones is gradually expanding to the extent that drone control competitions are held. In addition, the delivery industry is planning and executing a delivery mechanism that transports ordered goods using drones.

In line with this trend, major companies around the world are focusing on investment activities and technology development, seeing the drone-related industry as a promising new business.

As a form of drone, a multicopter-type drone that is generally commercialized has a plurality of propellers arranged in the radial direction of the drone body based on the drone body. Usually, drones equipped with 4, 6, or 8 propellers are popular.

In the case of such a propeller-driven drone, a plurality of propellers generate lift to maintain the flight balance of the drone body and secure flight stability.

However, if an abnormality occurs in a specific propeller and the rotation speed is not normal or does not operate due to a failure, in most cases the drone loses flight stability and falls.

Drones that fall to the ground are impacted and many of them are damaged. At this time, expensive drones require a lot of drone repair costs, and if the damage is severe, the drone cannot be repaired, so the purchase cost is lost.

Therefore, in a propeller-driven drone, even if an abnormality or failure occurs in some of the plurality of propellers, a technical method capable of maintaining the flight stability of the drone in order to prevent a fall is required in the art.

The present invention was conceived to solve the problems of the related art as described above, and an object of the present invention is to position other propellers even when a situation in which normal operation is impossible due to abnormality or failure occurs in some of the plurality of propellers. It is to provide a drone that can adjust the position of the propeller shaft that can maintain flight stability and flight continuity by adjusting the drone and its control method.

The present invention for achieving the above objects relates to a drone capable of adjusting the position of a propeller shaft, comprising: a drone body having an opening; A propeller shaft in which one side passes through the opening of the drone body and is disposed inside the drone body, a propeller is mounted on the other side, and a plurality of propeller shafts are disposed along a radial direction of the drone body; And an adjusting means disposed on the drone body and connected to each of the plurality of propeller shafts, and adjusting a position of the propeller shaft; wherein the adjusting means includes some propellers among a plurality of propellers mounted on the plurality of propeller shafts. If an abnormality occurs, the position of the propeller shafts with normally operating propellers can be adjusted.

In addition, in an embodiment of the present invention, the adjusting means may include: an axis bracket disposed inside the drone body; A shaft shaft connected to the shaft bracket, having a protruding spherical portion formed at a central side, a curvature formed inside the spherical portion, and having an open shaft housing at least partially; One end is connected to the propeller shaft, and a spherical shaft end bearing disposed on the shaft housing; A cam motor disposed inside the drone body; A cam having a cam bearing housing having a curvature formed on an inner surface that is partially connected to the cam motor and a gearbox, and penetrates into the other portion and faces the cam; And a circular ring-shaped inter-bearing disposed on the cam bearing housing and passing through the propeller shaft toward the center.

In addition, in an embodiment of the present invention, the adjustment means may include a center motor disposed inside the drone body; A shaft bracket connected to the rotation shaft; A shaft shaft connected to the shaft bracket, having a protruding spherical portion formed at a central side, a curvature formed inside the spherical portion, and having an open shaft housing at least partially; One end is connected to the propeller shaft, and a spherical shaft end bearing disposed on the shaft housing; A guide block disposed in the opening and having a guide hole for guiding movement of the propeller shaft in a curved direction; And a guide bearing disposed in a bearing groove formed in the propeller shaft and moving along the guide hole.

In addition, in an embodiment of the present invention, the adjustment means may include a center motor disposed inside the drone body; A shaft bracket connected to the rotation shaft; A shaft shaft connected to the shaft bracket, having a protruding spherical portion formed at a central side, a curvature formed inside the spherical portion, and having an open shaft housing at least partially; One end is connected to the propeller shaft, and a spherical shaft end bearing disposed on the shaft housing; And a shaft support unit disposed in the opening and guiding movement of the propeller shaft in a curved direction.

