KR102701008B1 - A unmanned aerial vehicle with light gas chambers - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle having an airbag including an upper airbag filled with a gas lighter than air, a lower airbag located below the first airbag and filled with a gas lighter than air, a loading compartment connected between the first airbag and the second airbag and having an empty interior in which various parts are loaded, a vertical cavity penetrating the upper airbag, the lower airbag and the loading core and configured to allow air to pass therethrough, and a first propulsion device installed inside the vertical cavity and controlling the vertical direction of the unmanned aerial vehicle by using air penetrating the interior of the vertical cavity.

Description

{A UNMANNED AERIAL VEHICLE WITH LIGHT GAS CHAMBERS}

The present invention relates to unmanned aerial vehicles, and more particularly to unmanned aerial vehicles that obtain additional lift by using a chamber filled with a gas lighter than air.

Unmanned aerial vehicles, or drones, are powered aircraft that fly autonomously or remotely, supported by aerodynamic forces, without a pilot on board. They are being actively developed for purposes such as cargo transport, aerial photography, and pesticide spraying.

These drones use propellers to generate aerodynamic force to stay afloat.

However, drones using propellers have problems such as damage to the human body caused by the propellers since the propellers are mounted on the outside, and since lift is only generated by the propellers, the battery consumption is high and the flight time is short. In addition, there is a problem of loud noise when the propellers are in operation.

The problem that the present invention seeks to solve is to provide an unmanned aerial vehicle that reduces human and material damage from accidents occurring during operation and causes minimal damage to the aircraft.

In addition, the problem that the present invention seeks to solve is to provide an unmanned aerial vehicle with low flight noise.

In addition, the task to be achieved by the present invention is to provide an unmanned aerial vehicle whose flight time is increased by reducing battery consumption.

In addition, the task to be achieved by the present invention is to provide an unmanned aerial vehicle that independently produces necessary electric energy and thus increases flight time.

In addition, the task to be achieved by the present invention is to provide an unmanned aerial vehicle capable of continuous flight by constantly supplying the necessary electric energy by connecting a power line between a ground power source and the unmanned aerial vehicle.

In addition, the task to be achieved by the present invention is to provide an unmanned aerial vehicle that is easy to hover by providing propulsion corresponding to the vertical and horizontal force components of the wind even when the wind blows.

In addition to the above tasks, embodiments according to the present invention can be used to achieve other tasks not specifically mentioned.

According to an embodiment of the present invention for solving the above problem, an unmanned aerial vehicle having a bladder includes a first bladder filled with a gas lighter than air, a second bladder located below the first bladder and filled with a gas lighter than air, and a horizontal frame connected between the first bladder and the second bladder and having an empty interior, wherein the overall shape of the drone in which the first bladder, the second bladder, and the horizontal frame are combined is streamlined, and the first bladder and the second bladder are fixedly connected by a hollow horizontal frame vertically penetrating the first bladder, the horizontal frame, and the second bladder, and a vertical propulsion device is installed within the hollow horizontal frame.

According to an embodiment of the present invention, by generating additional lift with helium or a gas lighter than the atmosphere formed inside the bladder, the driving force of the propeller is reduced, thereby reducing noise and reducing battery consumption, thereby increasing the flight time.

In addition, according to an embodiment of the present invention, a propeller is formed inside the aircraft, which has the effect of preventing the risk of casualties or damage to property in the event of a crash and the risk of damage to the high-speed rotation part of the aircraft.

Additionally, by charging the battery during flight using the solar cells formed on the surface of the drone, the usable life of the battery increases, which has the effect of further improving the flight time.

Additionally, it has the effect of enabling constant flight as power is constantly supplied by the power line connecting the drone to the ground power source.

In addition, there is an effect that enables hovering operation by one or more vertical stabilizer plates formed on the outside of the bladder, one or more fluid control plates formed inside the horizontal hollow frame, one or more fluid control plates formed inside the vertical hollow frame, or a variable nozzle.

