KR20150142662A - weight unbalance correction - Google Patents

Abstract

The present invention relates to a method to correct weight unbalance, a device to measure weight unbalance, and a device and system to correct weight unbalance. The weight unbalance can be corrected using magnetic, fluidic, and weight moving methods. An unmanned aerial vehicle according to the present invention comprises a payload part which is arranged on the bottom end thereof and is divided into upper and lower parts through a partition wall. Luggage is loaded in the upper part. A space part having a truncated reverse triangular pyramid shape is formed in the lower part, and a part of the space part is filled with fluid.

Description

Weight unbalance correction}

The present invention relates generally to a weight unbalance correction method, a weight unbalance measurement device, and a weight unbalance correction device and system.

Due to the development of communication and network capabilities, the drones are becoming more industrial useable. In particular, drones are able to load certain items, such as to deliver items and drop bombs. Thus, it is necessary to eliminate the weight imbalance that occurs when the object is loaded on a specific object. This background description should not be construed as limiting the scope of the present invention. Instead, the present invention may be used in a variety of contexts and applications related to weight unbalance due to load balancing as well as such unmanned aerial vehicles.

On the other hand, such an object load causes the overall weight unbalance, which may cause difficulty in operation of the loading apparatus. Various embodiments of the present invention are intended to overcome this weight center-centered or unbalanced problem.

According to an aspect of the present invention, there is provided a method of compensating for a weight imbalance occurring in a multi-copter in which N propeller elements are arranged at equal intervals, comprising: loading a load on the multi-copter; Measuring a weight unbalance value caused by the loading, wherein the weight unbalance value is measured using a horizontal sensor, and the weight unbalance value is expressed as a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt, Measuring; And coordinating the propulsive forces between the N propellers based on the measured weight imbalance value.

In one embodiment, in the tuning step, when theta coincides with the angle of each of the N propeller elements, the propulsive force of the corresponding propeller element is increased by Z / 90 times And multiplying the Z / 90 times propulsion force increment between two propeller elements adjacent to the &thetas; when the &thetas; does not coincide with the angle of each of the N propeller elements, Method is provided.

In one embodiment, sharing of the Z / 90-fold thrust increment between two propeller elements adjacent to the &thetas; is proportional to the degree of proximity of the adjacent two propeller elements to the position corresponding to the & A weight unbalance correction method of a multi-copter is provided.

In one embodiment, the first propeller element disposed at an arrangement angle smaller than the &thetas; among the two adjacent propeller elements is disposed at an angle A, and is disposed at an angle greater than the &thetas; among the two adjacent propeller elements The deployed second propeller element is disposed at an angle B, the first propeller element increasing its propulsion force by z / 90 * (B-theta) / (BA) times that of the remaining propeller elements, A weight unbalance correction method of the multi-copter is provided that increases its propulsion force by z / 90 * ([theta] -A) / (BA) times the remaining propeller elements.

According to an aspect, there is provided a method of compensating for a weight imbalance occurring in a multi-copter in which N propeller elements are arranged at regular intervals, comprising: loading a load on the multi-copter; Measuring a weight unbalance value caused by the loading, wherein the weight unbalance value is measured using a horizontal sensor, and the weight unbalance value is expressed as a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt, Measuring; And coordinating a position between the N propellers based on the measured weight unbalance value. A method of compensating weight unbalance of a multi-copter is provided.

In one embodiment, the N propeller elements are spaced apart by a distance R from the center of a single circle passing through all of the N propeller elements, wherein in the tuning step, When the angle of inclination of the propeller elements coincides with the angle of each arrangement, the corresponding propeller element located at theta + 180 is moved toward the center of the circle by Z / 90 * R, , The two propeller elements adjacent to the position of [theta] + 180 are moved toward the center of the circle sharing the movement distance of Z / 90 * R, thereby correcting the weight unbalance of the multicoperator.

In one embodiment, the distance traveled by the two propeller elements adjacent to the &thetas; + 180 position sharing the travel distance of Z / 90 * R toward the center of the circle is the distance between the adjacent two propeller elements, the weight unbalance correction method of the multi-copter is proportional to the degree of adjacency to the position corresponding to? + 180.

