KR102526462B1 - Active vertical takeoff and landing drone vehicle with launcher - Google Patents

Abstract

It actively controls the direction of the motors attached to the wings and at the same time interlocks with the ailerons attached to the wings, allowing the aircraft to maintain a more stable attitude and change direction during take-off, landing, and hovering, as well as to keep the aircraft constant. Disclosed is an active vertical take-off and landing drone vehicle equipped with a launch device configured to be able to quickly and easily launch vertically at a height.

Description

Active vertical take-off and landing drone vehicle with launcher {ACTIVE VERTICAL TAKEOFF AND LANDING DRONE VEHICLE WITH LAUNCHER}

The present invention relates to an active vertical take-off and landing drone vehicle equipped with a launch device.

In general, a drone adopts the technology of an unmanned aerial vehicle system (UAV System) that flies by induction of radio waves without an actual pilot on board, and simplifies and miniaturizes it for various shooting, leisure, entertainment, military, etc. aircraft used.

The drone described above adopts the technology of an unmanned aerial vehicle and is used in the form of a general airplane in which thrust is generated by driving on a runway. required and difficult to commercialize.

Therefore, by applying the principle of a helicopter, vertical take-off and landing is possible by the driving force of the rotation of the propeller, so the size of the engine can be reduced, making it possible to reduce the size and weight. It is used for various purposes and forms because it is possible to take pictures or transport safely.

However, helicopter-type drones change direction while moving up and down by the rotational force of the propeller, and compared to airplane-type drones that directly transmit propulsion to the moving direction, a lot of power is lost and speed decreases due to flight. there was a problem with

Accordingly, vertical take-off and landing drones capable of vertical take-off and landing and high-efficiency horizontal flight are used, and three types are typically used.

In the first method, the conventional vertical take-off and landing drone has a motor fixed upward to the wing and operates only during take-off and landing. way to do it

In the second method, the motor is attached to the wing and moves only at an angle of 90 degrees in the upper and front (flight direction), which is called the so-called (tilt rotor) method. Similarly, during take-off and landing, attitude and direction are controlled by the rotational speed (RPM) of the motor.

The aircraft of the first and second modes adopts a method of taking off and landing in a state of being placed horizontally on the ground.

As a third method, it has a general fixed-wing (aircraft) form with motors attached to the wings, and it is a method of taking off by standing on the ground to take off and land vertically (Tail-Shitter) type of aircraft technology. This is a method of taking off and landing by erecting an aircraft in a similar form to rocket launch. The motor is attached to the wing toward the sky. During takeoff and landing, the attitude is maintained by the rudder angle of the aileron mounted on the wing, and the rotation of the motor It is using a technology in the form of changing direction by number (RPM).

However, conventional technologies have problems in attitude control and level maintenance due to the problem that the motor is fixed to the wing surface in order for the aircraft to take off.

In addition, conventional technologies are converted to fixed-wing (flight mode) and are inefficient systems due to reduced energy efficiency and increased weight due to the installation of motors during flight. There was a problem that it was very difficult to maintain the hovering posture even after take-off. This is because the motor is fixedly attached to the wing, and since the aircraft is controlled only by the steering angle of the aileron attached to the wing, it lacks the ability to resist wind more precisely.

The object of the embodiments of the present invention to improve the above-mentioned problems is to actively control the direction of the motor attached to the wing in order to improve the conventional vertical take-off and landing drone, and at the same time interlock with the aileron attached to the wing to take off and land the aircraft To provide an active vertical take-off and landing drone vehicle equipped with a launching device that can more stably maintain posture and change direction when hovering.

In addition, the purpose of the embodiments of the present invention is to detect the direction of the wind, change the heading (head) direction of the aircraft, compare terrain photography through the Vision Sensor Camera and LiDAR Sensor mounted on the lower part of the fuselage, and use accurate altitude information It is to provide an active vertical take-off and landing drone vehicle equipped with a launching device that can actively respond to the posture of the vehicle more accurately.

