KR102410150B1 - unmanned aerial vehicle with object loading function - Google Patents

Abstract

The present invention relates generally to an unmanned aerial vehicle having a loading capacity, and more particularly, to a method for correcting weight imbalance of an unmanned aerial vehicle, an apparatus for measuring weight imbalance of an unmanned aerial vehicle, and an apparatus for correcting weight imbalance of an unmanned aerial vehicle.

Description

Unmanned aerial vehicle with object loading function

The present invention relates generally to an unmanned aerial vehicle having a loading capacity, and more particularly, to a method for correcting weight imbalance of an unmanned aerial vehicle, an apparatus for measuring weight imbalance of an unmanned aerial vehicle, and an apparatus for correcting weight imbalance of an unmanned aerial vehicle.

Due to the development of communication and network capabilities, the industrial application of drones is increasing. In particular, drones capable of loading certain items, such as to deliver goods and drop bombs, are being introduced.

On the other hand, a drone having such an object loading capacity may cause an overall weight imbalance as an object is loaded onto the drone, which may cause difficulties in controlling the flight of the drone. Various embodiments of the present invention are to solve the problem of non-centered or imbalanced center of gravity of the drone.

According to an aspect of the present invention, there is provided a method for correcting a weight imbalance occurring in a multicopter in which N propeller elements are arranged at equal intervals, the method comprising: loading a load into the multicopter; Measuring the weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor and expressed as θ indicating the direction of the inclination and Z value indicating the size of the inclination, the weight imbalance value measuring; and coordinating the propulsion force between the N propellers based on the measured weight imbalance value.

In one embodiment, in the tuning step, when the θ coincides with the angle of each arrangement of the N propeller elements, the propulsion force of the corresponding propeller element is increased by Z/90 times compared to the propulsion force of the other propeller elements and, when the θ does not coincide with the angular arrangement angle of the N propeller elements, the multicopter weight imbalance correction to share the Z/90 times the propulsion force increase between the two propeller elements adjacent to the θ A method is provided.

In one embodiment, the sharing of the Z/90 times the propulsion force increase between the two propeller elements adjacent to the θ is proportional to the degree to which the adjacent two propeller elements are adjacent to the position corresponding to the θ A method for correcting weight imbalance of a multicopter is provided.

In one embodiment, a first propeller element of the two adjacent propeller elements disposed at a disposition angle less than θ is disposed at an A angle, and at a disposition angle greater than the θ among the two adjacent propeller elements. a second propeller element disposed is disposed at an angle B, wherein the first propeller element increases its thrust force by a factor of z/90 * (B-θ)/(B-A) than the other propeller elements, the second propeller element A method of correcting weight imbalance of a multicopter is provided, increasing its thrust force by a factor of z/90 * (θ-A)/(B-A) than the rest of the propeller elements.

According to one aspect, there is provided a method for correcting a weight imbalance occurring in a multicopter in which N propeller elements are arranged at equal intervals, the method comprising: loading a load into the multicopter; Measuring the weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor and expressed as θ indicating the direction of the inclination and Z value indicating the size of the inclination, the weight imbalance value measuring; and coordinating positions between the N propellers based on the measured weight imbalance value.

In one embodiment, the N propeller elements are separated by a distance R from the center of a single circle passing through all of the N propeller elements, and in the tuning step, the θ is the number of the N propeller elements. When it coincides with each arrangement angle, the corresponding propeller element located at θ + 180 is moved toward the center of the circle by Z/90 * R, and the θ does not coincide with each arrangement angle of the N propeller elements. When, the two propeller elements adjacent to the position of θ + 180 move toward the center of the circle by sharing the movement distance of Z/90 * R, a method for correcting weight imbalance of a multicopter is provided.

In one embodiment, the distance that two propeller elements adjacent to the position of θ + 180 move toward the center of the circle by sharing a movement distance of Z/90 * R is that of the two adjacent propeller elements, A method for correcting weight imbalance of a multicopter is provided, which is proportional to the degree of proximity to a position corresponding to θ + 180.

In one embodiment, one of the two adjacent propeller elements disposed at an angle smaller than θ+180 is disposed at an angle A, and one of the two adjacent propeller elements is larger than θ+180. The other propeller element arranged at the arrangement angle is arranged at the angle B, and the one side propeller element moves toward the center of the circle by (B-(θ+180)) /(B-A) * R * (Z/90), and , the other propeller element moves toward the center of the circle by ((θ+180)-A)) /(B-A) * R * (Z/90), and a method for correcting weight imbalance of a multicopter is provided.

According to an aspect, as an unmanned aerial vehicle capable of loading a load, a payload, and a device installed in the article loading part and measuring the weight imbalance of the article loading part when the article is loaded in the article loading part Including, wherein the weight imbalance measuring device includes: an elastic part or a hydraulic part installed at the lower end of the loading part; a support disposed on the elastic part or the hydraulic part; And, comprising a horizontal sensor embedded in the support, the unmanned aerial vehicle is provided.

In one embodiment, when the inclination measurement is completed by the horizontal sensor, the elastic body descends and retreats or the length of the hydraulic part is adjusted, so that the elastic body or the hydraulic part is physically separated from the support body, the unmanned aerial vehicle is provided.

