KR102604834B1 - A horizontal maintaining apparatus and a drone delivery unit comprising the same - Google Patents

Abstract

A leveling device 100 is provided. The level maintenance device 100 includes a mission computer (MC, 120) configured to receive flight information of the drone from a flight controller (FC, 110); A loading plate 130 on which delivery objects are loaded; And it may include a motor 150 configured to adjust the inclination of the loading plate 130.

Description

Horizontal maintenance device and drone delivery unit including the same {A HORIZONTAL MAINTAINING APPARATUS AND A DRONE DELIVERY UNIT COMPRISING THE SAME}

The present invention relates to a leveling device and a drone delivery unit including the same. More specifically, the present invention relates to a cleaner and safer drone delivery of the delivery object by maintaining the level of the delivery object based on drone tilt information during drone flight. This is an invention regarding a leveling device that enables and a drone delivery unit including the same.

A drone is an unmanned aerial vehicle that can be flown and controlled by radio wave guidance without a pilot. Initially, it was mainly used for military purposes, but due to its various advantages such as simplicity, speed, and economic efficiency, it has recently been used not only for military purposes but also for disaster relief, broadcasting, and leisure purposes. It is used in a wide variety of fields, including forest management, facility management, and sports.

In particular, as non-face-to-face social distancing is implemented worldwide due to the impact of COVID-19, there is an increasing movement to use drones in the delivery (or delivery) field. Motorcycle delivery, which is currently the most widely used, is vulnerable to safety, and the number of accidents and resulting deaths is increasing every year due to the burden of quick delivery. As an alternative, the drone delivery industry is attracting attention as a new business.

However, it is important to keep the delivery item stable in the process of delivering it through a drone. Especially in the case of food delivery containing liquid (soup), the liquid inside the delivery container may flow or overflow as the drone tilts during flight. There is a problem that leads to a lot of inconvenience and service dissatisfaction for the consumers who ultimately receive it.

Therefore, it actively responds to left/right/forward/backward tilt that occurs while the drone is flying from the origin to the destination, allowing the delivery object to remain stably and continuously horizontal, making the drone fly more safely. At the same time, the need for a new type of horizontal maintenance device and a drone delivery unit including the same, which can improve consumer satisfaction with drone delivery by ensuring that delivered items are delivered to consumers in a safer and more comfortable condition, is gradually increasing in the drone delivery industry. This is the situation.

The present invention was made to solve the above problems, and the purpose of the present invention is to provide a leveling device that can maintain the level of the delivery object during the drone delivery process and a drone delivery unit including the same.

In addition, the present invention provides a leveling device that improves user satisfaction by delivering food to the user more hygienically and comfortably by preventing the liquid from overflowing or flowing during the delivery process, especially in the delivery of food containing liquid (broth), and the same. The purpose is to provide a drone delivery unit comprising:

In addition, the present invention extracts the drone's tilt information from the drone's flight information received from the flight controller (FC) and delivers the drone based on the extracted tilt information without the need to provide an additional device for measuring the tilt of the drone. The purpose is to provide a leveling device that can reduce the manufacturing cost of a drone delivery unit by maintaining the level of an object and a drone delivery unit including the same.

In addition, the present invention can maintain the horizontality of the delivery object in all four directions by implementing the horizontality of the delivery object mounted on the leveling device left and right and back and forth, thereby delivering the delivery object to the user in a safer and more comfortable condition. The purpose is to provide a leveling device and a drone delivery unit including the same.

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

A level maintenance device according to an embodiment of the present invention for solving the above technical problem includes a mission computer (MC) configured to receive flight information of a drone from a flight controller (FC); A loading plate on which delivery objects are loaded; And it may include a motor configured to adjust the inclination of the loading plate.

In addition, the mission computer may be further configured to extract tilt information of the drone from the received flight information of the drone.

In addition, the mission computer may be further configured to operate the motor based on the extracted tilt information of the drone in order to maintain the level of the loading plate.