FIG. 1 is a plan view and a side view of an unmanned aerial vehicle having an airbag according to a first embodiment of the present invention.
FIG. 2 is a cross-sectional view of a loading compartment used in an unmanned aerial vehicle having a bladder according to the first embodiment of the present invention.
FIG. 3 is an exemplary diagram of a gas filling device used in an unmanned aerial vehicle having a bladder according to the first embodiment of the present invention.
FIG. 4 is a longitudinal cross-sectional view of an unmanned aerial vehicle having an airbag according to the first embodiment of the present invention.
FIG. 5 is an exemplary diagram of a propeller device used in an unmanned aerial vehicle having an airbag according to the first embodiment of the present invention.
FIG. 6 is an exemplary diagram of a propulsion device for horizontal control used in an unmanned aerial vehicle having an airbag according to the first embodiment of the present invention.
FIG. 7 is an exemplary diagram of a vertical control propulsion device used in an unmanned aerial vehicle having an airbag according to the first embodiment of the present invention.
FIG. 8 is an exemplary diagram of a cross-shaped fluid control plate used in an unmanned aerial vehicle having an air bladder according to the first embodiment of the present invention.
FIG. 9 is a plan view and a side view of an unmanned aerial vehicle having an airbag according to a second embodiment of the present invention.
FIG. 10 is a cross-sectional view and a longitudinal cross-sectional view of an unmanned aerial vehicle having an airbag according to a second embodiment of the present invention.
FIG. 11 is an exemplary diagram illustrating the operation of a nozzle for controlling the propulsion direction used in an unmanned aerial vehicle having a bladder according to the second embodiment of the present invention.
FIG. 12 is a cross-sectional view of an unmanned aerial vehicle having an airbag according to a third embodiment of the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, in order to clearly describe the present invention, parts that are not related to the description are omitted, and the same or similar components are designated by the same reference numerals throughout the specification. In addition, in the case of widely known known technologies, their detailed descriptions are omitted.

In this specification, when a part is said to "include" a certain component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise specifically stated.

Hereinafter, an unmanned aerial vehicle having an airbag according to an embodiment of the present invention will be described with reference to the attached drawings.

FIG. 1 is a plan view and a side view of an unmanned aerial vehicle having a bladder according to a first embodiment of the present invention, wherein (a) is a plan view and (b) is a side view. Referring to FIG. 1, an unmanned aerial vehicle (100) having a bladder according to the first embodiment of the present invention includes an upper bladder (110), a lower bladder (120), two vertical stabilizers (130), and a loading compartment (140).

The upper air bladder (110) and the lower air bladder (120) are filled with gas having a lower specific gravity than air to provide buoyancy to the unmanned aerial vehicle (100). The upper air bladder (110) may be configured in an overall hemispherical shape, and the lower air bladder (120) may be configured in a streamlined shape with a cross-section that becomes narrower toward the bottom.

The upper air bladder (110) and the lower air bladder (120) are penetrated by a single vertical hollow (10), and air flowing from above to below or from below to above passes through the interior of the vertical hollow (10).

Two vertical stabilizers (130) are installed facing each other, and each vertical stabilizer (130) is composed of two pieces. One of the two pieces is installed in the upper bladder (110), and the other is installed in the lower bladder (120).

Each vertical stabilizer (130) has a plate shape such as a square, semicircle, semi-ellipse, or streamlined shape, and is installed vertically on the surface of the airbag at the ends on both sides. This vertical stabilizer (130) rotates the attitude of the unmanned aerial vehicle (100) so that the unmanned aerial vehicle (100) matches the direction of the horizontal component of the wind when the wind blows.

The loading room (140) is located between the upper bladder (110) and the lower bladder (120), and the interior is made up of an empty space in which various mission equipment, electrical and electronic devices, etc. are loaded.