In one aspect, there is provided a method of correcting a weight imbalance occurring in an unmanned aerial vehicle, the method comprising: loading a load into the unmanned aerial vehicle; Measuring the weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor and expressed as θ indicating the direction of the inclination and Z value indicating the size of the inclination, the weight imbalance value measuring; and moving a balancing weight of a weight balancer based on the measured weight imbalance value.

In one embodiment, the step of moving the balancing weight based on the measured weight imbalance value may include: rotating the balancing weight in the θ direction about a central hub of the weight balance; and linearly moving the balancing weight to the outside of the central hub by a value corresponding to Z/90 along the θ direction.

1 shows an embodiment of a delivery system using a network of unmanned aerial vehicles (UAVs), according to an embodiment of the present invention.
Figure 2b is an exploded view of the unmanned aerial vehicle of Figure 2a, according to an embodiment of the present invention.
2C is a perspective view of an embodiment of an unmanned aerial vehicle according to an embodiment of the present invention;
2D is a bottom perspective view of the UVA of FIG. 2C , in accordance with an embodiment of the present invention.
3A illustrates a first loading state of a shipment loaded in a payload, according to an embodiment of the present invention.
3B illustrates a second loading state of a shipment loaded in a payload, according to an embodiment of the present invention.
4A illustrates a first loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
4B illustrates a second loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
4C illustrates a third loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
4D illustrates a fourth loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
4E illustrates a fifth loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.
5A and 5B illustrate a horizontal sensor, according to an embodiment of the present invention.
6A to 6C illustrate polar coordinates of a horizontal sensor according to an embodiment of the present invention.
7-10 illustrate one of the weight imbalance resolving mechanisms according to an embodiment of the present invention.
11 illustrates a trajectory of a weight moving three-dimensionally, according to an embodiment of the present invention.
12A and 12B and 12C illustrate a weight balancer that moves three-dimensionally, according to an embodiment of the present invention.
13A, 13B and 13C and 13D illustrate a weight balancer that moves two-dimensionally, according to an embodiment of the present invention.
14 shows an example of a multicopter according to an embodiment of the present invention.
15 is a schematic plan view of the multicopter of FIG. 14 .
16A to 16C are diagrams for explaining a weight imbalance correction of a drone according to an embodiment of the present invention.
17A to 17C illustrate a configuration of an elastic part when an imbalance is measured, according to an embodiment of the present invention.

Hereinafter, exemplary embodiments will be described in more detail with reference to the accompanying drawings in which like reference numerals refer to like elements. However, the present invention may be embodied in a variety of different forms and should not be construed as being limited only to illustrative of the embodiments herein. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey aspects and features of the invention to those skilled in the art. Processes, elements, and techniques that are not necessary for one of ordinary skill in the art for a thorough understanding of aspects and features of the invention may not be described. Unless otherwise noted, like reference numerals refer to like elements throughout the accompanying drawings and the described description, and thus the description thereof will not be repeated. In the drawings, the relative sizes of elements, layers, and regions may be exaggerated for clarity.

Although the terms “first,” “second,” “third,” and the like may be used herein to describe various elements, components, regions, layers, and/or sections, such elements, components , regions, layers and/or sections should not be limited by these terms. These terms are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Accordingly, a first element, component, region, layer or section described below may be termed a second element, component, region, layer or section without departing from the spirit and scope of the present invention.

Spatially relative terms, such as "immediately below", "below", "below", "under", "above", "above", etc., refer to an element as illustrated in the figures or A feature may be used herein for ease of description in describing its relationship to another element(s) or feature(s). It will be understood that these spatially relative terms should be interpreted to encompass different orientations of the device in use or in operation other than the orientation shown in the figures. For example, when the device in the figures is turned over, elements depicted as being “directly under,” “below,” and “beneath” other elements or features may be placed above the other elements or features. will be oriented as being Accordingly, the exemplary terms “below” and “under” can include both orientations above and below. The device is oriented with its moon (eg, rotated 90 degrees or oriented at other orientations) and the spatially relative descriptors used herein should be interpreted accordingly.

When an element or layer is said to be “on,” “connected to,” or “connected to” another element or layer, that element or layer is directly on or directly connected to or connected to the other element or layer. It will be understood that there may be, or there may be one or more intervening elements or layers. Also, when an element or layer is said to be “between” two elements or layers, the element or layer may be the only element or layer that is between the two elements or layers, or may be intervening in one or more intervening It will also be understood that elements or layers may also be present.

The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the present invention. As used herein, singular forms of a noun are also intended to include plural forms of the noun, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “includes,” and “including,” when used herein, refer to the stated features, integers, steps specify the presence of operations, operations, elements, and/or components, but not the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will also be understood that this does not exclude. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. When preceded by a list of elements, expressions such as "at least one" decorate all elements of the list, not individual elements of the list.

As used herein, the terms "substantially," "about," and similar terms are used as terms of approximation and not as terms of degree, as measured or calculated as would be recognized by one of ordinary skill in the art. It is intended to account for inherent deviations in values. Also, the use of "may" when describing embodiments of the invention refers to "one or more embodiments of the invention." As used herein, the terms “uses”, “using”, and “used” may be considered synonymous with the terms “uses”, “using” and “used”, respectively. Also, the term “exemplary” is intended to refer to an example or illustration.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those commonly used in dictionaries, for example, are to be interpreted as having a meaning consistent with their meaning in the context of the relevant art and/or this specification, and in an ideal or highly formal sense, It will also be understood that nothing should be construed unless so provided.