In addition, the object of the embodiments of the present invention is an active vertical take-off and landing drone vehicle equipped with a launch device that quickly and easily launches the aircraft to a certain height through a launch device and allows power to be supplied to the motor to take off when the aircraft reaches a certain height. is to provide

In order to achieve the above object, an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention is a vertical take-off and landing drone vehicle capable of vertical take-off and landing, and includes a fuselage and wings provided on both sides of the fuselage. And, wing-shaped ailerons provided at the lower end of the wing and controlling the flying direction of the fuselage by adjusting the angle of the aileron servomotor, and disposed on both sides of the wing, generating propulsion to perform vertical take-off and landing A thrust unit that generates propulsive force to fly while being able to fly, a tilting unit that is installed to enable tilting of the thrust unit so that the fuselage can fly while allowing vertical take-off and landing, and a posture, inclination, direction, and angle of the fuselage that are installed in the fuselage , a sensing unit for sensing at least one of speed, acceleration, altitude, and temperature, and is installed in the fuselage and controls vertical take-off and landing and flight, and the fuselage performs vertical take-off and landing or horizontal direction according to data collected from the sensor. a drone flight body configured to include a flight control unit for controlling a tilting angle of a tilting unit and a steering surface of the aileron to control an attitude during flight; and a launching device equipped with the drone flight body and vertically launching the drone flight body to a predetermined height to take off.

The thrust unit is composed of a propulsion motor generating rotational force for propulsion and a propulsion propeller connected to the propulsion motor and generating propulsion force by transmission of rotational force, and the tilting unit includes a tilting body provided on the wing unit, and the tilting A servomotor installed on the body and having a rotation shaft protruding from both sides, one side coupled to the rotation shaft of the servomotor and the propulsion motor installed on the other side, adjusting the tilting angle of the propulsion propeller while rotating through the control of the flight control unit It is characterized by comprising a tilting mount to do.

A vision sensor camera and a LiDAR sensor are installed on the bottom of the fuselage to secure an image through taking pictures of the ground surface during vertical take-off and landing and hovering of the drone vehicle, and inside the fuselage, the vision sensor is installed. The image captured by the vision sensor camera and LiDAR sensor is received, the reference image and the position change image according to the position change are corrected, compared, and processed, and the comparison processed output data is transmitted to the flight control unit. A mission computer is installed, and the flight control unit precisely controls the tilting angle of the tilting part and the steering surface of the aileron with PWM (pulse width modulation) of the output data transmitted from the mission computer, so that the drone flight body It is characterized in that it is configured to actively maintain the level and precisely control the attitude so that it can respond from the wind during vertical take-off and landing and hovering.

At the end of the wing part, a wing tip is installed at a vertical angle of 90 degrees to the wing to prevent a vortex phenomenon, and a landing support rod protruding from the bottom surface of the wing tip to support the landing during vertical take-off and landing of the drone vehicle characterized by

The launch device includes a bottom plate and a mounting housing composed of a pair of vertical supports protruding upward from the front and rear ends of the bottom plate to form a fitting groove into which the drone vehicle is vertically inserted, and the bottom plate inside the fitting groove. An air vehicle pedestal installed on the upper surface and having a seating groove formed on the upper surface in which the bottom surface of the drone air vehicle is seated, an air cylinder generating and supplying compressed air, and a seating groove installed on the air vehicle pedestal and supplying compressed air from the air cylinder It is characterized in that it is configured to include a spray nozzle that sprays to the side and vertically launches the drone vehicle mounted on the air vehicle support, and a launch button that operates so that compressed air is sprayed through the spray nozzle in the air cylinder.

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An active vertical take-off and landing drone flight vehicle equipped with a launch device according to an embodiment of the present invention can safely control the attitude of the drone flight body from the ground, and launches the drone flight body to a certain altitude using an air launch device to perform takeoff and landing. It is configured to respond from the direction of the wind during landing and hovering, and the angle of the aileron servomotor and the servomotor of the tilting part is controlled through the flight control unit to maintain the posture of the drone flight body. Data is collected from the Vision Sensor Camera and LiDAR Sensor mounted on the MC, processed into PWM signals, and outputted to the flight control unit. It is also linked to the aileron thermomotor attached to the body at the same time, which has the effect of improving posture more efficiently. Through this, there is an effect that the angle of the servomotor can be controlled in real time so that the drone flight body can maintain an optimal posture according to the direction of the wind and precise position hovering attitude control that has not been seen in the prior art.