In addition, in an embodiment of the present invention, the shaft support unit is mounted in the opening, a curved first rail is disposed at an upper portion, a curved second rail is disposed at a lower portion, and an arch-shaped frame hole is disposed at the center portion. Rail frame is formed; A first roller moving along the first rail is disposed in a portion corresponding to the first rail from the inside, a first block groove is formed in a portion corresponding to the propeller shaft from the inside, and a first block groove is formed on the lower side of the propeller shaft. A first block in which a first shaft groove in which an upper portion is inserted and disposed is formed; A second roller moving along the second rail is mounted at a portion corresponding to the second rail from the inside, a second block groove is formed at a portion corresponding to the propeller shaft from the inside, and a second block groove is formed on the upper side of the propeller shaft. A second block in which a second shaft groove in which a lower portion is inserted and disposed is formed; A link beam connecting the first and second blocks and adjusting a spacing between the first and second blocks through a thread adjustment method; A buffer pad made of an elastic material disposed at a position corresponding to the first and second block grooves on the propeller shaft; An elastic body disposed in the first and second block grooves, connected to the buffer pad, and absorbing vibrations of the propeller shaft; A brush disposed on a surface of the first and second blocks facing each other to prevent foreign matters from flowing into the gaps between the first and second blocks; And a blind connected and disposed between the frame hole and both sides of the first and second blocks, and having a bellows structure in order to prevent foreign substances from entering the frame hole.

In addition, in an embodiment of the present invention, a control unit for controlling an operation state of the propeller and an operation of the adjustment means may be further included, wherein the control unit includes: a rotation speed measurement module for measuring a rotation speed of the propeller; A propeller diagnostic module for diagnosing a state of a propeller by analyzing the rotation speed information measured by the rotation speed measurement module; A communication module for transmitting the propeller diagnosis information diagnosed by the propeller diagnosis module to an operator's terminal; When the propeller diagnosis module diagnoses an abnormality of a specific propeller, a calculation module for classifying a stop state of the propeller or a state of deterioration in rotational performance of the propeller, and calculating a moving angle of the other propellers corresponding to each of the separated states; A motor control module for controlling a motor to adjust the positions of other propellers according to the moving angle calculated by the calculation module; When the propeller diagnosis module diagnoses an abnormality of a specific propeller, an output management module that calculates and applies a converted power consumption value of other propellers for maintaining the flight and payload value of the drone; And a data management module for storing propeller diagnosis information diagnosed by the propeller diagnosis module and movement angle information calculated by the calculation module.

The method of controlling a drone according to the present invention includes the steps of measuring the rotational speed of each propeller; Analyzing the measured rotational speed information to diagnose the condition of each propeller; Communicating status information of each of the diagnosed propellers to an operator's terminal in real time; Determining whether all propellers are normally operated; Selecting a propeller in which abnormal operation or failure has occurred; Calculating a moving angle of the propellers operating normally according to an abnormal operating state or a fault state; Converting propeller diagnosis information and calculated moving angle information into data; Adjusting the positions of the propellers operating normally; And calculating a converted power consumption value and reapplying the battery output according to the position adjustment of the propellers operating normally.

According to the present invention, even if a situation in which normal operation is impossible due to an abnormality or failure occurs in some of a plurality of propellers, there is an effect of maintaining flight stability and flight continuity of a drone by adjusting the positions of other propellers.

This can prevent the drone from falling and uncontrollable, thereby preventing the damage of the drone, and thereby reducing the repair/maintenance cost of the drone that may occur.

1A is a view showing a state before moving a propeller shaft in a drone according to an embodiment of the present invention.
1B is a view showing a state of moving another propeller shaft in response to an abnormality of some propellers in the drone according to an embodiment of the present invention.
Figure 2a is a view showing a first embodiment of the structure of the control means in the present invention drone.
Figure 2b is a view showing a state in which the propeller shaft is moved through the adjusting means disclosed in Figure 2a.
Figure 3a is a view showing a rotation state of the cam for moving the propeller shaft in the adjusting means disclosed in Figure 2a.
3B is a view showing the movement of the propeller shaft in the arch direction according to the rotational state of the cam disclosed in FIG. 3B.
Figure 4 is a view showing a second embodiment of the structure of the control means in the present invention drone.
Figure 5a is a view showing one form of the guide block disclosed in Figure 4;
Figure 5b is a view showing another form of the guide block disclosed in Figure 4;
6 is a view showing a third embodiment of the structure of the control means in the present invention drone.
7 is a cross-sectional view of the AA portion disclosed in FIG. 6.
8 is a diagram showing the configuration of a control unit in a drone according to an embodiment of the present invention.
9 is a view showing a control method for performing position adjustment of a propeller shaft in a drone according to an embodiment of the present invention.

Hereinafter, preferred embodiments of a drone capable of adjusting the position of a propeller shaft according to the present invention and a control method thereof will be described in detail with reference to the accompanying drawings.

Although each of the embodiments and respective structures described below are individually described, they may be integrated into one embodiment and applied and designed within a range not in conflict with each other.