Therefore, the unmanned aerial vehicle (100) having an airbag according to the first embodiment of the present invention can be configured in a streamlined shape in which the upper airbag (110) faces the sky (+z axis) and the lower airbag (120) faces the ground (-z axis).

Meanwhile, a solar cell (111) may be installed on the entire outer surface or a portion of the outer surface of the upper air bladder (110). The solar cell (111) is configured to generate basic power consumed during flight control and to generate power for external application cameras or other necessary power, and the generated current is charged to a battery (148 in FIG. 2) through a battery charger (147 in FIG. 2).

Although not shown in Fig. 1, a part that converts power from a solar cell (4) and supplies it to a battery and a connection connector required to directly charge the battery from the outside are configured.

The lower bladder (120), like the upper bladder (110), can have solar cells installed on the entire outer surface or a portion of the outer surface, and can have the same configuration and function as the solar cell (4) of the upper bladder (110).

Additionally, ground power sources and drones can be connected via power lines to provide constant power supply.

Fig. 2 is a cross-sectional view of a loading room used in an unmanned aerial vehicle having a bladder according to the first embodiment of the present invention. Referring to Fig. 2, in the loading room (140), a horizontal hollow (20) is formed penetrating between vertical stabilizers (130), and a vertical hollow (10) is formed intersecting with the horizontal hollow (20). Therefore, various devices or equipment are mounted in the loading room (140) in addition to the area occupied by the horizontal hollow (20). Here, the horizontal hollow (20) allows wind blowing from the left to the right or from the right to the left to flow through the interior.

In the above, it is preferable that the point where the vertical hollow (10) and the horizontal hollow (10) intersect is the center of gravity of the unmanned aerial vehicle (100).

The loading compartment (140) is equipped with a flight controller (141), an inertial measurement device (142), a satellite navigation device (143), a camera image transmission and reception device (144), a flight control transmission and reception device (145), a camera (146), a battery charger (147), and a battery (148), and each component (141 to 148) is installed so as not to be affected by air introduced through the horizontal hollow (20). At this time, the frame of the loading compartment (5) is designed to be detachable.

The inertial measurement device (142) includes an acceleration sensor and a gyro sensor, and determines errors in the direction of movement, distance traveled, rotation, etc. of the unmanned aerial vehicle (100) depending on the influence of the wind, and operates the fluid control plate (12, 22) to respond to the attitude and position of the unmanned aerial vehicle (100) before the wind blows. In addition, the inertial measurement device (142) can be used to replace the function of the satellite navigation device (143) when the signal of the satellite navigation device (143) cannot be used, such as in a tunnel, inside a building, or when there is electronic interference.

Inside the loading compartment (140), a camera image transmission/reception device (144) for a first-person view (FPV) is installed, so that real-time flight control is possible as if a pilot is riding and flying the drone (100) while watching a virtual reality (VR) or video monitor even when the drone (100) is out of sight, and a camera (146) that records the flight direction is installed. At this time, the number and location of the cameras (146) may be two or more and installed on the top or bottom of the drone (100) depending on the need for operating the drone (100). It is preferable that the arrangement of each component installed in the loading compartment (140) is arranged so that the center of gravity is located on the vertical axis (z-axis) of the drone (100).

FIG. 3 is an exemplary diagram of a gas filling device used in an unmanned aerial vehicle having a bladder according to the first embodiment of the present invention.

In order to fill the upper bladder (110) and lower bladder (120) of an unmanned aerial vehicle (100) with a gas lighter than air, or to discharge the gas filled in the upper bladder (110) and lower bladder (120), a gas filling device (30) is required.

Referring to Fig. 3, a gas charging device (30) is installed inside the loading room (5), i.e., inside the horizontal hollow (20). The gas charging device (30) includes two check valves (31) and two relief valves (32).

One of the two check valves (31) charges the upper bladder (110) with gas, and the other check valve (31) charges the lower bladder (120) with gas. At this time, it is preferable that the same gas is charged into the upper bladder (110) and the lower bladder (120) at the same time.

