KR20080099839A - The unmanned aerial vehicle have 4 legs and 4 motors - Google Patents

The unmanned aerial vehicle have 4 legs and 4 motors Download PDF

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Publication number
KR20080099839A
KR20080099839A KR1020080094857A KR20080094857A KR20080099839A KR 20080099839 A KR20080099839 A KR 20080099839A KR 1020080094857 A KR1020080094857 A KR 1020080094857A KR 20080094857 A KR20080094857 A KR 20080094857A KR 20080099839 A KR20080099839 A KR 20080099839A
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South Korea
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wings
unmanned
unmanned helicopter
wing
helicopter
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KR1020080094857A
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Korean (ko)
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노인철
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노인철
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Abstract

An unmanned reconnaissance plane of four rotation wings is provided to overcome an existing plane of two wings which can be fallen by damaging one of two wings and is weak against side wind. An unmanned reconnaissance plane of four rotation wings comprises the following units. An unmanned helicopter of a round shape and an automatic sensor are mounted in a motor(2). The unmanned helicopter and the automatic sensor minimize wind resistance. The four motors are respectively operated so that taking off/landing, forward/backward movement and left/right movement of the unmanned helicopter are possible.

Description

4개의 날개 구조를 갖춘 회전익 무인정찰기 {The Unmanned Aerial Vehicle have 4 legs and 4 motors}Rotary wing drone with four wing structure {The Unmanned Aerial Vehicle have 4 legs and 4 motors}

본 발명은 종래 메인로터와 서브로터 2개의 날개와, 측면이 평평한 헬기 구조를 갖고 있어 2개 날개 중 하나의 날개 손상만으로 추락할 수 있고, 측면 바람에 약해 바람의 세기에 따라 운항이 매우 제한적인 부분을 극복하기 위해 4개의 날개와 가운데 원형의 구조를 갖는 무인헬기 개발에 관한 것이다.The present invention has a conventional main rotor and sub rotor two wings, and has a helicopter structure having a flat side, can fall by only one wing damage of the two wings, weak to the side wind, the operation is very limited depending on the strength of the wind It is about developing an unmanned helicopter having four wings and a circular structure in the middle to overcome a part.

종래 기술에 의한 전통적인 무인헬기는 메인로터 그리고 서브로터 2개의 날개로 구성되어 있어서, 하나의 날개에 손상 또는 장애가 발생하더라도 무인헬기가 추락하는 문제점과 동시에 상대적으로 측면이 완만하고 평평하여 항공에서 부는 바람에 매우 취약한 문제점을 가지고 있다.The conventional unmanned helicopter according to the prior art is composed of two blades of the main rotor and the sub-rotor, so that even if damage or failure occurs on one wing, the unmanned helicopter falls and at the same time, the sides are relatively smooth and flat, and the wind blows in the air. It is very vulnerable to

이와 같은 종래 무인헬기는 2개의 날개 구조를 갖고 있어 안정성이 매우 낮았음에도 불구하고 현재 유인헬기와 동일한 구조를 갖도록 설계 제작함으로써 안정성의 근본적인 해결 수단이 되지 못하였다.Such a conventional unmanned helicopter has a two-wing structure, but despite the very low stability, it has not been a fundamental solution of stability by designing and manufacturing the same structure as a manned helicopter.

따라서 본 발명이 이루고자 하는 기술적 과제는 2개의 날개 구조가 아닌 4개의 날개구조를 갖추어 안정성이 뛰어난 무인헬기를 만들어 쉽고 간편하게 조작 및 제어가 가능하게 함과 동시에 GPS모듈, 카메라 장착, 고도계, 풍향/풍속계를 장착하여 항공의 모든 정보를 지상 컴퓨터에서 쉽게 확인 할 수 있도록 하는 것이다.Therefore, the technical problem to be achieved by the present invention is to make an unmanned helicopter with excellent stability by having four wing structures instead of two wing structures, which enables easy and simple operation and control, and at the same time GPS module, camera mounting, altimeter, wind direction / windometer It is to make it easy to check all the information of the aviation on the ground computer.

현재 유인헬기는 사람 또는 물건의 이동, 인명 구조, 수색/정찰 그리고 촬영 등은 많은 분야에서 활용되고 있다. 그렇지만 점차적으로 사람 또는 물건의 이동, 인명 구조가 아닌 수색/정찰, 촬영 등에는 비용과 헬기의 안정성을 이유로 모두 무인헬기가 유인헬기의 역할을 대체할 것이다.At present, manned helicopters are used in many fields such as movement of people or objects, lifesaving, search / reconnaissance, and photography. Gradually, however, unmanned helicopters will replace the role of manned helicopters in terms of cost and stability of helicopters for the movement of people or objects, search / reconnaissance, and photography, not for lifesaving.