Referring to FIGS. 1A to 3B, the drone 100 according to an embodiment of the present invention may include a drone body 200, a propeller shaft 300, and an adjustment means 500.

A predetermined space may be formed in the drone body 200 so that the adjustment means 500 may be disposed, and a plurality of openings 210 may be formed along the outer periphery. The number of openings 210 may correspond to the number of propeller shafts 300.

1A and 1B discloses a cylindrical drone body 200 in order to easily describe the technical features of the present invention, but is not limited thereto, and other forms to which the technical features of the present invention can be applied are also possible. .

A plurality of propeller shafts 300 may be disposed at predetermined intervals along the radial direction of the drone body 200.

One side of the propeller shaft 300 may pass through the opening 210 of the drone body 200 and may be disposed inside the drone body 200. At this time, the propeller shaft 300 may be connected to the adjusting means 500 inside the drone body 200. In addition, a propeller 400 may be mounted on the other side of the propeller shaft 300.

The adjusting means 500 may be disposed on the drone body 200 and connected to the plurality of propeller shafts 300, respectively. The adjustment means 500 may be configured to adjust the position of the propeller shaft 300.

Functionally, the adjustment means 500 is the position of the propeller shafts 300 equipped with propellers that operate normally when an abnormality occurs in some of the plurality of propellers 400 mounted on the plurality of propeller shafts 300 By moving it can perform the function of maintaining the flight stability and flight continuity of the drone 100.

2A and 2B, in the first embodiment of the adjusting means 500 for performing these functions, the shaft bracket 511, the shaft shaft 512, the shaft end bearing 515, the cam motor 521, It may be configured to include a gearbox 522, a cam 531, and an inter-bearing 533.

The shaft bracket 511 may be disposed inside the drone body 200, and both sides thereof may be bent upward to couple the shaft shaft 512.

Both ends of the shaft shaft 512 may be rotatably connected to the shaft bracket 511. In addition, a protruding spherical portion 513 may be formed at the center side of the shaft shaft 512, and a shaft housing 514 having a curvature formed inside the spherical portion 513 and at least partially open Can be formed.

The shaft end bearing 515 may be disposed on the shaft housing 514, and one end of the shaft end bearing 515 may be connected to the propeller shaft 300. The remaining portions except for one end of the shaft end bearing 515 are formed in a spherical shape corresponding to the curvature of the inner surface of the shaft housing 514, and thus various movements may be made in the shaft housing 514 up, down, left and right. The shaft end bearing 515 according to the embodiment of the present invention may be in the form of a spherical ball bearing, but is not limited thereto.

2A and 2B, it can be seen that the shaft end bearing 515 is not separated from the inside of the shaft housing 514 and relatively free movement is possible. This can confirm that free movement of the propeller shaft 300 connected to the shaft end bearing 515 is possible.

The cam motor 521 may be disposed inside the drone body 200. In the exemplary embodiment of the present invention, the cam motor 521 may be a step motor capable of precise angle adjustment, but is not limited thereto.

Referring to FIG. 3A, the cam 531 may have an oval shape. In addition, a part of the cam 531 may be connected to the cam motor 521 and the gearbox 522, and another part of the cam 531 passes through and a cam bearing housing 532 having a curvature formed on the opposite inner surface. ) Can be formed.

The gearbox 522 includes a first gear 523 connected to the rotation shaft of the cam motor 521, a first support bearing 525 supporting the first gear 523, and a part of the cam 531 A second gear 524 connected to and a second support bearing 526 supporting the second gear 524 may be incorporated.

As the first and second gears engage with each other and rotate, the cam 531 may rotate according to the driving of the cam motor 521.

The inter-bearing 533 may be disposed on the cam bearing housing 532 and may have a circular ring shape through which the propeller shaft 300 passes at a center side. The outer circumferential surface of the inter-bearing 533 may be formed with a curvature corresponding to the curvature of the inner circumferential surface of the cam bearing housing 532.

Referring to FIGS. 2A and 2B, it can be seen that the inter-bearing 533 can move relatively freely up, down, left, and right inside the cam bearing housing 532. The inter-bearing 533 according to the exemplary embodiment of the present invention may be a type of ball bearing, but is not limited thereto. It can be seen that the propeller shaft 300 connected to the inter-bearing 533 can move freely in the cam 531.

The operation method according to the first embodiment of the adjustment means 500 will be described.

First, referring to FIG. 3A, when the drone is in flight, the first propeller shaft 300 may be located on the _{rotational center axis P 0.} An abnormality may occur in a specific propeller, and the need to move the propeller shaft 300 equipped with a propeller that operates normally may occur.