In one embodiment, one of the two adjacent propeller elements disposed at an angle smaller than the angle θ + 180 is disposed at an angle A, and one of the adjacent two propeller elements is larger than the angle θ + 180 The other propeller element disposed at the arrangement angle is disposed at an angle of B and the one propeller element moves toward the center of the circle by (B- (? + 180) / (BA) * R * (Z / 90) , The other propeller element moves toward the center of the circle by ((? + 180) -A) / (BA) * R * (Z / 90), and the weight unbalance correction method of the multicoperator is provided.

According to an aspect of the present invention, there is provided an unmanned aerial vehicle capable of loading a load, comprising: a payload; and an apparatus for measuring a weight unbalance of the object loading part when the object is loaded on the object loading part, Wherein the weight unbalance measuring device comprises: an elastic part or a hydraulic pressure part provided at a lower end of the object mounting part; A support disposed on the elastic portion or the hydraulic portion; And a horizontal sensor embedded in the support.

In one embodiment, when the tilt measurement is completed by the horizontal sensor, the elastic body is lowered and retracted or the length of the hydraulic portion is adjusted, so that the elastic body or the hydraulic portion is physically separated from the support.

In one aspect, a method of compensating for a weight unbalance occurring in an unmanned aerial vehicle, comprising: loading a load on the unmanned aerial vehicle; Measuring a weight unbalance value caused by the loading, wherein the weight unbalance value is measured using a horizontal sensor, and the weight unbalance value is expressed as a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt, Measuring; And moving the balancing weight of the weight balancer based on the measured weight unbalance value.

In one embodiment, moving the balancing weight based on the measured weight unbalance value comprises rotating the balancing weight about the central hub of the weight balance in the &thetas;direction; And straightening the balancing weight to the outside of the center hub by a value corresponding to Z / 90 along the &thetas; direction.

In an aspect of the present invention, there is provided a unmanned aerial vehicle capable of loading a load, the payload portion being disposed at a lower end of the unmanned air vehicle, wherein the payload portion is divided into an upper portion and a lower portion by a partition, Wherein the lower part is formed with an inverted triangular pyramidal or truncated inverted triangular pyramidal space part, and a part of the space part is filled with a liquid fluid.

In an aspect, a weight unbalance correction system is provided for measuring a weight unbalance value generated at the time of loading a load, wherein the weight unbalance value is measured using a horizontal sensor, and the angle &thetas; The weight unbalance measuring device being represented by a Z value indicating the weight unbalance; And an apparatus for correcting a weight unbalance based on the measured weight unbalance value, the apparatus for correcting a weight unbalance comprising: a frame having a center; A balancer weight movable on the frame along the? Direction based on the? Value; And a stopper that restricts movement of the balancer weight based on the Z value.

In one embodiment, the stopper is movable on the frame based on the &thetas; and Z values, wherein a weight imbalance correction system is provided.

In one embodiment, the balancer weight portion includes a motor and a wheel connected to the motor, and the weight unbalance correcting device includes a wheel control portion that adjusts the alignment direction of the wheel to coincide with the &thetas; An imbalance correction system is provided.

In one embodiment, the stopper moves in a direction corresponding to the &thetas; from a center of the frame to a position a distance corresponding to the Z value.

In one embodiment, the weight unbalance correcting apparatus further includes a stopper control section for controlling the movement of the stopper, wherein the stopper control section is configured to calculate the coordinate value of the current position of the stopper on the frame and the coordinates A weight unbalance correction system is provided which controls the movement of the stopper based on the value of the weight unbalance.

In one embodiment, the weight unbalance correcting apparatus further comprises: a rotation unit that rotates the stopper by the value of?; A translating unit for translating the stopper by the Z value; And a length adjustable connection portion connecting the stopper and the translating portion.

In one embodiment, the weight unbalance correcting device further comprises a stopper support for supporting the stopper, wherein the stopper is protruded upward or downward from the support.