1 is a perspective view showing an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention.
2 is a perspective view showing only a drone flight body in an active vertical take-off and landing drone flight vehicle equipped with a launch device according to an embodiment of the present invention.
3 is a front view showing only a drone vehicle in an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention.
4 is a block diagram schematically showing a drone vehicle in an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention.
5 is a side view illustrating the operation of a drone vehicle in an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention.
6 is a view showing the bottom of a drone vehicle in an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention.
7 is a perspective view showing only a launcher in an active vertical take-off and landing drone vehicle equipped with a launcher according to an embodiment of the present invention.
8 is a cross-sectional view showing only a launcher in an active vertical take-off and landing drone vehicle equipped with a launcher according to an embodiment of the present invention.

The present invention as described above will be described in detail through the accompanying drawings and embodiments.

It should be noted that technical terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. In addition, technical terms used in the present invention should be interpreted in terms commonly understood by those of ordinary skill in the art to which the present invention belongs, unless specifically defined otherwise in the present invention, and are excessively inclusive. It should not be interpreted in a positive sense or in an excessively reduced sense. In addition, when the technical terms used in the present invention are incorrect technical terms that do not accurately express the spirit of the present invention, they should be replaced with technical terms that those skilled in the art can correctly understand. In addition, general terms used in the present invention should be interpreted as defined in advance or according to context, and should not be interpreted in an excessively reduced sense.

Also, singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as "consisting of" or "comprising" should not be construed as necessarily including all of the various elements or steps described in the invention, and some of the elements or steps are included. It should be construed that it may not be, or may further include additional components or steps.

In addition, terms including ordinal numbers such as first and second used in the present invention may be used to describe components, but components should not be limited by the terms. Terms are used only to distinguish one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

In addition, in describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description will be omitted. In addition, it should be noted that the accompanying drawings are only for easily understanding the spirit of the present invention, and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

1 is a perspective view showing an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention, and FIG. 2 is a drone in an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention. It is a perspective view showing only the air vehicle, and FIG. 3 is a front view showing only the drone air vehicle in an active vertical take-off and landing drone air vehicle equipped with a launch device according to an embodiment of the present invention, and FIG. 4 is a launch device according to an embodiment of the present invention. It is a block diagram schematically showing a drone vehicle in an active vertical take-off and landing drone vehicle, and FIG. 5 is a side view showing the operation of a drone vehicle in an active vertical take-off and landing drone vehicle equipped with a launcher according to an embodiment of the present invention. .

As shown in FIG. 1, an active vertical take-off and landing drone vehicle equipped with a launch device according to an embodiment of the present invention actively controls the direction of a motor attached to a wing and at the same time interlocks with the aileron attached to the wing to increase airframe It is characterized in that it can not only maintain posture and change direction more stably during take-off, landing, and hover, but also be configured to quickly and easily launch the aircraft vertically at a certain height. To this end, the drone It includes the aircraft 100 and the launch device 200.

First, as shown in FIGS. 2 to 5, the drone vehicle 100 includes a body part 110, a wing part 120, an aileron 130, a thrust part 140, a tilting part 150, a sensing It is configured to include a unit 160 and a flight control unit 170.

The fuselage 110 is formed in a streamlined shape and is provided to be the center of flight with a device performing functions according to the purpose of flight. In addition, the body part 110 may be formed of a lightweight synthetic resin material, and the current coordinates using a rechargeable battery (not shown), RTK GPS (Real Time Kinematic Global Positioning System) or dual antenna RTK GPS. It may further include a positioning unit that calculates, and a flight control unit 170 and a mission computer ( ) described below may be mounted.

The wing part 120 is provided on both sides of the fuselage part 110 . The wing portion 120 may be formed such that an area becomes narrower from one end of the body portion 110 to the other end. The wings 120 themselves are formed in the form of fixed wings that do not move during vertical take-off and landing or flight. The wing portion 120 may also be formed in an airfoil shape in cross section.