이상에서 상세히 설명한 바와 같이, 본 발명은 이러한 무인헬기 시장에서 종래 무인헬기의 안정성을 혁신적으로 높임으로써 그 수요 및 활용도를 높이는 효과가 있다.As described in detail above, the present invention has an effect of increasing the demand and utilization by innovatively increasing the stability of the conventional unmanned helicopter in the unmanned helicopter market.

상기의 목적을 달성하기 위해 본 발명은, 종래 메인로터 및 서브로터 2개의 날개를 보다 안정적인 4개의 날개로 변경하는 방법과; 상대적으로 측면이 평평하여 측면 바람에 취약한 구조를 원형 구조로 변경하는 방법; 그리고 4개의 날개에 각각 개별적으로 제어되는 모터를 장착하는 방법; GPS모듈, 고도계, 풍향풍소계, 카메라를 장착하는 정보를 포함하는 것을 특징으로 한다.The present invention to achieve the above object, the conventional main rotor and sub-rotor method of changing two wings to more stable four wings; A method of changing a structure that is relatively lateral and susceptible to lateral wind into a circular structure; And mounting motors individually controlled on the four blades. GPS module, altimeter, wind vane, characterized in that it includes information for mounting the camera.

이하, 첨부한 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 의한 무인헬기 대표도로써 이에 도시한 바와 같이, 4개의 날개 지지대(1)와 4개의 날개(2)를 갖고 있으며, 각 4개의 날개는 개별적으로 동작하는 모터(2)와 연결되어 있다.1 is a representative view of an unmanned helicopter according to the present invention, as shown therein, has four wing supports (1) and four wings (2), each of the four blades is a motor (2) that operates individually and It is connected.

또한 본 무인헬기의 몸체(3)은 도시한 바와 같이 원형으로 이루어져 있다.In addition, the body 3 of the unmanned helicopter is made of a circular shape as shown.

본 무인헬기의 다리, 날개 그리고 몸체는 강하고, 탄력적이며, 가벼운 카본 제질로 만들어지며, 종래 무인헬기가 가지고 있는 2개 날개에 대한 취약성과 상대적 측면 바람에 약한 취약성을 모두 극복한 구조를 갖는다.The unmanned helicopter's legs, wings and body are made of strong, elastic and lightweight carbon material, and have a structure that overcomes both the weakness of two wings of conventional unmanned helicopters and the weakness of relative side wind.

도 2는 무인헬기의 동작 방식으로써 무인헬기의 앞/뒤 날개(1)는 시계 방향으로 회전하며, 좌/우 날개(2)는 시개 반대 방향으로 회전한다. 이렇게 함으로써 4개 날개 구조의 안정성을 극대화 하고 헬기의 전진시에는 앞쪽 날개가, 후진시에는 뒤쪽 날개가 회전수를 높임으로써 원하는 방향으로 이동하게 된다. 좌/우측 이동시에도 동일한 방법으로 이동을 하게 된다.2 is a method of operation of the unmanned helicopter, the front and rear wings (1) of the unmanned helicopter rotates in the clockwise direction, the left / right wings (2) rotates in the opposite direction to the start. This maximizes the stability of the four-wing structure and the front wing when the helicopter moves forward, and the rear wing when moving backwards to move in the desired direction. The same method is used to move left / right.