In one aspect, a weight unbalance correction system is provided for measuring a weight unbalance value generated when a load is loaded, wherein the weight unbalance value is measured using a horizontal sensor to determine the angle &thetas; The weight unbalance measuring device being represented by a Z value indicating; And an apparatus for correcting a weight unbalance based on the measured weight unbalance value, the apparatus for correcting a weight unbalance comprising: a frame having a center; A stopper moving on the frame based on the? And Z values; And a weight portion moving on the frame, wherein the stopper includes a first magnetic body, the weight portion includes a second magnetic body, and at least one of the first magnetic body and the second magnetic body includes an electromagnetic magnetic body , A weight imbalance correction system is provided.

In one embodiment, the weight unbalance correcting apparatus further comprises: a rotation unit that rotates the stopper by the value of?; A translating unit for translating the stopper by the Z value; And a length adjustable connection portion connecting the stopper and the translating portion.

In one embodiment, the first magnetic body is an electromagnetic magnetic body, and the second magnetic body is a material magnetic body. When the magnetism of the first magnetic body is activated, the weight portion including the second magnetic body is attracted toward the stopper by an attractive force A moving, weight unbalance correction system is provided.

In one aspect, a system for weight unbalance correction comprising: an apparatus for measuring a weight unbalance value; And an apparatus for correcting a weight unbalance based on the measured weight unbalance value, the apparatus for correcting the weight unbalance corrects a weight unbalance by movement of a magnetic fluid based on the weight unbalance value , A weight imbalance correction system is provided.

In one embodiment, the weight unbalance measuring apparatus measures a weight unbalance using a horizontal sensor, the weight unbalance value is represented by a Z value indicating a direction of a tilt and a magnitude of a tilt, and the weight unbalance is corrected The apparatus comprising: a magnetic body portion moving based on the? And Z values; And a weight portion moving toward the magnetic body portion, wherein the weight portion includes a magnetic fluid.

In one embodiment, the weight unbalance correcting device includes: a rotation unit that rotates the magnetic body by the value of?; A translating part for translating the magnetic body part by the Z value; And a length-adjustable connection portion connecting the magnetic body portion and the translating portion.

In one embodiment, the connecting portion is hollow, and the magnetic fluid moves toward the magnetic body portion along the connecting portion in the connecting portion.

In one embodiment, the connection is a multi-step pipe, a weight unbalance correction system is provided.

In one aspect, a weight unbalance correction system is provided for measuring a weight unbalance value, wherein the weight unbalance value is measured using a horizontal sensor and is expressed as a value representing a direction of the tilt and a Z value representing the magnitude of the tilt, Weight unbalance measuring device; And an apparatus for correcting a weight unbalance based on the measured weight unbalance value, the apparatus for correcting a weight unbalance comprises: a frame having a center; A first fluid container disposed centrally; A second fluid container portion connected to the first fluid container portion and movable on the frame; A connecting portion connecting the first fluid container portion and the second fluid container portion and having a fluid flow channel formed therein; And a rotation mechanism that is disposed at the center and rotates the connection portion in a direction corresponding to the &thetas; value.

In one embodiment, the apparatus for correcting the weight imbalance further comprises a fluid pump installed in at least one of the first fluid container portion and the second fluid container portion to generate movement of fluid, / RTI >

In one embodiment, the length of the connection is fixed, and the weight unbalance offset corresponding to the Z value is achieved by controlling the amount of fluid being moved.

In one embodiment, the length of the connection is adjustable, and the weight unbalance offset corresponding to the Z value is achieved by adjusting the length of the connection.