Among the two relief valves (32), one relief valve (32) discharges the gas charged in the upper bladder (110), and the other relief valve (31) discharges the gas charged in the lower bladder (120). At this time, each relief valve (32) discharges the charged gas to the outside of each bladder (110, 120) when the pressure inside each bladder (110, 120) exceeds a predetermined pressure so that the gas charged in the upper bladder (110) and the lower bladder (120) does not exceed the allowable pressure of each bladder (110, 120) when exposed to a high temperature environment or charged under excessive pressure.

Fig. 4 is a cross-sectional view of an unmanned aerial vehicle having a bladder according to the first embodiment of the present invention. Referring to Fig. 4, a horizontal hollow (20) penetrating the central portion of a loading chamber (140) and a vertical hollow (10) penetrating the upper bladder (110), the loading chamber (140), and the lower bladder (120) are formed inside the unmanned aerial vehicle (100), and the cross sections of the horizontal hollow (20) and the vertical hollow (10) may be polygonal, circular, elliptical, etc.

Accordingly, the upper air bladder (21) and the lower air bladder (22) are each integrally connected to the x-axis by the horizontal hollow (20) and to the z-axis by the vertical hollow (10). Here, it is preferable that the horizontal hollow (20) be installed so as to be located on the x-axis of the unmanned aerial vehicle (100) and the vertical hollow (10) so as to be located on the z-axis of the unmanned aerial vehicle (100).

Meanwhile, a vertical control propulsion device (40) is arranged inside the vertical cavity (10). The vertical control propulsion device (40) generates a vertical (z-axis) flight propulsion force of the unmanned aerial vehicle (100) by means of a propeller device (41) to enable ascending and descending flight, and changes the angle of the fluid control plate (42, 43) to enable pitching flight.

Inside the horizontal hollow (20), a propulsion device (50) for horizontal direction control is arranged, and a propeller device (51) generates a horizontal direction (x-axis) flight propulsion force for the unmanned aerial vehicle (100) to enable forward and backward flight, and changes the angle of the fluid control plate (52) to enable yawing flight.

When each fluid control plate (42, 43, 52) is formed in a cross shape, it is desirable to provide a “V” groove in at least one fluid control plate to facilitate smooth movement of the fluid control plate.

Each fluid control plate can be formed into a polygon, circle, or oval shape depending on the shape of the vertical hollow (10) and horizontal hollow (20).

The vertical hollow (10) and horizontal hollow (20) are made of lightweight, high-strength materials, such as fiber-reinforced plastic using carbon fiber or glass fiber, or other resins, but are not limited thereto, and may be made of other materials depending on cost or intended use.

FIG. 5 is an exemplary diagram of a propeller device used in an unmanned aerial vehicle having an airbag according to the first embodiment of the present invention, where (a) is a configuration of a one-motor, two-propeller propulsion system, and (b) is a configuration of a two-motor, two-propeller propulsion system.

Referring to Fig. 5, the propeller device (41, 51) used in the propulsion device (40) for vertical control and the propulsion device (50) for horizontal control includes two pairs of propellers (1, 2) and one motor (3).

Two pairs of propellers (1, 2) are each mechanically connected to a drive shaft (not shown) of a motor (3) and rotate by the driving force of the motor (3). At this time, the two pairs of propellers (1, 2) are each located on one side of the motor (3) or on both sides of the motor.

When one of the drive shafts of the motor (3) rotates clockwise, the other rotates counterclockwise. Accordingly, the two pairs of propellers (1, 2) have opposite rotation directions and the same rotation speed. For example, one propeller (1) rotates clockwise and the other propeller (2) rotates counterclockwise, but the air flow direction is the same.

