KR102308242B1 - Winch system for drone and its operation method - Google Patents

Abstract

The present invention relates to a winch system for a cargo transporting drone and an operation method thereof, which measures vertical length from a drone to the ground and winds or unwinds a wire by the measured vertical length to link the wire to a cargo put on the ground, thereby lifting the cargo up to a lower part of the drone or lowering the cargo linked to the lower part of the drone to the ground. The winch system for a cargo transporting drone in accordance with the present invention fixes a cargo to a drone to allow the cargo to be transported and comprises: a drone body having propellers joined to the outer side thereof and a room formed therein; a wire having one part disposed in the inside of the drone body and the other part disposed in the outside of the drone body, wherein the cargo is connected to an end of the other part; a wire drum unit disposed inside the drone body to wind or unwind the wire in accordance with a rotational direction; a height detecting sensor joined to the drone body to measure vertical length from the drone body to the ground; and a deceleration motor actuator driving rotation of the wire drum unit to wind or unwind the wire by the vertical length.

Description

Winch system for drone and its operation method for cargo transport drones

The present invention relates to a winch system for a cargo transport drone and a method for operating the same, and more particularly, by measuring the vertical length between the drone and the ground, and winding and unwinding the wire by the measured vertical length to wire the cargo placed on the ground It relates to a winch system for a cargo transport drone that lifts the cargo to the lower part of the drone by combining with the drone, or puts the cargo coupled to the lower part of the drone on the ground, and an operating method thereof.

In general, a crane is mainly used as a means for transporting cargo. The crane is one of the mechanical devices for moving things up and down using a wire or a rope. It is a series of devices that are operated to lift cargo by attaching a hook to the end or to be transported in the other direction while being lifted.

As described above, the crane is used to move heavy objects and is configured in various forms depending on the purpose, and generally uses a hook to hang the cargo on the hook to fix the cargo to the crane.

When such a crane cannot be used as a means of transport, all of the cargo is transported on the ground, which causes a lot of spatial restrictions. is being done

In general, a drone is a generic term for an unmanned aerial vehicle / uninhabited aerial vehicle (UAV) in the form of an airplane or helicopter that can be flown and steered by induction of radio waves without a pilot.

These drones are known as single-use or reusable powered vehicles that do not carry a pilot, float by aerodynamic forces, fly autonomously or remotely, and can carry weapons or general cargo.

In general, drones are being spread for hobbies within the watch by remote controllers, but recently, the concept of transporting (delivering) various cargos such as cargo, documents, booklets and first-aid kits to remote locations using GPS has been realized, and the drone has a hook. The cargo is transported by connecting and fixing the cargo.

However, if the drone is remotely controlled, the cargo must be lifted remotely. In this case, for a safe lift, an accurate height measurement between the drone and the ground is made, and the process of lowering or collecting the wire to the ground direction exactly as much as the measured height is required. do.

Republic of Korea Patent Publication No. 10-2185771 (Title of the invention: cargo unloading port for cargo transport drone, announcement date: 2020.12.03)

Accordingly, the present invention measures the vertical length between the drone and the ground, winds up and unwinds the wire as much as the measured vertical length, combines the cargo placed on the ground with the wire, and lifts it to the bottom of the drone or lifts the cargo coupled to the drone on the ground An object of the present invention is to provide a winch system for a cargo transport drone and an operating method thereof.

The problems of the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, the present invention is a winch system for a cargo transport drone for transporting a cargo by fixing it to a drone, a propeller is coupled to the outside, a drone body formed in a space inside, and a part of the drone It is disposed inside the main body, the other part is disposed outside the drone body, the wire to which the cargo is coupled to the end of the other part, is disposed inside the drone body, and winding and unwinding the wire according to the rotation direction A wire drum unit, a height detection sensor coupled to the drone body to measure a vertical length between the drone body and the ground, and a reduction motor for rotating or driving the wire drum unit to wind or unwind the wire by the vertical length An actuator, a ground recognition sensor attached to the cargo to measure a real-time vertical length between the cargo and the ground, and a controller for controlling the height detection sensor, the deceleration motor actuator and the ground recognition sensor, the controller comprising: provides a winch system for a cargo transport drone, characterized in that the lowering length of the wire is reset so that the wire is wound or unwound by the real-time vertical length between the cargo and the ground sensed by the ground recognition sensor.

Here, a safety lock unit for fixing the wire drum unit to prevent the wire drum unit from rotating when the drone body is moved, and a safety lock detection sensor for sensing whether the wire drum unit is fixed with the safety lock unit. can do.