1 shows an embodiment of a delivery system using a network of unmanned aerial vehicles (UAVs), in accordance with an embodiment of the present invention.
2B is an exploded view of the unmanned aerial vehicle of FIG. 2A, according to an embodiment of the present invention.
2C is a perspective view of an embodiment of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2D is a bottom perspective view of the UVA of FIG. 2C, in accordance with an embodiment of the present invention.
3A illustrates a first loading state of a shipment loaded within a payload, in accordance with an embodiment of the present invention.
Figure 3B illustrates a second loading state of a shipment loaded within a payload, in accordance with an embodiment of the present invention.
4A illustrates a first loading example of a shipment loaded within a payload with a leveling or horizontal sensor, according to an embodiment of the present invention.
Figure 4b illustrates a second loading example of a shipment loaded within a payload with a leveling or horizontal sensor, in accordance with an embodiment of the present invention.
Figure 4c illustrates a third loading example of a shipment loaded within a payload with a leveling or horizontal sensor, in accordance with an embodiment of the present invention.
Figure 4d illustrates a fourth loading example of a shipment loaded within a payload with a leveling or horizontal sensor, according to an embodiment of the present invention.
4E illustrates a fifth loading example of a shipment loaded within a payload with a leveling or horizontal sensor, according to an embodiment of the present invention.
Figures 5A and 5B illustrate a horizontal sensor, in accordance with an embodiment of the present invention.
6A-6C illustrate polar coordinates of a horizontal sensor according to an embodiment of the present invention.
Figures 7 to 10 illustrate one of the weight disparity resolution mechanisms in accordance with one embodiment of the present invention.
Figure 11 illustrates the trajectory of a three-dimensionally moving weight, in accordance with an embodiment of the present invention.
12A, 12B and 12C illustrate a three-dimensionally moving weight balancer according to an embodiment of the present invention.
13A, 13B and 13C and 13D illustrate a two-dimensionally moving weight balancer according to an embodiment of the present invention.
FIG. 14 shows an example of a multi-copter according to an embodiment of the present invention.
15 is a schematic plan view of the multi-copter of FIG.
16A to 16C are diagrams for explaining weight unbalance correction of a drones according to an embodiment of the present invention.
17A to 17C illustrate the configuration of the elastic portion in the measurement of unbalance, according to an embodiment of the present invention.
18 is a conceptual diagram of a payload unit according to an embodiment of the present invention.
19 is a conceptual diagram of a weight unbalance correcting apparatus according to an embodiment of the present invention.
20 is a conceptual diagram of a weight unbalance correcting apparatus according to an embodiment of the present invention.
Figures 21 to 25 illustrate weight unbalance correction devices, in accordance with an embodiment of the present invention.
26 illustrates a weight imbalance correction apparatus, according to an embodiment of the present invention.

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

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

Spatially relative terms, such as "under", "under", "under", "under", "above", "above", etc., May be used herein for ease of description in describing the relationship to the other element (s) or feature (s) of the feature. It will be appreciated that these spatially relative terms should be interpreted to encompass different orientations of the device in use, or in operation, in addition to the orientation shown in the Figures. For example, if a device in the figures is inverted, elements shown as being "under", "under", and "under" other elements or features Lt; / RTI > Thus, the exemplary terms "under" and "below" may include both upward and downward orientations. The device should be oriented accordingly (e.g., rotated 90 degrees or oriented in different orientations) and the spatially relative descriptors used herein should be interpreted accordingly.

When an element or layer is referred to as being "on," "connected to," or "connected to" another element or layer, the element or layer may be directly on, connected directly to, or connected to another element or layer Or that there may be more than one intervening elements or layers. Also, when an element or layer is said to be "between" two elements or layers, the element or layer may be the only element or layer between two elements or layers, or one or more intermediate intervening It will also be appreciated that elements or layers may also be present.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms of a noun are intended to also include the plural forms of the noun unless the context otherwise expressly indicates otherwise. The terms " comprises, "" comprising," " includes, "and " including ", when used in this specification, But are not limited to, the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof It will also be understood that it is not excluded. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. When preceded by a list of elements, expressions such as "at least one" decorate the whole elements of the list and do not decorate individual elements of the list.

As used herein, the terms " substantially, "" about," and similar terms are used as terms of approximation and are not used as terms of approximation, It is intended to take into account the inherent deviations in the values. Further, the use of "may" in describing embodiments of the present invention refers to "one or more embodiments of the present invention ". As used herein, the terms "use," "use," and "used" are to be considered synonymous with the terms "utilizing", "utilizing" and "used", respectively. In addition, the term "exemplary" is intended to refer to either an example or an example.

Unless otherwise specified, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. For example, terms such as those commonly used in the dictionary should be interpreted as having a meaning consistent with their meaning in the context of the related art and / or in the context of the present specification, and in an ideal or highly formal sense, It will also be understood that unless it is so specified, it should not be interpreted.