The reason for configuring it with two propellers (1, 2) is that if it is configured with only one propeller, a torque is generated in the opposite direction of the rotation direction according to the rotation of the motor, which causes the entire drone (100) to rotate in the opposite direction to the propeller rotation direction.

Therefore, by generating torque in the opposite direction from one propeller, the torques cancel each other out, thereby enabling the entire drone (100) to hover stably without rotating due to the torque.

It is desirable that the centers of the propellers (1, 2) are aligned with the center line of the motor to avoid unnecessary vibration and torque generation.

Each propeller device (41, 51) is fixedly supported to each other by a propeller drive motor support bracket (4) within a vertical hollow (10) or horizontal hollow (20).

Meanwhile, although the above description described using one motor (3), referring to Fig. 5 (b), it can be composed of one motor (3a) that drives one propeller (1) counterclockwise and another motor (3b) that drives another propeller (2) clockwise. That is, two motors can be used. Here, it is preferable that the two motors (3a, 3b) have the same performance, and can implement the same function as Fig. 5 (a).

Meanwhile, in the case of Fig. 4(b), by setting a difference in the rotational speed for each motor, rotation is induced around the motor axis due to the difference in the torque of the propeller, thereby enabling the drone to roll about the x-axis or yaw about the z-axis.

FIG. 6 is an exemplary diagram of a propulsion device for horizontal control used in an unmanned aerial vehicle having an airbag according to the first embodiment of the present invention.

Referring to Fig. 6, when the fluid control plate (52) of the propulsion device (50) for horizontal control is installed on the right side of the horizontal hollow (20), it is formed vertically with respect to the ground and parallel with respect to the vertical stabilizer plate (130).

When the fluid control plate (52) is at the exact center of the horizontal hollow (20), forward or backward flight occurs, and when the angle of the fluid control plate (52) is adjusted, a pressure difference occurs in the air flowing on both sides of the fluid control plate (52), and accordingly, the aircraft can be yawed.

Fig. 7 is an exemplary diagram of a vertical control propulsion device used in an unmanned aerial vehicle having a bladder according to the first embodiment of the present invention. Referring to Fig. 7, the fluid control plates (42, 43) are formed vertically with respect to the ground, but are formed at a right angle with respect to the vertical stabilizer plate (130).

When each fluid control plate (42, 43) is at the exact center of the vertical hollow (10), it performs an ascending or descending flight, and when the angle of the fluid control plate (42, 43) is adjusted, a pressure difference is generated for the air flowing on both sides of the fluid control plate (42, 43), and accordingly, the pitching operation of the aircraft can be performed. Meanwhile, the fluid control plates (42, 43, 52) used in each propulsion device (40, 50) can be configured in a cross shape as illustrated in Fig. 8.

FIG. 8 is an example of a cross-shaped fluid control plate used in an unmanned aerial vehicle having an air bladder according to the first embodiment of the present invention, and is an example of a case where it is applied to a propulsion device (50) for vertical control.

The cross-shaped fluid control plate (52a) can be formed into a polygon, circle, or ellipse depending on the shape of the vertical hollow (10) and the horizontal hollow frame (20), and a polygon, semicircle, or semiellipse, which is half the cross section of the vertical hollow (10) and the horizontal hollow (20), is preferable. When the fluid control plate (52a) is formed into a cross shape, it is preferable to make a “V” groove to facilitate the movement of the fluid control plate (52a).

According to the unmanned aerial vehicle (1A) having an additional lifting device in the form of Example 1 as described above, the following effects can be obtained.

1. Since it is possible to float to a certain height or prevent sudden descent due to the difference in specific gravity between the gas inside the bladder and the surrounding air, it is possible to prevent sudden crashes even if a problem occurs with the propeller, rotary motor, or control system of the drone, thereby ensuring maximum safety.

2. Since the air bladders that play the role of buoyancy, arranged vertically, are configured symmetrically with respect to the central vertical axis of the vertical hollow space that acts as an air passage, the attitude of the drone is always maintained approximately horizontal, so that the drone is prevented from losing its balance, making it easy to control the flight.