도 3은 이륙/착륙, 전진/후진 그리고 좌/우로 이동시 필요한 모터(1)이다. 이러한 4개의 모터는 메인시스템(3)과 연결된 선(2)으로 구성되어 있으며, 원격조 정 장치(리모콘)으로 부터 수신된 헬기 제어의 가장 중요한 모터제어(4) 부분이다. 이 모터제어 부분은 헬기의 이륙/착륙, 전진/후진 그리고 좌/우 이동시에 각 모터의 회전수를 조절하여 이동하게 된다. 또한 이 모터제어 부분에는 센서를 내장하고 있어 날개가 외부 물체와 접촉이 있을 경우 모터 회전을 중지하여 날개 및 모터 손상을 방지한다. 전통적인 헬기 날개의 문제점은 날개에 장애물이 부딛혀도 자동적으로 날개의 회전수를 줄이지 않는다. 이러한 이유는 2개의 날개를 갖고 있기때문에 하나의 날개라도 정지하게 된다면 헬기가 추락할 수 있는 문제점을 갖고 있기 때문이다. 이러한 문제점은 헬기 날개가 장애물과 접촉했을 때 날개의 모터는 날개를 계속 회전하게 하려고 하고, 날개는 장애물에 의해 회전하지 않음으로 모터가 손상되는 치명적인 단점과 함께 날개에 부딛힌 장애물에 커다란 손상을 주는 단점을 극복할 수 있다. 카메라제어(5) 부분은 적외선카메라, 디지털카메라와 연결하여 아날로그 영상을 디지털로 변환 및 압축하여 수신부로 영상을 전송한다. 또한 원격제어 장치(리모콘)으로 부터 데이터를 수신하여 사진촬영 기능을 함께 수행한다. 풍향/풍속계(6)은 현재 항공의 풍향과 풍속 데이터를 수집하여 전송한다. GPS모듈(7)은 현재 무인헬기의 정확한 위치 좌표를 전송한다. 이렇게 수신한 실시간 GPS 좌표를 기준으로 헬기의 운행방향, 속도 정보를 제공하며, 자동항법 프로그램을 통한 자동항법이 가능하도록 한다. 고도계(8)를 장착하여 무인헬기의 정확한 고도를 전송한다. 마지막으로 개발하고자 하는 무인헬기는 배터리연결(9)을 사용하여 모든 시스템을 이용한다. 배터리를 사용함으로써 친환경성과 안정성이 보장되며, 무인헬기의 가장큰 문제점인 소음을 제거할 수 있다. 또한 배터리 잔량에 대한 정 보를 메인시스템(3)을 통해 전송하여 운행 가능 시간을 알 수 있도록 한다. 3 shows the motor 1 required for takeoff / landing, forward / reverse and left / right movement. These four motors consist of a line (2) connected to the main system (3), which is the most important motor control (4) part of the helicopter control received from the remote control unit (remote control). This motor control part moves by controlling the rotation speed of each motor during takeoff / landing, forward / reverse and left / right movement of the helicopter. In addition, the motor control part has a built-in sensor, which stops the motor rotation when the wing is in contact with an external object to prevent damage to the wing and the motor. The problem with traditional helicopter wings is that they do not automatically reduce the number of revolutions of a wing even when an obstacle is hit. This is because it has two wings, so if one wing stops, the helicopter can crash. This problem causes the wing's motor to continue to rotate when the wing is in contact with the obstacle, and the wing does not rotate by the obstacle, causing a major damage to the obstacle that hits the wing, with the fatal disadvantage of damaging the motor. You can overcome the disadvantages. The camera control unit 5 is connected to an infrared camera and a digital camera to convert and compress an analog image to digital and transmit the image to a receiver. In addition, it receives data from the remote control device (remote control) and performs a picture taking function together. Wind direction / anemometer (6) collects and transmits the current wind direction and wind speed data. The GPS module 7 transmits the exact position coordinates of the current unmanned helicopter. It provides the driving direction and speed information of the helicopter based on the received real-time GPS coordinates, and enables automatic navigation through an automatic navigation program. An altimeter (8) is mounted to transmit the correct altitude of the unmanned helicopter. Finally, the unmanned helicopter to be developed utilizes all systems using a battery connection (9). The use of batteries ensures eco-friendliness and reliability, and eliminates noise, the biggest problem of unmanned helicopters. In addition, the information on the remaining battery power is transmitted through the main system (3) so that it is possible to know the operation time.

본 발명이 완료되면 현재 사용되고 있는 회전익 무인헬기 시스템 시장에 일대 혁명이 일어날 것으로 사료된다. 우선 무인헬기 수요의 가장큰 수요처인 군의 경우 회전익 무인헬기 도입의 가장큰 문제점인 크기, 중량, 소음문제를 해결함으로써 수색, 정찰, 도심지역 전투, 훈련상황 감시 등 다양한 군 활동에 사용될 수 있으며, 경찰의 경우 데모 주동자 신병확보, 주요 요인에 대한 경계 활동 등에 사용될 수 있으며, 산불 감시 및 예방, 재난/재해 지역 예방 및 복구 할동, 소방서의 화재 진압 및 인명 구조, 한전 송전탑 관리 등 다양한 분야에서 이용이 가능함.When the present invention is completed, it is believed that a revolution will occur in the market of the rotorcraft unmanned helicopter system currently used. First, the military, which is the largest demand for unmanned helicopters, can be used in various military activities such as search, reconnaissance, urban combat, and training monitoring by solving the size, weight, and noise problems, which are the biggest problems of the introduction of rotorcraft unmanned helicopters. In case of police, it can be used to secure demo drivers, guard against major factors, and can be used in various fields such as forest fire monitoring and prevention, disaster / disaster prevention and recovery activities, fire suppression and rescue of fire departments, and management of KEPCO transmission towers. Possible.