In addition, the extracted tilt information of the drone includes left and right tilt information and front and rear tilt information, and the motor includes a left and right control motor configured to adjust the left and right tilt of the loading plate and a left and right control motor configured to adjust the front and rear tilt of the loading plate. It may include forward and backward control motors.

In addition, the mission computer operates the left and right control motors based on the extracted left and right tilt information of the drone to maintain the level of the loading plate, and controls the forward and backward control based on the extracted forward and backward tilt information of the drone. It may be further configured to operate a motor.

In addition, the leveling device may further include a leveler configured to measure the horizontality of the loading plate.

In addition, the loading plate includes a plate-shaped internal loading plate; And it may be composed of a frame-shaped external loading plate that covers the inner loading plate on the periphery.

In addition, a drone delivery unit according to another embodiment of the present invention for solving the above technical problem includes the horizontal maintaining device; A case for accommodating the leveling device therein; And it may include a frame that is coupled to the case and configured to support the case and be connected to the lower part of the drone.

According to the leveling device and the drone delivery unit including the same according to an embodiment of the present invention, the level of the delivery object can be maintained during the drone delivery process.

In addition, according to the horizontal maintenance device and the drone delivery unit including the same according to an embodiment of the present invention, especially in the delivery of food containing liquid (or broth), the liquid is prevented from overflowing or flowing during the delivery process, making it more hygienic and comfortable. User satisfaction can be improved by delivering food to the user.

In addition, according to the leveling device and the drone delivery unit including the same according to an embodiment of the present invention, the drone received from the flight controller (FC) is eliminated without the need to provide an additional device for measuring the tilt of the drone. The manufacturing cost of the drone delivery unit can be reduced by extracting the tilt information of the drone from flight information and maintaining the level of the delivery object based on the extracted tilt information.

In addition, according to the leveling device according to an embodiment of the present invention and the drone delivery unit including the same, the leveling of the delivery object mounted on the leveling device is achieved left and right and back and forth, thereby maintaining the level of the delivery object in all four directions. This allows the delivery object to be delivered to the user in a safer and more comfortable condition.

In order to more fully understand the drawings cited in the detailed description of the present invention, a brief description of each drawing is provided.
Figure 1 is a schematic block diagram of a horizontal maintenance device 100 according to an embodiment of the present invention.
Figure 2 is a schematic perspective view of the leveling device 100 according to an embodiment of the present invention.
Figure 3 is a plan view for explaining the combination of the loading plates 131 and 132 according to an embodiment of the present invention.
Figure 4 is a schematic diagram illustrating a horizontal maintenance method based on drone tilt information performed according to an embodiment of the present invention.
Figure 5 exemplarily shows test results according to the left-right and forward-backward tilt of the horizontal maintenance device 100 according to an embodiment of the present invention.
Figures 6a and 6b are perspective views of the drone delivery unit 10 including the leveling device 100 according to an embodiment of the present invention.
Figure 7 is an exemplary diagram illustrating a configuration in which the drone delivery unit 10 is coupled to the drone 20 and flies to the delivery destination according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described with reference to the attached drawings. When adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, when describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted. In addition, embodiments of the present invention will be described below, but the technical idea of the present invention is not limited or limited thereto and may be modified and implemented in various ways by those skilled in the art.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected," but also the case where it is "indirectly connected" with another element in between. . Throughout the specification, when a part is said to “include” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary. Additionally, when describing the components of an embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term.

Figure 1 is a schematic block diagram of a horizontal maintenance device 100 according to an embodiment of the present invention.