3. The unpowered hovering flight altitude can be set according to the weight fluctuation of the payload including the camera by the amount of gas charged into the bubble, so it can be used appropriately according to the purpose, effectively saving electric energy, and a pressure regulating relief valve is adopted to prevent bubble rupture due to excessive pressure increase inside the bubble to protect the bubble.

4. Since the number of propellers can be reduced and miniaturized due to the buoyancy of gas, noise during flight can be reduced, and thus battery consumption can be reduced.

5. Since the propeller and heavy components are located inside the airbag, it can be used safely and reliably in crowded spaces such as festivals, sports events, children's amusement park activities, drone training centers, and celebratory events, for taking pictures or flying multiple drones in groups.

6. Since it is an unmanned aerial vehicle that utilizes the buoyancy of a gas lighter than air and floats by not using or using a minimal amount of propellers (31, 32) for vertical ascent, it is hardly affected by vibrations and can shoot videos with less shaking.

Hereinafter, an unmanned aerial vehicle having a bladder according to a second embodiment of the present invention will be described with reference to the attached FIGS. 9 to 11. To facilitate understanding of the description, the description of the unmanned aerial vehicle having a bladder according to the second embodiment of the present invention will describe only the parts that are different from the unmanned aerial vehicle having a bladder according to the first embodiment of the present invention.

FIG. 9 is a plan view (a) and a side view (b) of an unmanned aerial vehicle (1B) having a bladder according to a second embodiment of the present invention. Referring to FIG. 9, the unmanned aerial vehicle (1B) having a bladder according to the second embodiment of the present invention is a form in which the vertical stabilizer (130) is deleted from the unmanned aerial vehicle (100) having a bladder according to the first embodiment of the present invention.

In addition, as in (a) of Fig. 10, the horizontal hollow space inside the loading room is deleted.

As shown in (b) of Fig. 10, a gimbal device (64) for nozzle support and rotation is fixedly installed at the bottom of a vertical hollow (72), and a nozzle (65) is connected to the gimbal device (64) via a flexible hose (66). At this time, the nozzle (65) has its air outlet facing the downward direction of the unmanned aerial vehicle (1B) so that it inhales air in the downward direction or discharges air in the downward direction.

FIG. 11 is a schematic diagram of the operation of a gimbal nozzle for controlling the propulsion direction mounted on an unmanned aerial vehicle (1B) having a bladder according to the second embodiment of the present invention.

As shown in (a) and (c) of Fig. 11, when the nozzle (65) rotates about the z-axis, a propulsive force is generated by a reaction force in the opposite direction to the air discharge direction, and this propulsive force rotates about the center of gravity of the unmanned aerial vehicle (1B).

In (b) of Fig. 11, the nozzle is aligned with the z-axis, so the propulsive force generated by the air discharge is directed toward the center of gravity of the unmanned aerial vehicle (1B), and thus, it is in the case of an ascending flight. At this time, the gimbal device (64), which drives a three-axis gimbal (64) with three stepping motors or brushless motors to rotate the nozzle according to the corresponding angle and move it in the three-axis direction, rotates the nozzle (65) at an appropriate angle to discharge air, and enables the desired flight of the unmanned aerial vehicle (1B).

Hereinafter, an unmanned aerial vehicle (1C) having an additional lifting device according to Embodiment 3 of the present invention will be described with reference to the attached FIG. 12. To facilitate understanding of the description, the description of the unmanned aerial vehicle (1C) having an additional lifting device according to Embodiment 3 of the present invention will describe only the differences between the unmanned aerial vehicle (1A) and the unmanned aerial vehicle (1B) having an additional lifting device according to Embodiments 1 and 2 of the present invention.