도 1은 본 발명의 4개의 다리 및 날개 그리고 원형 구조의 무인헬기 본체 구조도1 is a four-leg and wing and unmanned helicopter main structure of the circular structure of the present invention

도 2는 무인헬기의 4개 날개의 동작 방식을 명시한 방식Figure 2 is a scheme that specifies the operation of the four wings of the unmanned helicopter

도 3은 무인헬기 본체의 기능을 표시한 표시한 명시도Figure 3 is an explanatory view showing the functions of the unmanned helicopter body

Claims (1)

4개의 다리 및 날개 구조 그리고 바람 저항을 최소화 할 수 있는 원형 구조의 무인헬기와 자동센서가 부착된 모터;Four leg and wing structures and a circular unmanned helicopter and a motor with automatic sensors to minimize wind resistance; 4개의 다리 및 날개 구조, 원형의 무인헬기 본체를 갖고 있는 형태로써 바람의 저항을 최소화 하고 더욱 안정적인 운항이 가능하도록 하는 구조와 4개의 모터가 개별적으로 동작하여 무인헬기의 이륙/착륙, 전진/후진 그리고 좌/우 이동이 가능하도록 하는 장치It has four legs and wing structure, circular unmanned helicopter body, which minimizes wind resistance and enables more stable operation and four motors operate independently to take off / landing, forward / reverse And a device that enables left / right movement
KR1020080094857A 2008-09-26 2008-09-26 The unmanned aerial vehicle have 4 legs and 4 motors KR20080099839A (en)

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KR101103846B1 (en) * 2011-08-30 2012-01-12 김준규 Floating on the unmanned aerial vehicles and their systems of information collection and transmit methods
KR101452473B1 (en) * 2013-04-05 2014-10-16 김명호 Unmanned Aerial Vehicle Equipped With Engine Type Electric Genarator
CN104494820A (en) * 2014-12-18 2015-04-08 国家电网公司 Oil-driven four-rotor-wing unmanned aerial vehicle
CN105416571A (en) * 2015-12-11 2016-03-23 谭圆圆 Unmanned aerial vehicle
KR20160069581A (en) * 2014-12-08 2016-06-17 한국항공우주연구원 Drone and rotor blade structure
KR20170025794A (en) * 2015-08-31 2017-03-08 한국항공우주연구원 Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same
CN108873916A (en) * 2017-05-11 2018-11-23 圣速医疗器械江苏有限公司 A kind of flight control method of intelligent balance aircraft
KR101998799B1 (en) 2018-01-31 2019-07-10 동아대학교 산학협력단 Drones to perform reconnaissance and information provision

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101103846B1 (en) * 2011-08-30 2012-01-12 김준규 Floating on the unmanned aerial vehicles and their systems of information collection and transmit methods
WO2013032078A1 (en) * 2011-08-30 2013-03-07 Kim Jun-Kyu Method and system for unmanned airborne collection and transmission of information
KR101452473B1 (en) * 2013-04-05 2014-10-16 김명호 Unmanned Aerial Vehicle Equipped With Engine Type Electric Genarator
KR20160069581A (en) * 2014-12-08 2016-06-17 한국항공우주연구원 Drone and rotor blade structure
CN104494820A (en) * 2014-12-18 2015-04-08 国家电网公司 Oil-driven four-rotor-wing unmanned aerial vehicle
KR20170025794A (en) * 2015-08-31 2017-03-08 한국항공우주연구원 Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same
CN105416571A (en) * 2015-12-11 2016-03-23 谭圆圆 Unmanned aerial vehicle
CN108873916A (en) * 2017-05-11 2018-11-23 圣速医疗器械江苏有限公司 A kind of flight control method of intelligent balance aircraft
KR101998799B1 (en) 2018-01-31 2019-07-10 동아대학교 산학협력단 Drones to perform reconnaissance and information provision

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