The leveling device 100 according to an embodiment of the present invention acquires tilt information of a flying drone and controls the operation of the motor 150 based on this to control the delivery object mounted on the loading plate 130 (e.g. , food, parcels, books, etc.) or can be configured to control the center of the delivery object. In order to maintain the level of such a delivery object, as exemplarily shown in FIG. 1, the leveling device 100 according to an embodiment of the present invention includes a flight controller (FC, flight controller) 110 and a mission computer. (MC, mission computer; 120), loading plate 130, level 140, motor 150, side guide 160, base block 170, bearing shaft 180, etc. It can be included. For reference, the leveling device 100 according to an embodiment of the present invention may be implemented with a size of approximately 40 cm in width, approximately 40 cm in length, and approximately 10 cm in height, and its weight may be approximately 1.5 kg to 2 kg. , the material may be made of carbon, acrylic, etc., but it will be clear that these sizes, weights, materials, etc. are only examples and may be implemented in other different sizes, weights, etc.

For reference, the following specification mainly describes the configuration of the leveling device 100 for maintaining the level of the delivery object during the flight of the drone, and therefore the configuration of the leveling device 100 shown in FIG. 1 It will be apparent that the elements are merely exemplary configurations and that additional components (e.g., lighting means, notification means, communication means, warning means, etc.) may be further provided.

The flight controller (FC, 110) may be implemented as an open source hardware-based flight controller (FC). The flight controller (FC, 110) can be connected to an electronic speed control (ESC), and can be used to control the drone's vertical takeoff and landing, vertical ascent/descent, direction control, linear acceleration, speed, altitude, hovering, landing, The flight path can be controlled, and the speed, position, altitude, etc. can be controlled so that the drone flying in the sky can be accurately positioned along a set route for autonomous or scheduled flight.

For example, the sensor unit of the drone may be equipped with an IR sensor, and the flight controller (FC, 110) uses the IR sensor to control the drone so that it can land precisely even if a GPS error occurs during the flight process. You can control flight, path, location, altitude, etc.

The flight controller (FC, 110) according to an embodiment of the present invention may be equipped with a gyro sensor 111, and the gyro sensor 111 may be configured to measure the inclination of the drone. By equipping the flight controller (FC, 110) with an inertial navigation system (INS) such as the gyro sensor 111, various information about the drone, such as flight information, sensor information, etc., can be obtained from the flight controller (FC, 110). It is possible to obtain.

The mission computer (MC, 120) (or may be referred to as a 'processor') is serially connected to the flight controller (FC, 110) to receive drone-related information from the flight controller (FC, 110) and Based on this, it can be configured to maintain the level of the leveling device 100. More specifically, the mission computer (MC, 120) may be configured to receive the drone's status, sensor information, flight information, etc. from the flight controller (FC, 110) and extract the drone's tilt information from the received flight information. , For example, the mission computer (MC, 120) can be implemented with Raspberry Pi.

In addition, the mission computer (MC, 120) may be configured to operate the motor 150 based on the extracted tilt information of the drone in order to maintain the level of the loading plate 130 on which the delivery object is loaded, where The extracted tilt information may include left and right tilt information and front and back (or up and down) tilt information.

For this purpose, the motor 150 according to an embodiment of the present invention includes a left and right control motor 151 configured to adjust the left and right tilt of the loading plate 130, and a left and right control motor 151 configured to adjust the front and rear tilt of the loading plate 130. It may include a front and rear control motor 152.

Based on the configuration of the left and right control motors 151 and the front and rear control motors 152, the mission computer (MC, 120) according to an embodiment of the present invention is extracted to maintain the level of the loading plate 130. It may be configured to operate the left and right control motor 151 based on the left and right tilt information of the drone and to operate the front and rear control motor 152 based on the extracted front and back tilt information of the drone.

For example, the mission computer (MC, 120) can adjust the operation of the motor 150 so that the loading plate 130 is tilted in a direction opposite to the tilt of the extracted drone, and becomes horizontal according to the operation of the motor 150. When maintained, the operation of the motor 150 may be stopped.

The loading plate 130 may be configured to load a delivery object, and more specifically, the loading plate 130 includes a plate-shaped internal loading plate 131 and a hollow frame covering the inner loading plate 131 around the plate-shaped loading plate 131. It may be composed of a shaped external loading plate 132.