Any numerical range recited herein is intended to include all sub-ranges of the same numerical precision subsumed within the recited range. For example, a range of “1.0 to 10.” includes all subranges between (and inclusive of) the recited minimum value of 1.0 and the recited maximum value of 10.0, i.e., 1.0, such as, for example, 2.4 to 7.6. It is intended to include subranges with minimum values greater than or equal to and maximum values greater than or equal to 10.0. Any maximum numerical limitation recited herein is intended to include all lower numerical limitations subsumed therein, and any minimum numerical limitation recited herein is intended to include all higher numerical limitations. are intended to include

delivery system

1 shows an embodiment of a delivery system using a network of unmanned aerial vehicles (UAVs), according to an embodiment of the present invention. The delivery system includes one or more unmanned aerial vehicles 110 , ground stations 120 and 130 , and a logistic system and network 140 .

2A is a perspective view of an embodiment of an unmanned aerial vehicle according to an embodiment of the present invention; The UAV includes a main frame 210 . The main frame 210 may be customized according to the purpose of UVA. The embodiment of FIG. 2a is a hybrid type vehicle having fixed wings 220 and rotors 230 . Figure 2b is an exploded view of the unmanned aerial vehicle of Figure 2a. The UAV 200 includes a frame 210 having a cavity. The cavity is sized to receive a payload 240 and a battery 250 . Alternatively, the battery 250 may constitute part of the structural form of the UAV. 2C is a perspective view of an embodiment of an unmanned aerial vehicle; The UAV 260 is a quadcopter type drone. Alternatively, it may be a multicopter type drone. FIG. 2D is a bottom perspective view of the UVA of FIG. 2C . The UAV 260 includes a payload interface 270 . This payload interface 270 may allow the UAV 260 to carry various payloads. This payload interface may be mechanical or electrical or a combination thereof. 2 is only an example for explaining various types of unmanned aerial vehicles and payloads coupled thereto, and various other configurations are possible.

Weight-related unbalance measurement

3A illustrates a first loading state of a shipment loaded in a payload, according to an embodiment of the present invention. 3B illustrates a second loading state of a shipment loaded in a payload, according to an embodiment of the present invention. Specifically, FIG. 3A illustrates a state in which a shipment is loaded in a balanced state within the payload, whereas FIG. 3B illustrates a state in which the shipment is deviated to one side within the payload. In the case of FIG. 3b , it may cause difficulty in controlling the flight of the vehicle.

4A illustrates a first loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention. 4B illustrates a second loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention. 4C illustrates a third loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention. 4D illustrates a fourth loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention. 4E illustrates a fifth loading example of a shipment loaded in a payload in which a level or a level sensor is installed, according to an embodiment of the present invention.

Referring to FIG. 4A , a load 303 is loaded in a payload 310 , and the load 303 is loaded on a support 302 having a built-in level measurement module, and the support 302 ) below, an elastic body such as a spring supports the support. In the loading example of FIG. 4 , since the load 303 is weightally balanced in the payload 310 , the support 302 having a level measurement module built-in is horizontal.

Referring to FIG. 4B , the loading position of the load 303 is not balanced within the payload 310 , thereby illustrating that the support 302 having a built-in level measurement module is inclined to one side. Referring to FIG. 4C , although the loading position of the load 303 is balanced within the payload 310 , the imbalance in weight within the load 303 causes the substantial weight portion 303a within the load 303 to 303) because it is not loaded in a balanced way in terms of weight, it illustrates that the support 302 with a built-in level measurement module is inclined to either side.

Referring to FIG. 4D , after the elastic body retracts downward in the loading state of FIG. 4C , in a state in which the elastic body and the support body 302 having a built-in level measurement module are physically separated, the support body 302 is An example of a state in which it is horizontal again is exemplified. 4E shows that the shipment 303 occupies the entire space of the payload, and the substantial weight portion 303a in the shipment is loaded disproportionately in weight within the shipment, so that the level measurement module It illustrates that the embedded support 302 is inclined to either side. 4 illustrates several scenarios in which the support 302 with a built-in level measurement module is inclined to one side, but the present invention is not limited thereto.

When the inclination measurement is completed by the horizontal sensor, the elastic body descends and retreats to be physically separated from the support body. To this end, before the object is loaded, the elastic body advances upward, and when the inclination measurement of the horizontal sensor is completed, it retreats downward and is physically separated from the support body. A configuration for implementing such a bar is specifically illustrated in FIG. 17 . First, in the configuration shown in FIG. 17A , the payload part or load loading part body 1701, the support body 1702 with a built-in horizontal sensor, and the separation plate 1703 having an opening 1704 that can be opened and closed while supporting the support 1702) , and an elastic part 1705 , and FIG. 17A is a state before the object is loaded in the payload part, and the opening 1704 is closed so that the elastic part 1705 does not protrude upward.