In order to rotate the propeller shaft 300 on which the propeller is normally operated, the operator's controller operation or automatic control is performed, and the cam motor 521 rotates according to the calculated moving angle.

Accordingly, the first gear 523 is supported by the first support bearing 525 and rotates by a predetermined angle, and the second gear 524 meshed with the first gear 523 is a second support bearing ( 526) and rotates.

Since the second gear 524 is connected to the cam 531, the cam 531 rotates by the amount of rotation of the second gear 524 as shown in FIG. 3A.

Since the cam 531 and the propeller shaft 300 are connected by the interbearing 533, the propeller shaft 300 is in the direction of the P1 axis or the P2 axis based on the _{rotation center axis P 0.} It draws an arch shape and moves while drawing a curve on the opening 210.

As a result, the position of the propeller shaft 300 is moved to the position of FIG. 2A or 2B by the calculated movement angle, and the position of the propeller shaft 300 is adjusted.

Referring to FIG. 3B, when the propeller shaft 300 _{is positioned on the rotational center axis P 0} , the propeller shaft 300 is positioned horizontally with respect to the drone. Thereafter, when the propeller shaft 300 moves in an arc shape in the direction of the P1 axis or the P2 axis according to the operation of the cam 531, the propeller shaft 300 looks downward. Accordingly, the direction of the air C sprayed from the propellers 400 mounted on the propeller shafts 300 is also changed.

Meanwhile, referring to FIGS. 4 and 5A and 5B, in the second embodiment of the adjusting means 500, the center motor 540, the shaft bracket 511, the shaft shaft 512, the shaft end bearing 515, It may be configured to include a guide block 552 and a guide bearing 551.

The center motor 540 may be disposed inside the body of the drone 100, and the rotation shaft may be disposed upward. In the embodiment of the present invention, the center motor 540 may be a step motor, but is not limited thereto.

The shaft bracket 511 may be connected to the rotation shaft of the center motor 540, and both sides thereof may be bent upward to couple the shaft shaft 512.

Both ends of the shaft shaft 512 may be rotatably connected to the shaft bracket 511. In addition, a protruding spherical portion 513 may be formed at the center side of the shaft shaft 512, and a shaft housing 514 having a curvature formed inside the spherical portion 513 and at least partially open Can be formed.

The shaft end bearing 515 may be disposed on the shaft housing 514, and one end of the shaft end bearing 515 may be connected to the propeller shaft 300. The remaining portions except for one end of the shaft end bearing 515 are formed in a spherical shape corresponding to the curvature of the inner surface of the shaft housing 514, and thus various movements may be made in the shaft housing 514 up, down, left and right. The shaft end bearing 515 according to the embodiment of the present invention may be in the form of a spherical ball bearing, but is not limited thereto.

The guide block 552 may be disposed in the opening 210 formed around the outer circumference of the drone body 200, and a guide hole 553 for guiding the movement of the propeller shaft 300 in a curved direction may be formed. have.

5A and 5B, the guide hole 553 may be formed in an arch shape. The guide hole 553 may have an arch shape in an upward direction as shown in FIG. 5A or may have an arch shape in a downward direction as in FIG. 5B.

Referring to FIG. 4, the guide bearing 551 may be disposed in a bearing groove formed in the propeller shaft 300. The bearing groove may be processed along a circumference of the propeller shaft 300 corresponding to the guide hole 553, and the bearing groove is to prevent the guide bearing 551 from being separated. The guide bearing 551 may be configured such that the propeller shaft 300 can smoothly move in a curved direction along the arcuate guide hole 553.

Let us look at the operation method according to the second embodiment of the adjustment means 500.

First, referring to FIGS. 5A and 5B, when the drone is in flight, the initial propeller shaft 300 may be located on the _{rotation center axis P 0.} An abnormality may occur in a specific propeller, and the need to move the propeller shaft 300 equipped with a propeller that operates normally may occur.

In order to rotate the propeller shaft 300 on which the propeller is normally operated, the operator's controller operation or automatic control is performed, and the center motor 540 rotates according to the calculated moving angle.

Accordingly, the shaft bracket 511 and the shaft shaft 512 connected to the rotation shaft of the center motor 540 are rotated. A shaft end bearing 515 is disposed on the shaft housing 514 formed on the spherical portion 513 of the shaft shaft 512, and the shaft end bearing 515 is connected to the propeller shaft 300, so ultimately the propeller The axis 300 moves the position.