The delivery object may be loaded on the internal loading plate 131, and the external loading plate 132 may be arranged around the internal loading plate 131, and the delivery object may be loaded by arrangement of the external loading plate 132. The area that can be covered can be further increased.

In addition, as will be described in FIG. 3 below, the front and rear of the loading plate 130 are axially coupled to the internal loading plate 131 and the external loading plate 132 through the internal bearing shaft 181 (see FIG. 3), so that the front and rear directions While the inner loading plate 131 and the outer loading plate 132 are configured to move together when the loading plate 130 is maintained horizontally, only the outer loading plate 132 on the left and right sides of the loading plate 130 is connected to the external bearing shaft. By being axially coupled through (182, see FIG. 3), only the internal loading plate 131 can be configured to move when maintaining the horizontal loading plate 130 in the left and right directions.

The level 140 may be configured to measure the horizontality of the loading plate 130. More specifically, the leveler 140 includes a left and right leveler 141 configured to measure the left and right horizontality of the loading plate 130, and a front and rear leveler 142 configured to measure the front and rear horizontality of the loading plate 130. It can be included. In this regard, the level 140 according to another embodiment of the present invention may be additionally and/or alternatively implemented as a single leveler configured to measure horizontality in all four directions of left/right/front/back. . For reference, the level 140 according to an embodiment of the present invention may be implemented as a digital electronic level.

The level 140 may be installed in at least a portion of the loading plate 130 or on top of the delivery object, and the mission computer (MC, 140) may receive information from the flight information from the flight controller (FC, 120). In controlling the operation of the motor 150 to maintain the level of the loading plate 130 based on the extracted tilt information, the level measured by the level 140, that is, the level measured by the left and right level 141 Left and right horizontality and front and rear horizontality measured by the front and rear leveler 142 can be used.

For example, the mission computer (MC, 120) can adjust the operation of the motor 150 so that the loading plate 130 is tilted in a direction opposite to the tilt of the extracted drone, and by manipulating the motor 150, the level When the horizontality of the left and right sides and the front and back of the loading plate 130 is confirmed by 140, the operation of the motor 150 may be stopped.

In this regard, according to a further embodiment of the present invention, an additional level may be attached to the top of the drone, and accordingly, not only the left and right tilt and forward and backward tilt of the loading plate, but also the tilt of the drone itself may be additionally measured, and so on. The drone's levelness information measured by the additional leveler can be used as additional data to verify (or confirm) level maintenance.

The motor 150 may be configured to adjust the tilt of the loading plate 130. For this purpose, the motor 150 according to an embodiment of the present invention includes a left and right control motor 151 configured to adjust the left and right tilt of the loading plate 130, and a left and right control motor 151 configured to adjust the front and rear tilt of the loading plate 130. It may include a front and rear control motor 152. In addition, the left and right control motors 151 may be mounted on some areas of the front and rear sides of the loading plate 130, and the front and rear control motors 152 may be installed on some areas of the left and right sides of the loading plate 130, It may also be implemented by reversing the attachment location. For reference, the motor 150 according to an embodiment of the present invention may be implemented as a DS820M High Voltage Brushless Servo Motor.

In this specification, including FIGS. 1 and 3, the configuration for adjusting the left and right tilt and front and back tilt of the loading plate 130 by the left and right control motors 151 and front and rear control motors 152 is exemplarily described. According to a further embodiment of the present invention, a single motor 150 capable of driving in four directions, left/right/forward/backward, may be used additionally and/or alternatively.

The side guide 160 may block further movement of the delivery object loaded on the loading plate 130 so that the delivery object does not escape from the loading plate 130 during drone delivery. More specifically, the side guide 160 includes a first side guide 161 configured to guide the left and right sides of the loading plate 130, and a second side guide configured to guide the front and rear sides of the loading plate 130 ( 162). A more detailed configuration, shape, description, etc. of the side guide 160 will be described again in FIG. 2 below.