The ailerons 130 are provided at the lower ends of the wing parts 120, and are provided in the form of wings to control the direction in which the fuselage part 110 flies by adjusting the angle of the aileron servomotor 131. The rotational angle of the aileron 130 from the wing 120 may be set differently according to the speed, rotation direction, etc. of the aileron servomotor 131 . Accordingly, the aircraft can stably maintain posture and change direction even during vertical take-off and landing flight, hovering, and horizontal flight. The cross section of the aileron 130 may be formed in an airfoil shape.

The thrust unit 140 is disposed on both sides of the wing unit 120, and generates propulsion to generate propulsion while allowing vertical take-off and landing.

More specifically, the thrust unit 140 is composed of a propulsion motor 141 generating rotational force for propulsion, and a propulsion propeller 142 connected to the propulsion motor 141 and generating propulsive force by transmission of rotational force. .

The tilting unit 150 is installed to allow the thrust unit 140 to be tilted so that the fuselage unit 110 can take off and land vertically while flying. That is, the tilting unit 150 sets the angle at which the thrust unit 140 rotates from the wing unit 120 to be different, so that the aircraft can stably maintain posture and change direction even during vertical take-off and landing flight, hovering, and horizontal flight. configured to be able to

More specifically, the tilting unit 150 includes a tilting body 151 provided on the wing unit 120, and a servomotor 152 installed on the tilting body 151 and having rotation shafts 152a protruding from both sides. And, one side is coupled to the rotary shaft 152a of the servomotor 150 and the propulsion motor 141 is installed on the other side, and tilting of the propulsion propeller 142 while being rotated through the control of the flight control unit 170 described later It is configured to include a tilting mount 153 for adjusting the angle. That is, the tilting unit 150 adjusts the angle of the propulsion propeller 142 by adjusting the angle of the tilting mount 153 by the operation of the servo motor 152, so that the aircraft is parallel to the ground, which is the direction in which the aircraft is flown. It is provided to adjust the angle for vertical take-off and landing and flight by moving to a position and moving vertically to be perpendicular to the ground during take-off and landing.

The sensing unit 160 is installed in the torso 110 and detects at least one of a posture, inclination, direction, angle, speed, acceleration, altitude, and temperature of the torso 110 . Here, it is preferable that the sensor 160 is provided with a plurality of sensors and configured to collect data such as posture, inclination, direction, angle, speed, acceleration, altitude, and temperature. The detection unit 160 transmits the detection information to the flight control unit 170 to be described later at a predetermined time period. In this case, the flight control unit 170 flies in a vertical direction toward the ground according to the operation mode of the fuselage unit 110 through the sensing unit 160, or the fuselage unit 110 is horizontal to the ground. To control the attitude when flying in the direction. That is, the sensing information collected by the sensing unit 160 is transmitted to the aileron servomotor 131 to control the steering angle of the aileron 130 attached to the wing unit 120 . At the same time, sensing information is transmitted to the servomotor 152 attached to the tilting unit 150 as an interlocking signal to control the direction of the propulsion motor 141 . Therefore, in order to maintain the posture of the aircraft and to precisely control it, it is simultaneously interlocked with the aileron thermomotor 131 attached to the wing 110 to improve the posture of the aircraft more efficiently, and the hovering posture control and Depending on the direction of the wind, the aircraft can maintain its optimal posture.

The flight control unit (Flight Controller, 170) is installed in the fuselage unit 110 and controls vertical take-off and landing and flight, and the fuselage unit 110 performs vertical take-off and landing according to data collected from the sensor 160, The steering angle of the aileron 130 and the tilting angle of the tilting part 150 are controlled to control the posture during flight in the horizontal direction. That is, the flight control unit 170 actively controls the direction of the servo motor 152 installed in the tilting unit 150 according to the data collected from the sensing unit 160, which is interlocked with the aileron servo motor 131. The aircraft can more stably maintain posture and change direction during take-off, landing, and hovering.