A guide bearing 551 is disposed on the propeller shaft 300, and the guide bearing 551 moves along the guide hole 553. As shown in FIGS. 5A and 5B, the guide hole 553 has an arc shape, so that the propeller shaft 300 forms a curve along the arc shape and moves as much as a predetermined calculation value and the position is adjusted.

That is, the propeller shaft 300 draws an arch shape by an angle calculated in the direction of the P1 axis or the P2 axis based on the _{rotation center axis P 0 and moves on the guide hole 553 by drawing a curve.}

On the other hand, referring to Figures 6 and 7, in the third embodiment of the adjustment means 500, the center motor 540, the shaft bracket 511, the shaft shaft 512, the shaft end bearing 515, and the shaft support unit It can be configured to include 600.

The configuration of the center motor 540, the shaft bracket 511, the shaft shaft 512, and the shaft end bearing 515 are the same as those of the second embodiment of the adjusting means 500, and thus Figs. 4 and 5A, 5B The structure is identified through, and the description below will be omitted. Hereinafter, the shaft support unit 600 will be described.

The shaft support unit 600 is disposed in the opening 210 and may perform a function of guiding movement of the propeller shaft 300 in a curved direction.

The shaft support unit 600 includes a rail frame 610, a first block 620, a second block 630, a link beam 640, a buffer pad 651, an elastic body 650, and a brush 660. And it may be configured to include a blind (670).

The rail frame 610 is mounted in the opening 210 of the drone body 200, a curved first rail 612 is disposed at the top, and a curved second rail 613 is disposed at the bottom. Can be. In addition, an arch-shaped frame hole 611 may be formed in the central portion.

A first roller 622 moving along the first rail 612 may be disposed at a portion of the first block 620 corresponding to the first rail 612. In addition, a second roller 632 moving along the second rail 613 may be disposed in a portion of the second block 630 corresponding to the second rail 613.

A plurality of the first and second rollers 622 and 632 may be disposed inside the first and second blocks 620 and 630, so that the first and second blocks 620 and 630 smoothly move the rail frame 610. You can do it.

In addition, a first shaft groove 621 into which an upper portion of the propeller shaft 300 is inserted may be formed at a lower portion of the first block 620. In addition, a second shaft groove 631 in which a lower portion of the propeller shaft 300 is inserted may be formed in an upper portion of the second block 630.

The inner side surfaces of the first and second shaft grooves 621 and 631 may be implemented in a shape corresponding to the outer side shape of the propeller shaft 300. In an embodiment of the present invention, since the propeller shaft 300 has a circular cross section, the first and second shaft grooves 621 and 631 may each be implemented in a semicircular shape.

The link beam 640 may connect the first and second blocks 620 and 630 and adjust the spacing between the first and second blocks 620 and 630 through a thread adjustment method. Referring to FIG. 7, it can be seen that the link beam 640 includes a polygonal shape portion 640a and threaded portions 640b and 640c connected to the upper and lower portions of the polygonal shape portion 640a, respectively. The manufacturer may adjust the degree of fastening of the threaded portions 640 and b640c by rotating the polygonal portion 640a using a tool such as a wrench. In this case, the threaded portions 640 and 640c may have threaded directions opposite to each other.

In addition, a portion of the first block 620 corresponding to the propeller shaft 300 may be formed in the first block groove 623. In addition, a portion of the second block 630 corresponding to the propeller shaft 300 may be formed in the second block groove 633.

The buffer pad 651 may be disposed at a position corresponding to the first and second block grooves 623 and 633 in the propeller shaft 300. The buffer pad 651 may be a combination of two semicircular pads.

In addition, the elastic body 650 may be disposed in the first and second block grooves 623 and 633 and connected to the buffer pad 651, and may be configured to absorb vibrations of the propeller shaft 300. When the propeller 400 is driven, vibration occurs according to rotation, and the elastic body 650 absorbs this vibration and prevents it from being transmitted to the center motor 540.

The brush 660 may be disposed on a surface of the first and second blocks 620 and 630 facing each other in order to prevent foreign matter from flowing into the gap between the first and second blocks 620 and 630.

The blind 670 may be connected and disposed between the frame hole 611 and both sides of the first and second blocks 620 and 630 in order to prevent foreign substances from flowing into the frame hole 611. In an embodiment of the present invention, the blind 670 may have a bellows structure.