The base block 170 can be used to couple the loading plate 130 to the inner wall of the case 200 (see FIG. 6). For example, on the left and right sides of the loading plate 130, the external loading plate 132 may be axially coupled to the inner wall of the case 200 through the base block 170 and the external bearing shaft 182.

The bearing shaft 180 may be used for shaft coupling when the loading plate 130 is coupled. For example, the front and rear of the loading plate 130 are axially coupled to the inner loading plate 131 and the outer loading plate 132 through the internal bearing shaft 181, so that the loading plate 130 is maintained horizontal in the front and rear direction. While the internal loading plate 131 and the external loading plate 132 move together, only the external loading plate 132 is axially coupled to the left and right sides of the loading plate 130 through the external bearing shaft 182, so that the loading plate moves in the left and right directions. When maintaining (130) horizontal, only the internal loading plate 131 can move.

For reference, holes into which the inner bearing shaft 181 and the outer bearing shaft 182 are inserted may be formed in the inner loading plate 131 and the outer loading plate 132, respectively. And the insertion portion of the inner bearing shaft 181 and the outer bearing shaft 182 inserted into the external loading plate 132 has a diameter of about 0.2 pi ( Pi) can be formed smaller.

Figure 2 is a schematic perspective view of the leveling device 100 according to an embodiment of the present invention, and Figure 3 is a plan view for explaining the combination of the loading plates 131 and 132 according to an embodiment of the present invention.

As shown, the horizontal maintaining device 100 according to an embodiment of the present invention may be implemented as a square plate structure, and the loading plate 130 consists of an internal loading plate 131 and an external loading plate 132. ) may be additionally provided with a first side guide 161 and a second side guide 162 for guiding the side.

A pair of first side guides 161 can protect the delivery object on the left and right sides of the loading plate 130, and similarly, a pair of second side guides 162 can protect the delivery object from the front and back of the loading plate 130. It is possible to protect the first side guide 161 and the second side guide 162 from leaving the area of the loading plate 130 during drone delivery.

In addition, in Figure 2, the pair of first side guides 161 are shown as having the same shape and structure and the pair of second side guides 162 are shown as having different shapes and structures. However, according to the present invention, According to another embodiment, the pair of first side guides 161 and the pair of side guides 162 may all have the same shape and structure or may be implemented to have different shapes and structures.

Here, the front second side guide 162 of the second side guides 162 may be implemented to be movable forward and backward, or may be implemented to be hinged and rotatable around both ends, and thus delivered at the delivery origin. When placing an object on the loading plate 130 and when removing the delivery object from the loading plate 130 at the delivery destination, the reception and removal of the delivery object can be prevented by the second side guide 162 in the front. .

In addition, the delivery object can be loaded on the internal loading plate 131 and the outer loading plate 132 can cover the periphery. As shown in FIG. 3, the front and back of the loading plate 130 are the inner loading plate 130. (131) and the external loading plate 132 are axially coupled through the internal bearing shaft 181, so that when maintaining the horizontal loading plate 130 in the front and rear directions, the internal loading plate 131 and the external loading plate 132 are held together. While it is configured to move, only the outer loading plate 132 is axially coupled to the left and right sides of the loading plate 130 through the external bearing shaft 182, so that when maintaining the horizontal loading plate 130 in the left and right directions, the internal loading plate 131 ) can only be configured to move.

Figure 4 is a schematic diagram illustrating a horizontal maintenance method based on drone tilt information performed according to an embodiment of the present invention.

As described above, the mission computer (MC, 120) is serially connected to the flight controller (FC, 110) and receives drone status information, flight information, sensing information, etc. from the flight controller (FC, 110) and based on that. It is possible to maintain the level of the leveling device 100. In addition, the mission computer (MC, 120) can extract the tilt information of the drone from the received flight information, and as shown in FIG. 4, the mission computer (MC, 120) operates the loading plate 130 on which the delivery object is loaded. It can be configured to operate the motor 150, more specifically the left and right control motors 151 and the front and rear control motors 152, respectively, based on the extracted tilt information of the drone in order to maintain horizontality. The tilt information may include left-right tilt information and forward-backward tilt information.