17B is a state in which the opening 1704 is opened so that the elastic part 1705 protrudes upward. In this state, an object is loaded in the payload part, and as described above, the horizontal sensor measures the imbalance of the loading load. Next, the elastic part retreats downward to the state described with reference to FIG. 4D, and the product is delivered in this state. Although an elastic part is used in the above example, a hydraulic cylinder may be used, in which case the length of the hydraulic part is adjusted so that when the load is loaded on the support, the support is in a suspension state in which the support can move so that an inclination is created due to the load imbalance. can do.

Meanwhile, as shown in FIG. 17B , as a configuration for opening the opening 1704 , a switching plate that moves horizontally to open and close the opening may be used. In addition, in order to convert from Fig. 4E to Fig. 4D, the elastic part or spring must be completely retracted downward. In a configuration including two switching plates 1709 , the second switching plate 1709 may be opened. Instead of using such a sophisticated spring arrangement, a function corresponding to the elastic part may be implemented by adjusting the hydraulic pressure of the hydraulic cylinder or adjusting the length thereof.

The horizontal sensor built into the support is a sensor that measures the level of the display surface of the display, and includes a gravity sensor, a geomagnetic sensor, a gyro sensor, an acceleration sensor, an inclination sensor, an altitude sensor, a depth sensor, a pressure sensor, a gyroscope sensor, and a proximity sensor. , and may include various sensing means such as an angular velocity sensor, a proximity sensor, and a Global Positioning System (GPS) sensor. For example, the horizontal sensor may be a 3-axis acceleration sensor. In this case, referring to FIGS. 5A and 5B , FIG. 5B shows a state in which the display surface of FIG. 5A is inclined by approximately 90 degrees along the X axis. In this case, the value of the gravitational acceleration at a point on the X axis is changed. Also, the value of the gravitational acceleration at a point in the Z axis is changed. However, the gravitational acceleration value of the point on the Y axis does not change. By measuring the gravitational acceleration values on the X-axis, Y-axis, and Z-axis in this way, the horizontal sensor can obtain the horizontality value of the display surface composed of the X-axis and Y-axis. The weight imbalance value measured by such a horizontal sensor may be expressed as θ, which is the direction of the center of gravity, and Z/90 degrees, which is the degree of inclination in the Z-axis direction in the XY plane. For example, θ may be 0 to 360 degrees, and Z may correspond to 0 to 90 degrees. That is, the weight imbalance value may be θ 120 degrees and Z may be 20 degrees. This weight imbalance value notation format will be used below. In summary, the θ value indicates the direction of the center of gravity, and the Z value indicates the magnitude of the weight imbalance. This makes it possible to quantify any degree of imbalance. The bars for the theta angle and the Z angle are schematically shown in FIGS. 6A, 6B and 6C .

More specifically, FIGS. 6A-C illustrate polar coordinates of a horizontal sensor according to an embodiment of the present invention. In FIGS. 6A-C , LP refers to a lowest point, and the XY coordinates corresponding to the lowest point are, for example, (1,1), and the Z value may be 0.5. The coordinate value corresponding to this slope is thus (1,1,0.5). Here, when the Z value of the maximum inclination state is regarded as 1, it is a relative value, not an absolute value. Thereby, the weight imbalance or loading imbalance associated with all loads on the support 302 can be represented by these coordinate values. Speaking of this in the form of the weight imbalance value expressed above, θ may be 120 degrees, Z may be 45 degrees, and Z may be 45 degrees. For example, if the coordinate value is (1, 2, 0.2), speaking in the form of the weight imbalance value expressed above, when calculating θ, Tan θ = 2/1, so θ = about 63.5 degrees.

Troubleshoot weight related imbalances

(1) mobile weight balance weight department use

7 to 8 , the weight balance device includes a weight balancer 200 , a driving unit 210 , a transport guide unit 220 , and a control unit 230 . The weight balancer 00 is located in the central part 130a of the fuselage 100 in a balanced state and is transferred to both ends 130b and 130c of the left and right wings 110 in an unbalanced state (which has wings as in FIG. 2a) in the examples). The drive unit generates power that can be transferred to the weight balancer 200 , and the transfer guide unit 220 is configured to guide the transfer of the weight balancer 200 , and the control unit 230 is the drive unit 210 . ) and is electrically connected to stop the operation of the driving unit.

9 is a schematic configuration diagram of a weight balance device according to a first embodiment of the present invention. Referring to FIG. 9 , the weight balancer 200 is configured in a solid structure shape 300 , and the driving unit 210 is configured with a driving motor 310 integral with the weight balancer 200 , and the The transport guide 220 includes a slide guide 320 extending from one end of the left and right wings 110 to the other end of the left and right wings across the body 100 , and the control unit 230 includes the slide guide It consists of a limit switch 330 that controls the drive motor 310 so that the weight balancer is positioned at a desired point on the 320 . The weight balancer 300 is mounted between the front spar and the rear spar to which the fuselage 100 and the wing 110 of the unmanned aerial vehicle are connected, and is coupled to the weight balance support plate. The weight balancer 300 maintains the balance of the wings by moving toward the left and right wings of the unmanned aerial vehicle. The weight (W1') of the weight balancer is preferably designed to be the same as the weight (W1) of the armament mounted on one wing, but may be increased or decreased according to the position of the limit switch 330 installed on the left and right wing sides of the unmanned aerial vehicle. The drive motor 310 is bolted to a weight balancer through a support lug, and a ball screw is shaft-coupled to a driving coupling connected to the drive motor shaft, and a flange-type nut is coupled to the ball screw. The weight balancer 300 is transferred by the rotation of the driving motor. On the other hand, it is preferable to use a stepping motor as the driving motor. The driving coupling performs a function of preventing friction from being induced in transferring the weight balance even if the central axis of the shaft is shaken during rotation. The slide guide part 320 includes a slide guide shaft so that the weight balancer can move in a straight line without shaking left and right during transport, and a slide bearing bush is coupled to the weight balancer support plate to reduce friction and move up and down smoothly. . A metal lubricant or the like may be used in place of the slide bearing bush. The switch may be variously implemented as an interrupt type photocoupler or an element such as a switch.