Any numerical range recited herein is intended to include all sub-ranges of the same numerical precision included within the cited ranges. For example, a range of "1.0 to 10." may be defined as any subrange between (and inclusive of) the quoted minimum value of 1.0 and the quoted maximum value of 10.0, Greater than or equal to the same minimum value and a maximum value less than or equal to 10.0. Any maximum numerical limitation recited herein is intended to include all sub-numerical limitations contained within it, and any minimal numerical limitation recited herein is intended to encompass all higher numerical limitations And the like.

Shipping system

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

2A is a perspective view of an embodiment of an unmanned aerial vehicle according to one embodiment of the present invention. The UAV includes a mainframe 210. The main frame 210 may be tailored to the use of UVA. The embodiment of FIG. 2A is a hybrid air vehicle having fixed wings 220 and rotors 230. 2B is an exploded view of the unmanned aerial vehicle of FIG. 2A. The UAV 200 includes a frame 210 having a cavity. The cavity has a size to accommodate a payload 240 and a battery 250. Alternatively, the battery 250 may form part of a structural form of the UAV. 2C is a perspective view of an embodiment of an unmanned aerial vehicle. The UAV 260 is a quad-copter type drone. Alternatively, it may be a multi-copter type drone. FIG. 2D is a bottom perspective view of the UVA of FIG. 2C. FIG. The UAV 260 includes a payload interface 270. The payload interface 270 may allow the UAV 260 to carry various payloads. The payload interface may be mechanical or electrical or a combination thereof. Fig. 2 is merely an example for describing various types of unmanned aerial vehicles and their associated payloads, and various other configurations are possible.

Weight related imbalance measurement

3A illustrates a first loading state of a shipment loaded within a payload, in accordance with an embodiment of the present invention. Figure 3B illustrates a second loading state of a shipment loaded within a payload, in accordance with an embodiment of the present invention. Specifically, FIG. 3A illustrates a state in which the luggage is loaded in a balanced state in the payload, while FIG. 3B illustrates a state in which the delivered object is offset in one direction within the payload. In the case of FIG. 3B, flight control of the air vehicle may be difficult.

4A illustrates a first loading example of a shipment loaded within a payload with a leveling or horizontal sensor, according to an embodiment of the present invention. Figure 4b illustrates a second loading example of a shipment loaded within a payload with a leveling or horizontal sensor, in accordance with an embodiment of the present invention. Figure 4c illustrates a third loading example of a shipment loaded within a payload with a leveling or horizontal sensor, in accordance with an embodiment of the present invention. Figure 4d illustrates a fourth loading example of a shipment loaded within a payload with a leveling or horizontal sensor, according to an embodiment of the present invention. 4E illustrates a fifth loading example of a shipment loaded within a payload with a leveling or horizontal sensor, according to an embodiment of the present invention.

Referring to FIG. 4A, a load 303 is loaded in a payload 310, a load 303 is loaded on a load 302 having a level measurement module built therein, and the load 303 ) Under which an elastic body such as a spring holds the support. 4, since the load 303 is heavily balanced in the payload 310, the support 302 with the level measurement module is horizontal.

Referring to FIG. 4B, it is illustrated that the load 303 is not balanced within the payload 310, so that the support 302 with the level measurement module is inclined to either side. 4C, although the loading position is balanced within the payload 310, the load imbalance within the load 303 may cause the substantial weight portion 303a in the load 303 to move to the load 303, it is illustrated that the support 302 with the level measurement module is inclined to either side.

4D, when the elastic body is retracted downward in the loaded state of FIG. 4C, and the supporting body 302 having the elastic body and the level measurement module is physically separated, the supporting body 302 And a horizontal state is illustrated again. Figure 4e shows that the entire body of the payload is occupied by the deliveries 303 and the substantial weight 303a in the deliveries is stacked gravimetrically within the deliveries so that a level measurement module It is illustrated that the built-in support 302 is inclined to either side. Although FIG. 4 illustrates various scenarios in which the support 302 with a level measurement module is inclined to one side, the present invention is not limited thereto.