In addition, the mission computer (MC, 140) controls the operation of the motor 150 to maintain the level of the loading plate 130 based on the tilt information extracted from the flight information from the flight controller (FC, 120). Therefore, the horizontality measured by the level 140, that is, the left and right horizontality measured by the left and right level 141, and the left and right horizontality measured by the front and back level 142 can be utilized. For example, the mission computer (MC, 120) can adjust the operation of the motor 150 so that the loading plate 130 is tilted in a direction opposite to the tilt of the extracted drone, and by manipulating the motor 150, the level When the level of the loading plate 130 is confirmed by (140), the operation of the motor 150 can be stopped.

Figure 5 exemplarily shows test results according to the left-right and forward-backward tilt of the horizontal maintenance device 100 according to an embodiment of the present invention.

As shown, the leveling device 100 according to an embodiment of the present invention can be configured to tilt normally left and right and back and forth within a predetermined angle range, and accordingly, can respond to changes in tilt of the drone that occur during drone delivery. You can respond proactively and quickly to maintain the level of the delivery object.

In addition, as shown in Figure 3, through the combined configuration of the internal loading plate 131 and the external loading plate 132, only the internal loading plate 131 moves in the left and right directions of the loading plate 130 (Figure Refer to the four drawings below in Figure 5), and the internal loading plate 131 and the external loading plate 132 move together in the front and rear directions of the loading plate 130 (see the upper two drawings in FIG. 5).

To describe the test procedure for leveling in more detail, first, when the leveling device 100 is tilted, a code can be prepared to measure and output the left-right and front-back tilts, respectively.

Afterwards, the flight controller (FC, 110) and the mission computer (MC, 120) can be connected via serial and run mavproxy on the mission computer (MC, 120). Next, run get_mavlink.py on the mission computer (MC, 120) and check whether the left-right (or roll) tilt and front-back (or pitch) tilt of the leveling device 100 are displayed in real time. .

Tilt the angle of the leveling device 100 left and right and back and forth by about 15° and maintain it for about 3 seconds (here, the error range is ±5°), and when it is tilted by 15°, the actual tilt is calculated in the mission computer (MC, 120). Normal operation can be confirmed by checking the left and right and forward and backward tilt angles using the left and right levelers 141 and front and rear levelers 142 mounted on the loading plate 130.

For example, if the angle of the left and right levelers 141 and the front and rear levelers 142 mounted on the loading plate 130 is 0 ± 5°, that is, within the error range, normal operation is confirmed, and this test is repeated multiple times. By doing so, it is possible to calculate the normal operating rate of horizontal maintenance according to the inclination of the loading plate 130. For reference, as a result of multiple experiments conducted by the present inventor, 100% normal operation was calculated.

Figures 6a and 6b are perspective views of the drone delivery unit 10 including the leveling device 100 according to an embodiment of the present invention, and Figure 7 is a drone delivery unit 10 according to an embodiment of the present invention. This is an example diagram to explain the configuration of being coupled to the drone 20 and flying to the delivery destination.

As shown, the drone delivery unit 10 according to an embodiment of the present invention includes a horizontal maintaining device 100, a case 200 for accommodating the horizontal maintaining device 100 therein, and a case 200. ) may be configured to support the case 200 and at the same time be configured as a frame 300 connected to the lower part of the drone.

The case 200 may be implemented in the shape of a rectangular parallelepiped, and a receiving space 210 in which the horizontal maintaining device 100 is accommodated may be defined, and a door implemented to be openable and closed on one side of the case 200 ( 220) may be further provided.

On the inner wall of the case 200, the horizontal maintaining device 100 and the case 200 may be coupled through the base block 170 and the bearing shaft 180, and more specifically, through the external bearing shaft 182, The case 200 can be opened and closed by the door 220, thereby enabling easier reception and removal of the delivery object. Here, the coupling direction of the base block 170 can be freely changed.