10 is a schematic configuration diagram of a weight balance device according to a second embodiment of the present invention. 4, the weight balancer 200 is a fluid (402a, 402b, 402c) selectively stored in the fluid tanks (402a, 402b, 402c) provided on both sides (401b, 401c) and the central part (401a) of the left and right wings 401 of the UAV 400), the driving unit 210 is composed of a transfer pump 410, and the transfer guide unit 220 is composed of a transfer pipe 420 for interlocking the fluid tanks 402a 402b and 402c. , the control unit 230 is composed of a detection sensor 430 for controlling the transfer pump 410 by detecting the amount of the fluid 400 in the fluid tanks (402a, 402b, 402c). The detection sensor 430 is installed in each fluid tank (402a, 402b, 402c) to sense the amount of stored fluid, and when the amount of stored fluid exceeds a certain weight (W2'), the electrical signal is blocked and the transfer pump The operation of 410 is stopped.

In the embodiment of Figures 7 to 8, the weight is moved in order to solve the imbalance in the wing direction in the embodiment of the aircraft with wings, but in one embodiment of the present invention, the coordinates determined as shown in Figure 6 The imbalance can be corrected by moving the weight in the opposite direction to the value. In this regard, FIG. 11 illustrates a trajectory of a weight moving in three dimensions, according to an embodiment of the present invention. In order to achieve the weight trajectory as shown in FIG. 11 , the control unit 230 determines the target coordinates of the corresponding waiter. These target coordinates may be set corresponding to the coordinate values determined in FIG. 6 . In this application, especially in relation to the Z coordinate, a heavier weight should be used as the Z coordinate value is larger. However, in this application, the weight of the moving balancer weight is constant, but the movement amount corresponds to the weight of the weight by moving it further from the origin in three dimensions. You can have a configuration that makes it happen. When the target three-dimensional coordinate value is determined in this way, in the present application, instead of moving by the guide part as in FIGS. is extended to the target point.

12A and 12B and 12C illustrate a weight balancer that moves three-dimensionally, according to an embodiment of the present invention. 12A shows a weight balancer first comprising a body portion 801 , a pivoting unit 802 coupled to the body portion, a telescoping connection portion 803 and a balancing weight 804 . 12 shows a state before the stretchable connection part 803 is expanded. 12A shows a state in which the telescoping connection part 803 is stretched in a predetermined direction, for example, the Z-axis direction. Thereafter, FIG. 12B shows a state in which the balancing weight 804 is moved to a target coordinate value for offsetting a weight imbalance corresponding to the coordinate value determined in FIG. 6 . In this embodiment, the pivot part or pivot mechanism 102 is driven by a motor (not shown) installed in the body part 801 to pivotally move the balancing weight 804 to the corresponding target coordinates.

13A, 13B and 13C and 13D illustrate a weight balancer that moves two-dimensionally, according to an embodiment of the present invention. Referring to FIG. 13D , the balancer includes a body portion 901 or a central hub, a rotating portion 905 disposed in the body portion, a telescopic drive unit 904 disposed in the body portion, and a telescopic extension portion ( 908 , and a balancing weight portion 902 . Referring to FIG. 13A , first, the balancing weight part 902 is positioned in the X-axis direction, and the current stretchable extension part 908 is not yet stretched. Referring to FIG. 13b , the rotating part 905 disposed in the body part rotates the balancing weight part 902 to match the XY coordinates among the coordinate values corresponding to the coordinate values determined in FIG. 6 , and thereafter the coordinates determined in FIG. 6 . As much as a degree corresponding to the Z value among the coordinate values corresponding to the value (that is, the larger the degree of inclination, the larger the Z value will be, and accordingly, the expansion of the telescoping extension part 908 immediately increases). , is expanded by the expansion and contraction drive unit 904 disposed in the body portion. Accordingly, the weight imbalance corresponding to the coordinate values determined in FIG. 6 may be resolved.