On the other hand, according to the present invention, as shown in FIG. 6, on the bottom of the fuselage 110, a vision sensor camera (Vision Sensor Camera, 181) and lidar sensor (LiDAR Sensor, 182) are installed.

And inside the body part 110, the image taken by the vision sensor camera (Vision Sensor Camera, 181) and LiDAR sensor (LiDAR Sensor, 182) is received and the reference image and the position change image according to the position change are corrected A mission computer (Mission Computer, 183) is installed to compare and process, and transmit the output data of the comparison process to the flight control unit 170.

With this configuration, the flight control unit 170 controls the steering angle of the aileron 130 and the tilting angle of the tilting unit 150 using pulse width modulation (PWM) of the output data transmitted from the mission computer 183. By precisely controlling, the drone vehicle 100 is configured to actively maintain the level and precisely control the attitude so that the drone vehicle 100 can respond to the wind during vertical take-off and landing and hovering. That is, the terrain photo data and altitude information acquired from the Vision Sensor Camera 181 and the LiDAR Sensor 182 are transmitted to the mission computer 183, and the mission computer 183 receives them and transmits them to the flight control unit 170 . In addition, the flight control unit 170 sends a signal to the servomotor 152 that determines the angle of the motor 141 and the aileron servomotor 131 attached to the wing unit 110 at the same time to control the aircraft in the windy direction so that it can change direction.

Therefore, without going through the GPS, the vision sensor camera (Vision Sensor Camera, 181) and the LiDAR sensor (LiDAR Sensor, 182) receive the image, compare and process the reference image and the position change image according to the position change, and fly The control unit 170 precisely controls the steering angle of the aileron 130 and the tilting angle of the tilting unit 140 so that the aircraft actively moves in accordance with the reference image, so that the aircraft actively horizontally responds to the wind during take-off and landing or hovering. Maintenance and posture control can be performed precisely.

Furthermore, it is preferable that a wing tip 123 is installed at the end of the wing portion 120 so as to be perpendicular to the wing at 90 degrees to prevent a vortex phenomenon. The wing tip 123 is preferably formed at the end of each wing 120 to be bent in the wing propagation direction but upward toward the end, and the degree of bending may have a vertical direction or an oblique inclination in the wing 120 there is.

Furthermore, it is preferable that a landing support rod 124 protruding from the bottom surface of the wingtip 123 to perform a landing support role during vertical take-off and landing of the drone vehicle 100. That is, the aircraft is erected vertically with respect to the ground through the landing support bar 124, so that the aircraft does not fall over during take-off or landing and performs a supporting role for landing.

Next, as shown in FIGS. 7 and 8 , the launch device 200 is configured to mount the drone vehicle 100 and vertically launch the drone vehicle 100 to a predetermined height to take off. That is, since the drone vehicle 100 can be launched and taken off to a predetermined height without its own power through the launch device 200, it can be quickly and easily positioned to a desired altitude without affecting the wind.

More specifically, the launch device 200 protrudes upward from the front and rear ends of the bottom plate 211 and the bottom plate 211 to form a fitting groove 212a into which the drone vehicle 100 is vertically fitted. A mounting housing 210 composed of a pair of vertical supports 212 and a seating groove installed on the bottom plate 211 inside the fitting groove 212a and in which the lower surface of the drone vehicle 100 is seated on the upper surface ( 221) is formed, the air cylinder 230 generates and supplies compressed air, and the air cylinder 220 is installed on the aircraft support 220 and the compressed air supplied from the air cylinder 230 is seated in a seating groove ( 221) and the injection nozzle 240 for vertically launching the drone flight body 100 mounted on the flight body 220 by spraying to the side, and the air cylinder 230 operates so that compressed air is sprayed through the injection nozzle 240 It is configured to include a triggering button 250.

With this configuration, in a state where the drone aircraft 100 is seated on the aircraft support 220 through the fitting groove 221a and mounted in the mounting housing 210 P, compressed air is generated from the air cylinder 230 Save, and press the launch button 250 to spray the compressed air stored in the air cylinder 230 through the injection nozzle 240 to the lower surface of the drone flight body 100 seated on the flight body 220, the drone flight body 100 ) to be launched from the aircraft stand 220. Of course, when the drone vehicle 100 reaches a certain altitude after launch, power is actively supplied to the motor 141 of the thrust unit so that take-off and posture control are possible.