Fig. 12 is a cross-sectional view of an unmanned aerial vehicle (1C) having a bladder according to a third embodiment of the present invention. Referring to Fig. 12, an unmanned aerial vehicle (1C) having a bladder according to a third embodiment of the present invention is configured with one or more gimbal nozzles (61) additionally added to an unmanned aerial vehicle (1A).

As shown in Fig. 12, the horizontal hollow (71) has both ends open, a propulsion device (35) is installed inside, and a cross-shaped fluid control plate (63) is installed.

Accordingly, the rotational direction of the pitching motion by the gimbal nozzle (65) formed in the vertical hollow (72) and the pitching motion by the cross-shaped fluid control plate (63) formed in the horizontal hollow (71) are made the same, thereby increasing the rotational force and enabling the response to stronger winds.

For example, the attitude of the unmanned aerial vehicle (1C) rotates in the direction of the wind due to the action of the vertical stabilizer (61) caused by external wind. At this time, when the propulsion device (35) for horizontal direction control is appropriately driven and the cross-shaped fluid control plate (63) is rotated in an appropriate direction, accurate attitude control is achieved.

Meanwhile, the propulsion direction by the propeller can always be controlled to face the wind, and at this time, the propulsion device (35) for horizontal direction control formed within the horizontal hollow (71) is preferably a general airfoil shape of the propeller to maximize propulsion force.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by a person skilled in the art in the art to which the present invention pertains also fall within the scope of the present invention.

Claims (7)

The upper air sacs are filled with gases lighter than air;
The lower air sac, located below the upper air sac and filled with a gas lighter than air;
Two vertical stabilizers installed facing each other on the outer surfaces of the upper and lower bladders;
A loading compartment that is formed in the x-axis direction, which is the horizontal direction of the drone, and is connected between the upper airbag and the lower airbag by penetrating between the two vertical stabilizers, and has an empty interior and various parts are loaded therein.
A vertical hollow space formed in the z-axis direction, which is the vertical direction of the drone, so as to penetrate the upper bladder, the lower bladder, and the loading room, and configured to allow air to pass through the interior.
A horizontal hollow space that penetrates the central portion of the above loading room and intersects vertically with the above vertical hollow space;
A first propulsion device comprising a first propeller device and first and second fluid control plates arranged above and below the first propeller, and installed inside the vertical hollow, and controlling ascending or descending flight in the z-axis direction by using the first propeller device operated by air penetrating the inside of the vertical hollow, and enabling pitching flight by changing the angle of at least one of the first and second fluid control plates; and
A second propulsion device comprising a second propeller device and a third fluid control plate, wherein the horizontal direction of the unmanned aerial vehicle is controlled by using the second propeller device operated by air flowing into the horizontal hollow, and the second propulsion device is configured to enable yawing flight by changing the angle of the third fluid control plate.
Each of the two vertical stabilizers is installed facing each other and is composed of a first piece installed in the upper bladder and close to the loading room, and a second piece installed in the lower bladder and close to the loading room.
An unmanned aerial vehicle having an airbag, wherein the point where the horizontal hollow and the vertical hollow intersect is the center of gravity of the unmanned aerial vehicle. delete In the first paragraph,
An unmanned aerial vehicle, wherein the first and second propeller devices include a motor, a first propeller connected to a first drive shaft of the motor, and a second propeller connected to a second drive shaft of the motor, wherein the first and second propellers have bladders that rotate in different directions. In the first paragraph,
The first fluid control plate is installed in the upper bladder, and the second fluid control plate is installed in the lower bladder.
An unmanned aerial vehicle having the first and second fluid control plates formed in a cross shape and having air bladders that generate a pressure difference in air flowing on both sides through angle adjustment. In the first paragraph,
The upper airway sac is generally hemispherical in shape,
The above lower bladder is an unmanned aerial vehicle having a bladder whose cross-section narrows towards the bottom from the part in contact with the loading room. delete In the first paragraph,
An unmanned aerial vehicle having an airbag with a solar cell installed on the outer surface of the upper airbag.