The frame 300 may be configured to cover the case 200 from the outside and be coupled to the lower part of the drone 20 at the same time. As shown in FIG. 6, the frame 300 is vertically coupled to the trapezoidal main frame 310 that covers the body of the case 200 and the lower part of the main frame 310, respectively, and is connected to the ground. It may include a support frame 320 configured to be in contact with the bottom frame 230 configured to support the bottom of the case 200.

The case 200 may be fixedly coupled to the frame 300, more specifically, to at least a portion of the main frame 310 to prevent the case 200, in which the delivery object is stored inside, from falling during drone delivery, and the bottom frame. The bottom of the case 200 can be supported more firmly and stably by 230.

In addition, when placing the delivery object on the horizontal holding device 100 inside the case 200 at the delivery origin or when the user withdraws the delivery object at the delivery destination, the door 220 can be opened and utilized (for example, For example, as shown in FIG. 6A), it is possible to prevent accidents due to falling of delivery objects by closing the door 220 during drone flight (e.g., as shown in FIG. 6B), and for this purpose, the door 220 can be closed. A handle (or handle) may be provided on at least a portion of the outer surface of 220.

As shown in FIG. 6B, the drone delivery unit 10 can be used by being coupled to the lower side of the drone with the door 220 closed, and the combined configuration of the drone 20 and the drone delivery unit 10 is It is exemplarily shown in Figure 7. Based on the combined configuration of the drone delivery unit 10 and the drone 20 as shown in FIG. 7, when destination information is input to the drone 20, the drone carrying the delivery object travels from the origin to the destination based on automatic flight. Flights can be performed up to.

For reference, the above specification describes the leveling device 100 configured to maintain the level of the delivery object placed on the internal loading plate 131 when performing drone delivery, but the same or similar mechanism is used for ground delivery. , it will be clear that it can be extended to, for example, motorcycle deliveries. For example, instead of extracting tilt information of a drone from flight information from a flight controller (FC), in the case of motorcycle delivery, a sensor configured to measure tilt may be attached to the motorcycle delivery box, and the tilt so measured may be attached to the motorcycle delivery box. Based on the value, the inclination of the plate on the lower side of the delivery box can be automatically adjusted to continuously maintain the level of the delivery object.

In addition, although not explicitly shown in FIGS. 6 and 7, a camera (not shown) may be additionally provided in at least some areas of the drone 20 and/or at least some areas of the drone delivery unit 10, This drone delivery system can also be implemented so that the video captured by the camera is transmitted in real time to the consumer at the destination. By allowing users who order drone delivery to receive and confirm real-time video of the items they ordered being delivered by drone, satisfaction and interest in drone delivery services can also be significantly increased.

In addition, although not explicitly shown in FIG. 7, a button for returning the drone 20 to the starting point may be additionally provided in at least some areas of the drone 20 or at least some areas of the case 200, The flight controller (FC, 110) cooperates with the mission computer (MC, 120) to return the drone (20) to the starting point when it detects that the return button is executed by the user and the delivery object is withdrawn from the loading plate (130). You can control its flight.

Therefore, autonomous flight of the drone can be implemented automatically without the drone operator having to directly control the drone along the route from the origin to the destination and the return route from the destination to the origin each time, and thus to implement this drone delivery service. This allows significant savings in required human resources and time.

As described above, according to the leveling device and the drone delivery unit including the same according to an embodiment of the present invention, the level of the delivery object can be maintained during the drone delivery process.

In addition, according to the horizontal maintenance device and the drone delivery unit including the same according to an embodiment of the present invention, especially in the delivery of food containing liquid (soup), the liquid is prevented from overflowing or flowing during the delivery process, making food more hygienic and comfortable. User satisfaction can be improved by delivering to the user.