In addition, the wire drum unit is disposed inside the drone body, a drum housing having a space therein, is disposed inside the drum housing, is formed in a disk shape, and rotates in the forward or reverse direction so that the wire is on the outer peripheral surface. It may include a wire drum that is wound and unwound, and an anti-tangle guide disposed under the wire drum to prevent twisting of the wire.

In addition, the present invention provides a method for operating a winch system for a cargo transport drone for transporting cargo by fixing it to a drone, the height detection step of which a height detection sensor measures a vertical length between the drone body and the ground, and the inside of the drone body A wire unwinding step of unwinding the wire wound on the wire drum unit accommodated in the vertical length by the vertical length and lowering it to the ground; Including a coupling/unlocking step, wherein the wire winding release step includes a wire descending length setting step of setting a wire descending length so that the wire descends to the ground to a length that matches the vertical length, and the wire drum unit is rotated to rotate the A wire lowering step of lowering the wire, wherein the wire lowering step is a first lowering step in which the wire is unwound and the end of the wire moves in the direction of the ground; A ground recognition step of measuring the real-time vertical length between the ground surfaces, a wire descending length resetting step of resetting the wire descending length based on the real-time vertical length sensed in the ground recognition step, and the wire descending length resetting step It provides a method of operating a winch system for a cargo transport drone, characterized in that it comprises a second descending step in which the wire is unwound by the reset wire descending length.

A winch system for a cargo transport drone and an operating method thereof according to the present invention have the following effects.

First, by measuring the vertical length between the drone and the ground, and winding and unwinding the wire exactly as much as the measured vertical length, it automatically and remotely combines the cargo on the ground with the wire to lift the cargo to the bottom of the drone or the bottom of the drone There is an advantage to be able to put the cargo bound to the ground.

Second, there is an advantage in that the load can be raised and lowered at a stable speed by rotating the wire drum using a reduction motor actuator to wind and unwind the wire at a stable speed.

Third, when the drone body is moved, the wire is wound on the wire drum to keep the cargo attached to the lower part of the drone body. There is an advantage in that stable driving of the drone body is possible by not applying a force that interferes with the driving of the drone body.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing a driving example of lifting the cargo to the lower part of the drone by winding the wire exactly as much as the height measured in the winch system for a cargo transport drone according to the present invention and combining the wire with the cargo placed on the ground.
2 is a view showing an example of driving in a state in which the wire is accurately unwound as much as the height measured in the winch system for a cargo transport drone according to the present invention and the cargo coupled to the lower part of the drone is driven to be placed on the ground.
3 is a wire drum unit, a wire, a cargo fixing hook, a support frame, a position sensing module, a height detection sensor, a safety lock unit, a safety lock detection sensor, a rotation speed detection sensor, and the ground of the winch system for a cargo transport drone according to the present invention. It is a diagram showing the configuration of the recognition sensor and the main body antenna.
4 is a wire drum unit, a wire, a cargo fixing hook, a support frame, a position sensing module, a safety lock, a control unit, a cargo fixing bracket, a ground recognition sensor and a main body antenna of the winch system for a cargo transport drone according to the present invention is a diagram showing
5 is a view showing the detailed configuration of the wire drum unit of the winch system for a cargo transport drone according to the present invention and the configuration of the wire and the cargo fixing hook.
6 is a view showing the configuration of a wire drum unit, a support frame, a wire and a cargo fixing hook of the winch system for a cargo transport drone according to the present invention.
7 is a view showing the detailed configuration of a wire drum unit, a reduction motor actuator, and a bracket for fixing a cargo of a winch system for a cargo transport drone according to the present invention.
8 is a view showing the steps of the operating method of the winch system for a cargo transport drone according to the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

The terminology used herein is used to describe specific embodiments, not to limit the present invention. As used herein, the singular form may include the plural form unless the context clearly dictates otherwise. In addition, when a part "includes" a certain component throughout the present specification, it means that other components may be further included unless otherwise stated.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that there is no other element in the middle. Other expressions for describing the relationship between components should be interpreted similarly.

All terms including technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. does not

As used herein, terms such as one surface, another surface, top, bottom, top, bottom, upper, lower, etc. are used to distinguish relative positions in the components.