The first and second blocks 620 and 630 are moved on the frame hole 611 according to the movement of the propeller shaft 300, at this time, the blind 670 connected to one side of the first and second blocks 620 and 630 Is folded, and the blind 670 connected to the other side of the first and second blocks 620 and 630 is unfolded and deformed.

The blinds 670 are connected to both sides of the first and second blocks 620 and 630 to surround the entire frame hole 611 and are deformed in a bellows manner as described above, so that the first and second blocks 620 and 630 ), and at the same time, it is possible to prevent foreign substances from flowing into the inside of the drone body 200.

Meanwhile, referring to FIG. 8, in an exemplary embodiment of the present invention, a control unit 700 may be further included for controlling the operation of the propeller 400 and the operation of the adjustment means 500.

The control unit 700 includes a rotational speed measurement module 710, a propeller diagnosis module 740, a communication module 750, an operation module 730, a motor control module 720, an output management module 760, and data management. It may be configured to include a module 770.

The rotational speed measurement module 710 may be a module that measures the rotational speed of the propeller, and measures the rotational speed of each of the plurality of propellers individually.

The propeller diagnosis module 740 may be a module for diagnosing a state of a propeller by analyzing rotation speed information measured by the rotation speed measurement module 710. The propeller diagnostic module diagnoses whether the rotational speed of a plurality of propellers is normally generated or whether the rotational speed of a specific propeller is remarkably reduced or stopped.

The communication module 750 may be a module that transmits propeller diagnosis information diagnosed by the propeller diagnosis module 740 to an operator's terminal.

When the propeller diagnosis module 740 diagnoses an abnormality of a specific propeller, the calculation module 730 distinguishes a stop state of the propeller or a decrease in rotational performance of the propeller, and responds to each of the distinct states. It may be a module that calculates the moving angle.

For example, when the rotational speed of a specific propeller is lowered, the rotational speed of the propeller and the distance with the specific propeller are calculated to calculate the moving angle of the propeller in normal operation. In addition, when a specific propeller is stopped, the moving angle of the remaining normally operating propellers can be calculated and calculated to be larger.

The motor control module 720 may be a module that controls a motor to adjust the positions of other propellers according to the moving angle calculated by the calculation module 730. The motor control module 720 controls the rotation range of the cam motor 521 in the first embodiment of the adjustment means 500, and the center motor 540 in the second and third embodiments of the adjustment means 500 ) To control the rotation range.

When the propeller diagnosis module 740 diagnoses an abnormality of a specific propeller, the output management module 760 calculates the converted power consumption value of the remaining propellers to maintain the flight and payload value of the drone 100. It may be a module to be applied.

That is, according to the occurrence of an abnormality in a specific propeller, the remaining normally operating propellers may calculate additional power consumption required to maintain the flight of the drone 100 and reapply the battery output. If the drone 100 is equipped with equipment such as a camera or transports cargo having a predetermined weight, additional power consumption required to maintain the payload value may be calculated and the battery output may be recalculated.

The data management module 770 may be a module that stores propeller diagnosis information diagnosed by the propeller diagnosis module 740 and movement angle information calculated by the calculation module 730. The data management module 770 may perform a function of statistically converting stored information to provide information so that when the same situation occurs in a subsequent flight, the propeller movement angle can be calculated and applied more quickly.

Meanwhile, referring to FIG. 9, the embodiment of the present invention may further include a method for controlling the drone 100 in connection with the operation of the propeller 400 and the operation of the adjusting means 500.

The drone 100 control method includes a rotation speed measurement module 710 constituting the above-described control unit 700, a propeller diagnosis module 740, a communication module 750, an operation module 730, and a motor control module 720. , May be implemented through the output management module 760 and the data management module 770.

Referring to FIG. 9, looking at the algorithm of the method for controlling the drone 100, first, the rotational speed measurement module 710 measures the rotational speeds of each of the plurality of propellers individually. This may be measured at a specific period or continuously measured in real time (S1).

Next, the propeller diagnosis module 740 may diagnose the state of the propeller by analyzing the rotation speed information measured by the rotation speed measurement module 710. At this time, the propeller diagnosis module diagnoses whether the rotational speed of the plurality of propellers is normally generated or whether the rotational speed of a specific propeller is significantly reduced or stopped (S2).

Next, the communication module 750 communicates the propeller diagnosis information diagnosed by the propeller diagnosis module 740 to the operator's terminal in real time. The operator can check the current operating status of the propellers through the information transmitted to the terminal (S3).