(2) propeller part rotation speed control

The coordinate values X, Y, and Z of the horizontal sensor, that is, X, Y indicate the direction of the inclination, and Z indicates the size of the inclination. That is, it represents the angle of inclination. For example, a measurement value of an imbalance in weight of a horizontal sensor in a payload of an unmanned aerial vehicle or a delivery container may be expressed as X, Y, Z coordinate values of the horizontal sensor. For example, a 45 degree direction in the X, Y coordinate system or in the X Y coordinate system, or, for example, (1,1) indicates the direction in which the center of gravity is located. Meanwhile, how much the slope is inclined may be different depending on the weight of the shipment. Therefore, the greater the gravitational force at the center of gravity, the greater the Z value. Accordingly, the X, Y, and Z values of the horizontal sensor, or the angle values and Z values in the X, Y plane, may indicate a weight imbalance in the payload of the unmanned aerial vehicle or the delivery container due to the loading state of the corresponding delivery. .

In this regard, in the present embodiment, in a multicopter type drone, for example, in the drone of the form of FIG. 14, X, Y, Z values of the horizontal sensor, or angle values and Z values in the X, Y plane Based on the like, it is possible to adjust the thrust or rotational force of the corresponding propeller elements 120 . In the example of FIG. 14 , a total of six propellers are installed. Thus, the angle between each propeller element is 60 degrees. In this case, with respect to the angle θ and Z values corresponding to weight imbalance measurements in the X, Y plane of the horizontal sensor, for example, the easiest example is the center of gravity where θ of an angle of 30 degrees and Z is 45 degrees. In the unbalance value, in order to compensate for this, the propulsion force of the first propeller element 102 in FIG. 15 is 0.5 (45/90) times greater than the propulsion force of the other propellers. have. On the other hand, for a center of gravity imbalance value where θ is zero degrees and Z value is 45 degrees, the first propeller thrust and the sixth propeller thrust are each increased by 0.25 times compared to the thrust of the other propellers to correct the center of gravity imbalance. . On the other hand, for a center of gravity imbalance value where θ is 45 degrees and Z value = 45, increasing the thrust force of the first propeller and the thrust force of the second propeller is 45 degrees, so that the first propeller has a placement angle value of 30 degrees, , since the second propeller has a placement angle value of 90 degrees, the center of gravity differs by 15 degrees from the first propeller and 45 degrees from the second propeller, so the percentage increase in thrust borne by the first propeller is 45/(15+ 45) = 75 percent, and the percentage increase in thrust borne by the second propeller is 15/(15+45) = 25 percent. In conclusion, the first propeller increases thrust by 0.5 times + 75 percent = 0.375 times the thrust of the other propellers, and the second propeller increases thrust by 0.5 times + 25 percent = 0.125 times the thrust of the other propellers.

Therefore, in a hexacopter having six equally spaced propellers, the weight imbalance value caused by the loading of the cargo in the payload part of the unmanned aerial vehicle, the direction of the center of gravity is θ, and the magnitude of the imbalance is When tilted by magnitude Z, for example, the drone of the form of Figure 14 (i.e. the first propeller element is at 30 degrees, the second propeller element is at 90 degrees, the third propeller element is at 120 degrees and , and finally the sixth propeller element is in the 330 degree direction), when θ is at 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees, and 330 degrees, respectively, the corresponding one of the first to sixth propellers Increase the thrust of the propeller, increase the thrust of the first and second propellers when θ is between 30 and 90 degrees, and increase the thrust of the second and third propellers when θ is between 90 and 150 degrees, , increase the thrust of the third and fourth propellers when θ is between 150 and 210 degrees, increase the thrust of the fourth and fifth propellers when θ is between 210 and 270 degrees, and θ between 270 and 270 degrees When it is between 330 degrees, the thrust of the fifth and sixth propellers is increased, and when θ is between 330 degrees and 30 degrees, the thrust of the sixth and first propellers is increased.

At this time, among the increments of propulsion force of both propellers adjacent to θ, the increment Ps borne by the propeller (first side propeller, arranged at A angle) at a value smaller than θ and the propeller at a value larger than θ (second side) The increment Pl borne by the propeller (placed at angle B) is:

Ps = (B-θ) /(B-A) * 100, Pl = (θ-A)/(B-A)

For example, when θ is 120 degrees, it is both propellers near 120 degrees, the second propeller at 90 degrees, and the third propeller at 150 degrees, which can be automatically determined by the computer. Therefore, Ps (the burden rate of the second propeller) = (150-120)/150-90 = 30/60 = 0.5, and Pl (the burden rate of the third propeller) = (120-90)/60 = 0.5. That is, the rate of increase borne by the second propeller and the third propeller is the same.

Next, when the Z value is tilted by 30 degrees, 30/90 = 0.3333. That is, the first-side propeller and the second-side propeller on both sides of the θ value must be combined to be greater than the propulsion force of the other propellers by about 0.3333 times. For example, in the example just above, 0.3333 * 0.5 times = 0.1665 times must be borne by the second propeller and the third propeller, respectively.

Let's apply this bar to a multicopter with N more propeller elements. Accordingly, N propeller elements are equally spaced by 360/N angles. At this time, the direction of the center of gravity is θ, and when the magnitude of the imbalance is tilted by the magnitude of Z, among the increments of the propulsion force of both propellers adjacent to θ, the propeller at a value smaller than θ (the first side propeller, at the A angle) The increment Ps borne by ) and the increment Pl borne by the propeller (second side propeller, positioned at angle B) at a value greater than θ is: Ps = (B-θ) /(B-A) * 100, Pl = (θ-B)/(B-A). In addition, the propulsion increase rate to be borne by the propellers of both sides is z/90 * 100, and the propulsion increase rate to be borne by the first side propeller is z/90 * 100 * (B-θ) /(B-A), z/90 * (θ-A)/(B-A).