1 is a winch system for a cargo transport drone according to the present invention by winding the wire (W) exactly as much as the height measured, and combining the cargo (C) placed on the ground with the wire (W) to lift the cargo (C) to the lower part of the drone. It is a view showing an example of the driving method, and FIG. 2 is to unwind the wire (W) exactly as high as the height measured in the winch system for a cargo transport drone according to the present invention to place the cargo (C) coupled to the lower part of the drone on the ground As a drawing showing a driving example in a driven state, a winch system for a cargo transport drone according to the present invention will be described with reference to FIGS. 3 to 7 along with FIGS. 1 and 2 .

The winch system for a cargo transport drone according to the present invention is a drone body 1000, a wire drum unit 500, a wire (W), a cargo fixing hook 100, a support frame 800, a position sensing module (S3), a height Detection sensor (S4), control unit 200, safety lock unit 300, safety lock detection sensor (S2), reduction motor actuator 600, rotation speed detection sensor (S1), ground recognition sensor (S5), main body interface It includes an antenna 400 and a bracket 700 for fixing cargo.

The drone body 1000 has a propeller coupled to the outside to drive to a destination, and a space is formed therein.

A wire (W) through hole (not shown) through which a wire (W) body to be described later moves through is formed in the lower portion of the drone body 1000, and a cargo fixing bracket 700 to be described later is inserted thereinto. A bracket insertion hole (not shown) is formed.

3 and 4, the wire drum unit 500 is disposed in a space formed inside the drone body 1000, and specifically, the wire drum unit 500 includes a drum housing 510, a wire It includes a drum 520 and an anti-tangle guide 530, which will be described with reference to FIG. 5 as follows.

The drum housing 510 is disposed inside the drone body 1000 , and a space is formed in the drum housing 510 to insert the wire drum 520 . At this time, the outer peripheral surface of the wire drum 520 and the inner surface of the drum housing 510 facing each other are disposed to be spaced apart from each other, and the inner surface of the drum housing 510 is wound around the wire drum 520 . It prevents the wire (W) from escaping to the outside of the drum housing (510).

The wire drum 520 is disposed inside the drum housing 510 , is formed in a disk shape, and is connected to the central portion of the drum housing 510 in forward and reverse directions based on the central portion of the drum housing 510 . rotate to

The anti-tangle guide 530 is disposed under the wire drum 520 to prevent the wire W from being twisted when the wire W is wound and unwound on the wire drum 520 . .

A part of the wire W is disposed inside the drone body 1000 and the other part is disposed outside the drone body 1000 . That is, a portion of the wire (W) is inserted into the drum housing (510) so that an end of a portion of the wire (W) is coupled to the wire drum (520), and in the direction of rotation of the wire drum (520). Accordingly, the wire drum 520 is wound and unwound.

The other part of the wire (W) passes through the wire (W) through hole and is disposed outside the drone body 1000, and the drone body 1000 is transferred to the end of the other part of the wire (W). It is combined with the cargo (C).

The support frame 800 is disposed inside the drone body 1000 , and is disposed under the wire drum unit 500 to fix the wire drum unit 500 to the drone body 1000 . In addition, a second bracket insertion hole 810 is formed in a region corresponding to the first bracket insertion hole of the lower surface of the support frame 800 , and a detailed description thereof will be provided later.

The cargo fixing hook 100 is coupled to the end of the other end of the wire (W), and combines the cargo (C) and the wire (W) by coupling with a cargo fixing bracket 700 to be described later.

The cargo fixing bracket 700 is coupled to the upper surface of the cargo C, so that the cargo C is coupled to the wire W, specifically, the cargo fixing bracket 700 is a cargo coupling plate. 710 , a hook coupling ring 720 and a body insertion protrusion 730 .

The cargo coupling plate 710 has a lower portion coupled to the cargo C, and the hook coupling ring 720 protrudes from the center of the upper surface of the cargo coupling plate 710 and is formed in a ring shape, the cargo The fixing hook 100 is penetrated so that it can be coupled.

The main body insertion protrusion 730 is formed to protrude from the upper surface side of the cargo coupling plate 710, and when the drone body 1000 is driven, the cargo C is in contact with the lower part of the drone body 1000. At this time, the main body insertion protrusion 730 is inserted into the second bracket insertion hole 810 and the first bracket insertion hole and coupled to the support frame 800 , thereby coupled to the lower portion of the cargo coupling plate 710 . The cargo C can be fixed to the lower part of the drone body 1000 .