Next, the propeller diagnostic module 740 determines whether all propellers are operating normally (S4). At this time, if all the propellers are operating normally (YES), the step of measuring the rotational speed of the propeller is repeatedly performed at a specific period or in real time.

Conversely, when an abnormality occurs in a specific propeller (NO), the propeller diagnostic module 740 selects a specific propeller that has stopped due to a significant decrease in rotational speed or a failure (S5).

Next, when the calculation module 730 diagnoses an abnormality of a specific propeller in the propeller diagnosis module 740, it distinguishes an abnormal state such as a stop state of the propeller or a decrease in rotational performance of the propeller, and responds to each of the classified states. Thus, the travel angles of the other propellers are calculated (S6).

That is, as described above, in the case of an abnormal state in which the rotational speed of a specific propeller is lowered, the rotational speed of the propeller and the distance with the specific propeller are calculated to calculate the moving angle of the propeller. In addition, when a specific propeller is stopped, the moving angle of the remaining normally operating propellers can be calculated and calculated to be larger.

Then, this information is transmitted to the data management module 770. As described above, the data management module 770 converts the stored information into statistical data, and when the same situation occurs in a subsequent flight, more quickly calculates and applies the propeller movement angle (S7).

Next, the motor control module 720 controls the motor to adjust the positions of the other propellers according to the moving angle calculated by the calculation module 730 (S8). As described above, the motor control module 720 controls the rotation range of the cam motor 521 in the first embodiment of the adjustment means 500, and the second and third embodiments of the adjustment means 500 In to control the rotation range of the center motor 540.

Next, when the output management module 760 diagnoses an abnormality of a specific propeller in the propeller diagnosis module 740, calculates and applies the converted power consumption value of the remaining propellers for maintaining the flight of the drone and maintaining the payload value. Do (S9).

As described above, according to the occurrence of an abnormality in a specific propeller, the remaining normally operating propellers calculate additional power consumption required to maintain the flight of the drone, and reapply the battery output. If the drone is equipped with equipment such as a camera or transports cargo with a certain weight, the additional power consumption required to maintain the payload value is calculated and the battery output is recalculated.

Through the above steps, the drone 100 control method according to the embodiment of the present invention adjusts the positions of the remaining propellers operating normally even when an abnormality occurs in a specific propeller, adjusts the battery output accordingly, and supplies power to the drone. Flight stability and flight continuity.

Looking at the overall operation method of the drone 100 according to the embodiment of the present invention through the above-described structure and control method, first, as shown in FIG. 1A, the rotation speed of a specific propeller A is significantly reduced or due to a failure. If the operation does not work, it is necessary to adjust the position of the remaining normally operating propellers in order to maintain the flight stability and flight continuity of the drone 100.

The six propeller shafts 311, 312, 313, 314, 315, and 316 disclosed in FIGS. 1A and 1B are illustrated for convenience of description, and the number of propeller shafts actually disposed on the drone 100 may be changed.

Referring to FIG.

Referring to FIG. 1B, a state in which the positions of the propeller shafts 311, 312, 313, 315 and 316 in which the remaining normal operating propellers are mounted according to the abnormal operation of the specific propeller A is disclosed.

For example, since the first shaft 311 is in a position opposite to the abnormal propeller A, it may be a reference propeller shaft without being adjusted in position. Of course, since this is an example, the first shaft 311 may also be positioned in another adjustment method, and this may also be included in the operation method of the present invention. This may vary depending on the calculation value of the moving angle to move the propeller shaft.

According to the calculated movement value, the second shaft 312 may move from the initial position in the direction of the specific propeller A by G1 intervals. According to the calculated movement value, the third shaft 313 may move from the initial position in the direction of the specific propeller A by G2 intervals. According to the calculated movement value, the fifth shaft 315 may move from the initial position in the direction of the specific propeller A by G3 intervals. According to the calculated movement value, the sixth shaft 316 may move from the initial position in the direction of the specific propeller A by G4 intervals.

Accordingly, the first shaft 311 and the second shaft 312 may form an M1 interval. The second shaft 312 and the third shaft 313 may form an M2 interval. The third shaft 313 and the fifth shaft 315 may form an M3 interval. The fifth shaft 315 and the sixth shaft 316 may form an M4 interval. The sixth shaft 316 and the first shaft 311 may form an M5 interval.

The size of the intervals M1 to M5 may be different depending on the calculated moving angle. In other conditions, the M1 interval and the M5 interval may be the same, and the M2 interval and the M4 interval may be the same. In another condition, the distances M1 to M5 are all the same, so that five propellers that are positioned can form an angle of 72 degrees.