By coordinating the thrust between the propeller elements in this way, the weight imbalance due to load loading can be eliminated.

(3) position control of propeller elements

In the above embodiment, weight imbalance due to load loading is eliminated by controlling the propulsion force or rotation speed of the propeller elements. On the other hand, in the present embodiment, rather than adjusting the propulsion force or rotation speed of the propeller elements, the propeller elements are moved to solve the weight imbalance due to the loading of the load. Again, the example of the hexacopter of FIGS. 14 and 15 is also assumed in this embodiment, but the present invention is not limited thereto.

The coordinate values X, Y, and Z of the horizontal sensor, that is, X, Y indicate the direction of the inclination, and Z indicates the size of the inclination. That is, z represents the angle of inclination. For example, a measurement value of an imbalance in weight of a horizontal sensor in a payload of an unmanned aerial vehicle or a delivery container may be expressed as X, Y, Z coordinate values of the horizontal sensor. For example, a 45 degree direction in the X, Y coordinate system or in the X Y coordinate system, or, for example, (1,1) indicates the direction in which the center of gravity is located. Meanwhile, how much the slope is inclined may be different depending on the weight of the shipment. Therefore, the greater the gravitational force at the center of gravity, the greater the Z value. Accordingly, the X, Y, Z values of the horizontal sensor, or the angular values and Z values in the X, Y planes may indicate a weight imbalance in the payload of the unmanned aerial vehicle or the delivery container due to the loading state of the corresponding delivery.

In this regard, in the present embodiment, in a multicopter type drone, for example, in the drone of the form of FIG. 14, X, Y, Z values of the horizontal sensor, or angle values and Z values in the X, Y plane and the like, the position of the corresponding propeller elements 120 may be adjusted. In the example of FIG. 14 , a total of six propellers are installed. Thus, the angle between each propeller element is 60 degrees. In this case, with respect to the angle θ and Z values corresponding to the weight imbalance measurement in the X, Y plane of the horizontal sensor, for example, in the easiest example, a weight θ of an angle of 30 degrees and a Z value of 45 degrees In the center imbalance value, in order to compensate for this, the fourth propeller element in FIG. 15 plus a value of 180 degrees to the first propeller element 102 moves in the radial inward direction by 0.5 (45/90) * R (radius) . This bar is shown in Figure 16a. Thereby, it is possible to correct the above-mentioned center of gravity imbalance. This movement can be made by a motor along a separate guide.

In contrast, for a center of gravity imbalance value where θ is zero degrees and a Z value of 45 degrees, the third propeller thrust force adjacent to the position of zero + 180 degrees = 180 degrees and the fourth propeller elements are each 0.5 (45 radially) radially inward. /90) * 1/2 * move by R (radius). This bar is shown in Figure 16b.

In contrast, for a center of gravity imbalance value of θ of 45 degrees and a Z value of 30 degrees, the fourth and fifth propeller elements, which are two adjacent propeller elements at the position of 45 degrees + 180 degrees = 225 degrees, are radially inward. Guided radially. At this time, the position of 225 degrees and the difference of 15 degrees with the fourth propeller and the difference of 225 degrees and 45 degrees with the fifth propeller are 45/(15+45) = 75 percent * (30/90) R, and the degree of movement of the fifth propeller inward is 45/(15+45) = 25 percent * (30/90) R. This bar is shown in Figure 6c.

Therefore, in a hexacopter having six equally spaced propellers, the weight imbalance value caused by the loading of the cargo in the payload part of the unmanned aerial vehicle, the direction of the center of gravity is θ, and the magnitude of the imbalance is When tilted by magnitude Z, for example, the drone of the form of Figure 14 (i.e. the first propeller element is at 30 degrees, the second propeller element is at 90 degrees, the third propeller element is at 120 degrees and , and finally the sixth propeller element is in the 330 degree direction), when θ is at 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees, respectively, θ + 180 of the first to sixth propellers The propeller element corresponding to the degree is moved in the radially inward direction, and when θ is between 30 and 90 degrees, the fourth and fifth propeller elements are moved in the inner radial direction, and when θ is between 90 and 150 degrees, the second Move the 5th and 6th propeller elements in the inner radial direction, respectively, and move the sixth and first propeller elements in the inner radial direction respectively when θ is between 150 and 210 degrees, and θ is between 210 and 270 degrees. When the first and second propeller elements are respectively moved in the inner radial direction, when θ is between 270 and 330 degrees, the second and third propeller elements are respectively moved in the inner radial direction, and when θ is between 330 and 30 degrees When in the middle, the third and fourth propeller elements move in the inner radial direction, respectively.

At this time, the movement distance in the inner radial direction of both the propellers adjacent to the position of θ + 180 is as follows. First, the distance Ds that the propeller element (first side propeller element, arranged at angle A) travels at a disposition angle of less than θ + 180 and a propeller element at a value greater than θ + 180 (second side propeller element) , placed at the angle B) the distance Dl traveled is:

Ds = (B-(θ+180)) /(B-A) * R * (Z/90),

Dl = ((θ+180) -A))/(B-A) * R * (Z/90).