The position sensing module S3 is coupled to the drone body 1000 and includes an altitude sensor and a GPS. The position sensing module (S3) measures the altitude and position, that is, latitude and longitude, of the drone body 1000, and the drone body 1000 transports the cargo (C) to a transfer place or cargo (C) to determine whether or not you have arrived at the pick-up location to pick up the

The height detection sensor S4 is coupled to the drone main body 1000, and measures a vertical length between the drone main body 1000 and the ground. In this case, the height detection sensor S4 may be composed of a lidar sensor, a laser sensor, or a camera sensor, and may be replaced with a sensor capable of detecting a vertical length.

The safety locking part 300 is disposed inside the drum housing 510, and is composed of a linear shaft and an actuator, so as to prevent the wire drum 520 from rotating when the drone body 1000 is moved. 520 is fixed.

Thereafter, the safety lock unit 300 releases the fixing of the wire drum 520 according to the control of the control unit, and thereafter, the safety lock detection sensor S2 controls the wire of the safety lock unit 300 . Whether or not the drum is fixed is sensed and transmitted to the control unit 200 , and a detailed description thereof will be described later.

The reduction motor actuator 600 is connected to the wire drum 520 and rotates the wire drum 520 in forward and reverse directions to wind and unwind the wire W on the wire drum 520 .

The reduction motor actuator 600 is driven under the control of the control unit 200, and winds or unwinds the wire W by the vertical length, and a detailed description thereof will be described later in the description of the control unit 200. let it do

The rotation speed detection sensor (S1) is composed of the encoder or potentiometer, detects the rotation speed of the wire drum 520, and transmits the sensed rotation speed to the control unit 200, thereby reducing the motor actuator 600 to control the rotation of the wire drum 520 by the vertical length.

The ground recognition sensor (S5) is attached to the cargo (C) to measure the real-time vertical length between the cargo (C) and the ground, and the communication unit of the main body interface antenna 400 and the controller 200 to be described later The real-time vertical length is transmitted to the control unit 200 through communication.

The control unit 200 includes the position sensing module S3, the height detection sensor S4, the deceleration motor actuator 600, the safety lock unit 300, the safety lock detection sensor S2, and the number of revolutions. The detection sensor S1 and the ground recognition sensor S5 are controlled, and specifically, the control unit 200 includes a communication unit (not shown) and a control command generation unit (not shown).

The communication unit is the position sensing module (S3), the height detection sensor (S4), the reduction motor actuator 600, the safety lock unit 300, the safety lock detection sensor (S2), the rotation speed detection sensor ( S1), communicates with the ground recognition sensor S5 to receive the state of each configuration described above.

The control command generation unit generates various commands for winding and unwinding the wire W based on the state received from the communication unit, and examples of the commands generated by the control command generation unit are as follows.

The control unit 200 determines whether the drone main body 1000 has arrived at the transfer or pickup place based on the altitude and position of the drone main body 1000 sensed by the position sensing module S3 through the communication unit. Upon receiving, the control command generating unit generates a vertical length measurement command and transmits it to the height detection sensor S4 so that the height detection sensor S4 measures the vertical length.

Thereafter, the control unit 200 sets the wire descending length so that the wire W descends to the ground to a length that matches the vertical length, and sets the number of rotations of the wire drum 520 corresponding to the wire descending length. The wire drum 520 is rotated by calculating and transmitting a wire drum rotation command to the reduction motor actuator 600 .

Before rotating the wire drum 520, the control command generating unit generates a lock release command to release the safety lock unit 300 fixing the wire drum 520 to the safety lock unit 300. By transferring the linear shaft and the actuator are driven, the safety locking part 300 releases the fixing of the wire drum 520 .

The safety lock detection sensor (S2) senses whether the wire drum is fixed by the safety lock unit 300 as described above, and transmits it to the control unit 200, and the wire drum is fixed in the control unit 200 Upon receiving the released state, it is preferable to generate the wire drum rotation command thereafter.

Thereafter, the control unit 200 receives the rotational driving, rotational direction and rotational speed of the wire drum 520 through the rotational speed sensor S1, and at the same time, the cargo ( The real-time vertical length, which is the length between C) and the ground, is received.

For example, when the ground recognition sensor S5 determines that the real-time vertical length, which is the length between the cargo C and the ground, is 0 before the wire W is unwound by the wire descending length, the The control command generator generates a wire drive stop command to stop the reduction motor actuator 600 so that the cargo C does not come into contact with the ground while colliding with the ground.