All of these may be determined and changed by the calculation value of the moving angle of the calculation module 730 and the converted value of the battery output of the output management module 760.

As described above, the present invention adjusts the positions of the remaining propellers 311, 312, 313, 315 and 316 that operate normally even when an abnormality occurs in a specific propeller (A), adjusts the battery output accordingly, and supplies power to ensure the flight stability of the drone 100 and Maintain flight continuity.

Accordingly, by preventing the drone 100 from falling or uncontrollable, a situation in which the drone 100 is destroyed and a situation in which repair/maintenance costs are excessive accordingly can be prevented.

The above is only showing a specific embodiment of a drone capable of adjusting the position of a propeller shaft and a control method thereof.

Therefore, it is to be noted that those of ordinary skill in the art can easily grasp that the present invention can be substituted and modified in various forms within the scope of the scope of the present invention described in the following claims. do.

100: drone
200: drone body 210: opening
300: propeller shaft 311: first shaft
312: 2nd axis 313: 3rd axis
314: 4th axis 315: 5th axis
316: 6th axis 320: bearing groove
400: propeller 500: adjustment means
511: shaft bracket 512: shaft shaft
513: spherical part 514: shaft housing
515: shaft end bearing 521: cam motor
522: gearbox 523: first gear
524: second gear 525: first support bearing
526: second support bearing 531: cam
532: cam bearing housing 533: inter bearing
540: center motor 551: guide bearing
552: guide block 553: guide hole
600: Shaft support unit 610: Rail frame
611: frame hole 612: first rail
613: second rail 620: first block
621: first shaft groove 622: first roller
623: first block groove 630: second block
631: second shaft groove 632: second roller
633: second block groove 640: link beam
650: elastic body 651: buffer pad
660: brush 670: blind
700: control unit
710: rotation speed measurement module 720: motor control module
730: calculation module 740: propeller diagnostic module
750: communication module 760: output management module
770: data management module

Claims (3)

A drone body with an opening formed therein;
A propeller shaft in which one side passes through the opening of the drone body and is disposed inside the drone body, a propeller is mounted on the other side, and a plurality of propeller shafts are disposed along a radial direction of the drone body; And
Including; an adjustment means disposed on the drone body and connected to the plurality of propeller shafts, respectively, for adjusting the position of the propeller shaft,
The adjustment means, when an abnormality occurs in some of the plurality of propellers mounted on the plurality of propeller shafts, adjusts the positions of the propeller shafts on which the propellers operating normally are mounted,
The adjustment means,
An axis bracket disposed inside the drone body;
A shaft shaft connected to the shaft bracket, having a protruding spherical portion formed at a central side, a curvature formed inside the spherical portion, and having an open shaft housing at least partially;
One end is connected to the propeller shaft, and a spherical shaft end bearing disposed on the shaft housing;
A cam motor disposed inside the drone body;
A cam having a cam bearing housing having a curvature formed on an inner surface of which a part is connected to the cam motor and is connected to the gear box, and is penetrated to the other part; And
A circular ring-shaped inter-bearing disposed on the cam bearing housing and passing through the propeller shaft toward a center thereof;
A drone capable of adjusting the position of the propeller shaft, comprising: a.
delete A drone body with an opening formed therein;
A propeller shaft in which one side passes through the opening of the drone body and is disposed inside the drone body, a propeller is mounted on the other side, and a plurality of propeller shafts are disposed along a radial direction of the drone body; And
Including; an adjustment means disposed on the drone body and connected to the plurality of propeller shafts, respectively, for adjusting the position of the propeller shaft,
The adjustment means, when an abnormality occurs in some of the plurality of propellers mounted on the plurality of propeller shafts, adjusts the positions of the propeller shafts on which the propellers operating normally are mounted,
The adjustment means,
A center motor disposed inside the drone body;
A shaft bracket connected to the rotation shaft of the center motor;
A shaft shaft connected to the shaft bracket, having a protruding spherical portion formed at a central side, a curvature formed inside the spherical portion, and having an open shaft housing at least partially;
One end is connected to the propeller shaft, and a spherical shaft end bearing disposed on the shaft housing;
A guide block disposed in the opening and having a guide hole for guiding movement of the propeller shaft in a curved direction; And
A guide bearing disposed in a bearing groove formed in the propeller shaft and moving along the guide hole;
A drone capable of adjusting the position of the propeller shaft, comprising: a.

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