For example, when θ is 120 degrees and Z is 20 degrees, both propellers near 120 +180 = 300 degrees are the 5th propellers at 270 degrees and the 6th propeller elements at 330 degrees, which automatically tell the computer to can be determined by Thus, the fifth propeller element, the first side propeller element, moves inward by (330-(120+180))/(330-270) = 30/60 * R * (20/90) = 0.111 * R, The fifth propeller element, the second side propeller element, moves inward by ((120+180)-270)/(330-270) = 30/60 * R * (20/90) = 0.111 * R.

Let's apply this bar to a multicopter with N more propeller elements. Accordingly, N propeller elements are equally spaced by 360/N angles. At this time, the direction of the center of gravity is θ, and when the magnitude of the imbalance is tilted by the magnitude of Z, the position of θ + 180 and the inner radial movement distance of both propeller elements adjacent to the position of θ + 180 are at an arrangement angle smaller than θ + 180 The distance Ds traveled by the disposed propeller element (first side propeller element, disposed at angle A) and the distance Dl traveled by the propeller element at a value greater than θ + 180 (second side propeller element, disposed at angle B) are As follows:

Ds = (B-(θ+180)) /(B-A) * R * (Z/90),

Dl = ((θ+180) -A))/(B-A) * R * (Z/90).

By coordinating the positions between the propeller elements in this way, weight imbalance due to load loading can be eliminated.

The various devices or components or functions or various operations or steps used in the embodiments described herein may be implemented in any suitable hardware, firmware (eg, application-specific integrated circuit), software, or software, firmware. , and may be implemented using a combination of hardware. For example, the various components of these devices may be formed on a single integrated circuit (IC) chip or on separate IC chips. In addition, various components of these devices may be implemented on a flexible printed circuit film, a tape carrier package (TCP), a printed circuit board (PCB), or the like without departing from the spirit or scope of the present invention. In addition, various components of these devices may process, executing on one or more processors, in one or more computing devices, executing computer program instructions and interacting with other system components to perform the various functions described herein. Or it may be a thread. The computer program instructions are stored in a memory that may be implemented in a computing device using a standard memory device, such as, for example, random access memory (RAM). The computer program instructions may also be stored in other non-transitory computer readable media, such as, for example, a CD-ROM, a flash drive, and the like. Those skilled in the art will be skilled in the art that the functions of various computing devices may be combined or integrated into a single computing device, or the functions of a particular computing device may be extended to one or more other computing devices, without departing from the spirit and scope of the exemplary embodiments of the present invention. It should be recognized that it can be distributed through

The term “controller” is used herein to include any combination of hardware, firmware, and software employed to process data or digital signals. The processing unit hardware includes, for example, ASICs (application specific integrated circuits), general or special purpose central processing units (CPUs), digital signal processors (DSPs), graphics processing units (GPUs), and FPGAs. programmable logic devices such as field programmable gate arrays. Within the processing unit, as used herein, each function includes a CPU configured to perform that function, i.e., to execute instructions stored by hard-wired hardware or in a non-transitory storage medium; It is performed by the same more general-purpose hardware. The processing unit may be fabricated on a single printed circuit board (PCB), or distributed across several interconnected PCBs. The processing unit may include other processing units; For example, a processing unit may include two processing units interconnected on a PCB.

As used herein, “one embodiment” means that a particular feature, structure, or characteristic described is included in at least one embodiment. Accordingly, such phrases may refer to one or more embodiments. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. However, as will be appreciated by those skilled in the art, the present invention may be embodied without one or more specific descriptions, or may be embodied in other ways, resources, manners, and the like. In other instances, well-known structures, resources, or acts have not been shown or described merely in order to avoid obscuring aspects of the present invention.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

Claims (12)

As a method of compensating for weight imbalance occurring in a multicopter in which N propeller elements are arranged at equal intervals,
loading a load into the multicopter;
measuring the weight imbalance value generated by the loading, wherein the weight imbalance value is measured using a horizontal sensor measuring; and
Coordinating the thrust force between the N propellers based on the measured weight imbalance value,
In the tuning step,
When θ coincides with the angular arrangement angle of the N propeller elements, the propulsion force of the corresponding propeller element is increased by Z/90 times, compared to the propulsion force of the other propeller elements,
When the θ does not coincide with the angular arrangement angle of the N propeller elements, the increment of Z/90 times the thrust force is shared between the two propeller elements adjacent to the θ,
Sharing the Z/90 times the propulsion force increase between the two propeller elements adjacent to the θ is made in proportion to the degree of adjacent to the position corresponding to the θ of the two adjacent propeller elements,
Among the two adjacent propeller elements, one propeller element disposed at an arrangement angle smaller than θ is disposed at an angle A,
Among the two adjacent propeller elements, the other propeller element disposed at an arrangement angle greater than θ is disposed at an angle B,
The one side propeller element increases its thrust by z/90 * (B-θ)/(BA) times than the other propeller elements,
The other propeller element increases its thrust by a factor of z/90 * (θ-A)/(BA) than the other propeller elements,
How to correct the weight imbalance of a multicopter.


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