In addition, according to the leveling device and the drone delivery unit including the same according to an embodiment of the present invention, the drone received from the flight controller (FC) is eliminated without the need to provide an additional device for measuring the tilt of the drone. The manufacturing cost of the drone delivery unit can be reduced by extracting the tilt information of the drone from flight information and maintaining the level of the delivery object based on the extracted tilt information.

In addition, according to the leveling device according to an embodiment of the present invention and the drone delivery unit including the same, the leveling of the delivery object mounted on the leveling device is achieved left and right and back and forth, thereby maintaining the level of the delivery object in all four directions. This allows the delivery object to be delivered to the user in a safer and more comfortable condition.

As described above, the optimal embodiments are disclosed in the drawings and specifications. Although specific terms are used here, they are used only for the purpose of explaining the present invention and are not used to limit the meaning or scope of the present invention described in the claims. Therefore, those skilled in the art will understand that various modifications and other equivalent embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the attached patent claims.

10: Drone delivery unit
100: Horizontal maintenance device
110: Flight controller
111: Gyro sensor
120: Mission computer
130: loading plate
131: Internal loading plate
132: External loading plate
140: Level
141: Left and right level
142: Front and rear level gauge
150: motor
151: Left and right control motor
152: Front and rear control motor
160: Side guide
161: 1st side guide
162: Second side guide
170: base block
180: bearing shaft
181: internal bearing shaft
182: external bearing shaft
200: case
210: Accommodation space
220: door
300: frame
310: main frame
320: support frame
330: bottom frame

Claims (8)

As a horizontal maintaining device 100,
a mission computer (MC, 120) configured to receive flight information of the drone from a flight controller (FC, 110);
A loading plate 130 on which delivery objects are loaded; and
It includes a motor 150 configured to adjust the inclination of the loading plate 130,
The loading plate 130 is,
Plate-shaped internal loading plate 131; and
It consists of a frame-shaped external loading plate 132 that covers the inner loading plate 131 around the circumference,
In the front and rear direction of the loading plate 130, the inner loading plate 131 and the outer loading plate 132 are axially coupled through the internal bearing shaft 181 to control the tilt in the front and rear direction by the motor 150. Accordingly, the internal loading plate 131 and the external loading plate 132 move together to maintain the horizontality of the front and rear directions of the loading plate 130,
In the left and right directions of the loading plate 130, the inner wall of the case 200 and the external loading plate 132 are axially coupled through the external bearing shaft 182, thereby adjusting the tilt in the left and right directions by the motor 150. Only the internal loading plate 131 moves so that the horizontality of the left and right directions of the internal loading plate 131 is maintained.
Horizontal maintenance device (100). According to claim 1,
The mission computer 120 is further configured to extract tilt information of the drone from the received flight information of the drone.
Horizontal maintenance device (100). According to claim 2,
The mission computer 120 is further configured to operate the motor 150 based on the extracted tilt information of the drone to implement horizontal maintenance of the loading plate 130,
Horizontal maintenance device (100). According to claim 3,
The extracted tilt information of the drone includes left and right tilt information and forward and backward tilt information,
The motor 150 includes a left and right control motor 151 configured to adjust the left and right inclination of the loading plate 130, and a front and rear control motor 152 configured to adjust the front and rear inclination of the loading plate 130. doing,
Horizontal maintenance device (100). According to claim 4,
The mission computer 120 operates the left and right control motor 151 based on the extracted left and right tilt information of the drone in order to maintain the level of the loading plate 130 and tilts the extracted drone forward and backward. Additional configured to operate the front and rear control motor 152 based on information,
Horizontal maintenance device (100). According to claim 1,
Further comprising a level 140 configured to measure the horizontality of the loading plate 130,
Horizontal maintenance device (100). delete As a drone delivery unit 10,
Horizontal maintenance device (100) according to claim 1;
A case 200 for accommodating the leveling device 100 therein; and
Comprising a frame 300 coupled to the case 200 and configured to support the case 200 and be connected to the lower part of the drone,
Drone delivery unit (10).