Or, in the state in which the unwinding of the wire (W) is completed by the wire descending length, the real-time vertical length that is the length between the cargo (C) and the ground sensed by the ground recognition sensor (S5) exceeds 0 In other words, when it is determined that the cargo (C) is not placed on the ground and floats from the ground at a predetermined interval, the control unit 200 controls the cargo (C) sensed by the ground recognition sensor (S5) and the ground. An additional wire drum rotation command is generated so that the wire W is unwound by the real-time vertical length, which is the length between them, and transmitted to the reduction motor actuator, and the wire drum 520 rotates so that the cargo C is on the ground. to reach and make contact.

That is, during the operation of the reduction motor actuator 600 rotating the wire drum 520 by the wire descending length, the real-time vertical length between the cargo C and the ground through the ground recognition sensor S5. By double-checking whether the cargo (C) is in contact with the ground after receiving the delivery, the transport of the cargo (C) can be safely completed.

8 is a view for explaining the steps of a method of operating a winch system for a cargo transport drone operating the winch system for a cargo transport drone according to the present invention described above, and as shown in FIG. 8, cargo transport according to the present invention The operating method of the winch system for a drone includes a transfer position detection step (S100), a height detection step (S200), a wire winding release step (S300), a cargo coupling/unlocking step (S400) and a wire winding step (S500).

In the transfer position detection step (S100), the position sensing module (S3) measures the altitude and position, that is, latitude and longitude, of the drone main body 1000, and the drone main body 1000 transfers the cargo (C). It is judged whether it has arrived at the transfer place or the pickup place to pick up the cargo (C).

In the height detection step (S200), the height detection sensor (S4) measures the vertical length between the drone body 1000 and the ground.

In the wire unwinding step (S300), the wire (W) wound on the wire drum 520 accommodated inside the drone body 1000 is unwound by the vertical length and lowered to the ground, specifically, the wire unwinding is released. Step S300 includes a wire descending length setting step, a wire drum fixing release step, and a wire descending step.

In the wire descending length setting step, the wire descending length is set so that the wire W descends to the ground with a length corresponding to the vertical length.

In the wire drum fixing release step, the safety locking part 300 to which the wire drum 520 is fixed is released, and the wire drum fixing releasing step includes a fixing releasing step and a fixing checking step.

In the unlocking step, the control command generating unit generates a lock release command to release the safety lock unit 300 to which the wire drum 520 is fixed, and transmits it to the safety lock unit 300, thereby the linear shaft actuator. is driven so that the safety locking part 300 releases the fixing of the wire drum 520 .

In the fixing or not checking step, the safety lock detection sensor S2 senses whether the wire drum is fixed by the safety locking unit 300 as described above.

When the safety lock detection sensor (S2) determines that the fixing of the safety lock unit 300 and the wire drum 520 is released in the fixing step checking step, in the wire lowering step, the control command generating unit is the wire drum By generating a rotation command and transmitting it to the reduction motor actuator 600 , the reduction motor actuator 600 rotates the wire drum 520 .

Specifically, the wire descending step includes a first descending step, a ground recognition step, a wire descending length resetting step, and a second descending step.

In the first lowering step, the reduction motor actuator 600 is driven to rotate the wire drum 520 in the forward direction to move the end of the wire W in the ground direction, and the controller 200 controls the number of rotations. The rotational driving and rotational speed of the wire drum 520 are transmitted through the detection sensor S1.

At this time, the ground recognition step proceeds simultaneously with the first descending step, and in the ground recognition step, the real-time vertical length between the cargo C and the ground measured through the ground recognition sensor S5 is transmitted.

In the wire descending length resetting step, the wire descending length is reset based on the real-time vertical length sensed in the ground recognition step.

For example, when the ground recognition sensor S5 determines that the real-time vertical length, which is the length between the cargo C and the ground, is 0 before the wire W is unwound by the wire descending length, the The control command generator generates a wire drive stop command to stop the reduction motor actuator 600 so that the cargo C does not come into contact with the ground while colliding with the ground. In this case, the second descending step is not performed.

Or, in the state in which the unwinding of the wire (W) is completed by the wire descending length, the real-time vertical length that is the length between the cargo (C) and the ground sensed by the ground recognition sensor (S5) exceeds 0 In other words, when it is determined that the cargo (C) is not placed on the ground and floats from the ground at a predetermined interval, the control unit 200 controls the cargo (C) sensed by the ground recognition sensor (S5) and the ground. An additional wire drum rotation command is generated so that the wire W is unwound by the real-time vertical length between them.

Thereafter, in the second lowering step, the additional wire drum rotation command is transmitted to the reduction motor actuator, and the wire drum 520 is further driven to unwind the wire W by the real-time vertical length to the cargo ( C) to reach and touch the ground.