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100: drone flight body 110: fuselage
120: wing 130: aileron
140: thrust part 150: tilting part
160: detection unit 170: flight control unit
181: vision sensor camera 182: lidar sensor
183: mission computer
200: launcher 210: mounting housing
220: flight support 230: air cylinder
240: injection nozzle 250: firing button

Claims (7)

As a vertical take-off and landing drone vehicle capable of vertical take-off and landing,
with the fuselage,
Wings provided on both sides of the body;
wing-shaped ailerons provided at the lower ends of the wings and controlling the flying direction of the fuselage by adjusting the angle of the aileron servomotor;
A thrust unit disposed on both sides of the wing unit and generating propulsion to generate propulsion while enabling vertical take-off and landing;
a tilting unit installed to enable tilting of the thrust unit so that the fuselage unit can vertically take off and land;
a sensing unit installed in the torso to detect at least one of posture, inclination, direction, angle, speed, acceleration, altitude, and temperature of the torso;
It is installed in the fuselage and controls vertical take-off and landing and flight, and controls the steering angle of the aileron and the tilting angle of the aileron to control the posture when the fuselage takes off and lands vertically or flies in a horizontal direction according to the data collected from the sensing unit. A drone flight body comprising a flight control unit to; and
It is configured to include a launching device configured to mount the drone flight body and vertically launch the drone flight body to a predetermined height to take off,
A vision sensor camera and a LiDAR sensor are installed on the bottom of the fuselage to secure an image through taking pictures of the ground surface during vertical take-off and landing and hovering of the drone vehicle,
Inside the fuselage, the image captured by the vision sensor camera and LiDAR sensor is received, and the reference image and the position change image according to the position change are corrected and compared, and the comparison processed output A mission computer for transmitting data to the flight control unit is installed,
The flight control unit precisely controls the tilting angle of the tilting part and the steering surface of the aileron using PWM (pulse width modulation) output data transmitted from the mission computer, so that the drone flight body can respond to the wind during vertical take-off and landing and hovering An active vertical take-off and landing drone vehicle with a launcher, characterized in that it is configured to actively maintain the level and precisely control the attitude.
According to claim 1,
The thrust unit is composed of a propulsion motor for generating rotational force for propulsion, and a propulsion propeller connected to the propulsion motor and generating propulsion force by transmission of rotational force,
The tilting unit includes a tilting body provided on the wing, a servomotor installed on the tilting body and having a rotation shaft protruding from both sides, one side coupled to the rotation shaft of the servomotor and the propulsion motor installed on the other side, An active vertical take-off and landing drone vehicle with a launcher, characterized in that it comprises a tilting mount for adjusting the tilting angle of the propulsion propeller while being rotated through the control of the flight control unit.
delete According to claim 1,
At the end of the wing portion, a wing tip is installed at an angle of 90 degrees to the wing to prevent a vortex phenomenon,
An active vertical take-off and landing drone flight vehicle with a launcher, characterized in that a landing support rod protruding from the bottom of the wing tip to perform a landing support role during vertical take-off and landing of the drone flight vehicle.
According to claim 1,
The launcher is
A mounting housing composed of a pair of vertical supports protruding upward from the front and rear ends of the bottom plate and the bottom plate to form a fitting groove into which the drone flight body is vertically inserted;
An aircraft stand installed on the bottom plate inside the fitting groove and having a seating groove formed on an upper surface in which a bottom surface of the drone aircraft is seated;
An air cylinder for generating and supplying compressed air;
An injection nozzle installed on the aircraft support and injecting the compressed air supplied from the air cylinder toward the seating groove to vertically launch the drone vehicle mounted on the aircraft support;
An active vertical take-off and landing drone vehicle with a launch device, characterized in that it comprises a launch button that operates so that compressed air is injected through the injection nozzle in the air cylinder.
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