In the cargo coupling/unlocking step (S400), the cargo fixing hook 100 coupled to the cargo fixing bracket 700 is released to separate the cargo C from the drone body 1000, or By coupling the cargo fixing hook 100 to the cargo fixing bracket 700 , the cargo C is coupled to the drone body 1000 .

Thereafter, in the wire winding step (S500), the wire drum 520 is rotated in the reverse direction to wind the wire W on the wire drum 520, and at this time, the number of rotations of the wire drum 520 is the Corresponds to the number of rotations of the wire drum 520 rotated in the wire lowering step.

In addition, the description of the operating method of the winch system for the cargo transport drone according to the present invention corresponds to the detailed description of the winch system for the cargo transport drone and the operating method thereof, and thus the description thereof will be omitted.

As described above, although preferred embodiments of the present invention have been illustrated and described with reference to the drawings, the present invention is not limited to the specific embodiments described above, and the present invention is Various modifications may be made by those of ordinary skill in the art to which the invention pertains, and these modified embodiments should not be individually understood from the technical spirit or prospect of the present invention.

W: wire
S1: rotation speed sensor
S2: Safety lock detection sensor
S3: Position sensing module
S4: height detection sensor
S5: Ground Recognition Sensor
100: cargo fixing hook
200: control unit
300: safety lock
400: body interface antenna
500: wire drum unit
510: drum housing
520: wire drum
530: anti-tangle guide
600: reduction motor actuator
700: bracket for fixing cargo
710: cargo binding plate
720: hook coupling ring
730: body insertion protrusion
800: support frame
810: second bracket insertion hole
1000: drone body

Claims (4)

In the winch system for a cargo transport drone for transporting the cargo by fixing it to the drone,
The propeller is coupled to the outside, the drone body is formed in the space inside;
A wire part is disposed inside the drone body, the other part is disposed outside the drone body, and the cargo is coupled to an end of the other part;
a wire drum unit disposed inside the drone body and configured to wind up and unwind the wire according to a rotational direction;
a height detection sensor coupled to the drone body to measure a vertical length between the drone body and the ground;
a reduction motor actuator for rotating or driving the wire drum unit to wind or unwind the wire by the vertical length;
a ground recognition sensor attached to the cargo to measure a real-time vertical length between the cargo and the ground; and
A control unit for controlling the height detection sensor, the deceleration motor actuator, and the ground recognition sensor; includes,
The control unit is a winch system for a cargo transport drone, characterized in that the lowering length of the wire is reset so that the wire is wound or unwound by the real-time vertical length between the cargo and the ground sensed by the ground recognition sensor. According to claim 1,
a safety lock for fixing the wire drum unit to prevent the wire drum unit from rotating when the drone body is moved; and
The winch system for a cargo transport drone, characterized in that it further comprises a safety lock detection sensor for sensing whether the wire drum unit is fixed in the safety lock part. According to claim 1,
The wire drum unit,
a drum housing disposed inside the drone body and having a space therein;
a wire drum disposed inside the drum housing, formed in a disk shape, and rotated in a forward or reverse direction so that the wire is wound and unwound on an outer circumferential surface;
A winch system for a cargo transport drone, comprising an anti-tangle guide disposed under the wire drum to prevent twisting of the wire. In the operating method of a winch system for a cargo transport drone for transporting cargo by fixing it to a drone,
a height detection step in which the height detection sensor measures the vertical length between the drone body and the ground;
a wire winding release step of unwinding the wire wound on the wire drum unit accommodated inside the drone body by the vertical length and lowering it to the ground; and
Comprising a cargo coupling / disengaging step of disengaging the cargo coupled to the end of the wire or coupling the cargo to the end of the wire,
The wire unwinding step is,
a wire descending length setting step of setting a wire descending length so that the wire descends to the ground to a length that matches the vertical length; and
and a wire lowering step of lowering the wire by rotating the wire drum unit,
The wire lowering step is,
a first lowering step in which the wire is unwound and the end of the wire is moved toward the ground;
a ground recognition step in which a ground recognition sensor attached to the cargo measures a real-time vertical length between the cargo and the ground;
a wire descending length resetting step of resetting the wire descending length based on the real-time vertical length sensed in the ground recognition step; and
The method of operating a winch system for a cargo transport drone, characterized in that it comprises a second descending step in which the wire is unwound by the wire descending length reset in the wire descending length resetting step.

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