When the tilt measurement is completed by the horizontal sensor, the elastic body is lowered and retreated and physically separated from the support. For this purpose, before the object is loaded, the elastic body is advanced upward and, when the inclination measurement of the horizontal sensor is completed, is retracted downward and physically separated from the support. The configuration for implementing such a bar is specifically shown in Fig. 17A, a separating plate 1703 having an opening 1704 capable of opening and closing while supporting a supporting body 1702 having a payload part or a load carrying body 1701, a horizontal sensor, and a supporting body 1702, 17A is a state before the object is loaded in the payload portion, and the opening 1704 is closed so that the elastic portion 1705 does not protrude upward.

Fig. 17B shows a state in which the opening 1704 is opened so that the elastic portion 1705 protrudes upward. In this state, the object is loaded in the payload portion, and the horizontal sensor measures the imbalance of the load load as described above. Next, the elastic portion retracts downward to the state described in Fig. 4D, and the object is delivered in this state. In this case, although the elastic part is used, the hydraulic cylinder can be used. In this case, the length of the hydraulic part is adjusted so that when the load is loaded on the support, the suspension is moved in such a manner that the support can move so that a slope is generated due to load imbalance can do.

On the other hand, as shown in Fig. 17B, a configuration in which the opening 1704 is opened may be a switching plate which moves horizontally to open and close the opening. Further, in order to be transformed from Fig. 4E to Fig. 4D, the resilient portion or spring must be completely retracted downward. As in Fig. 17C, a spring support 1708 and an opening / closing 2 switching plate 1709, the second switching plate 1709 may be opened. Instead of using such an uneven spring arrangement, the function corresponding to the elastic portion may be realized by adjusting the hydraulic pressure of the hydraulic cylinder or adjusting the length thereof.

The horizontal sensor incorporated in the support is a sensor for measuring the horizontalness of the display surface of the display unit and is a sensor for measuring the horizontality of the display surface of the display unit and includes a gravity sensor, a geomagnetism sensor, a gyroscope, an acceleration sensor, an inclination sensor, an altitude sensor, a depth sensor, , An angular velocity sensor, a proximity sensor, a Global Positioning System (GPS) sensor, and the like. For example, the horizontal sensor may be a three-axis acceleration sensor. Referring to FIGS. 5A and 5B in this case, FIG. 5B shows a state in which the display surface of FIG. 5A is tilted by about 90 degrees along the X axis. In this case, the gravitational acceleration value at one point in the X axis is changed. Also, the gravitational acceleration value at one point in the Z-axis is also changed. However, the gravitational acceleration value at the point on the Y axis is not changed. By measuring the gravitational acceleration values in the X-axis, Y-axis and Z-axis in this manner, the horizontal sensor can obtain the horizontal value of the display surface made of the X-axis and the Y-axis. The weight unbalance value measured by the horizontal sensor can be expressed in the direction of the center of gravity in the XY plane and in the Z / 90 degree in the direction of the tilt in the Z-axis direction. For example, theta may range from 0 to 360 degrees and Z may range from 0 to 90 degrees. That is, the weight unbalance value may be 120 degrees and Z may be 20 degrees. This weight imbalance value notation format will be used below. In summary, the θ value represents the direction of the center of gravity, and the Z value represents the weight imbalance magnitude. In this way, the degree of all imbalances can be quantified. These bars for theta angle and Z angle are schematically shown in Figures 6a, 6b and 6c.

More specifically, Figures 6a-c illustrate polar coordinates of a horizontal sensor in accordance with an embodiment of the present invention. LP in Fig. 6A-C refers to the lowest point, and the XY coordinate corresponding to this lowest point may be (1,1) and the Z value may be 0.5, for example. The coordinate value corresponding to this slope is thus (1,1,0.5). Here, the Z value at the maximum inclination is regarded as 1, which is a relative value, not an absolute value. Thereby, the weight unbalance or load imbalance associated with all the loads on the support 302 can be indicated by these coordinate values. In terms of the weight unbalance value expressed in the above, it can be θ 120 °, Z 45 °, and Z 45 °. For example, if the coordinate value is (1, 2, 0.2), the weight unbalance value expressed in the above is θ = about 63.5 degrees since tan θ = 2/1 in obtaining θ.

Troubleshoot weight related imbalances

(1) mobile weight balance Weight portion  use

7 to 8, the weight balance device includes a weight balancer 200, a driving unit 210, a conveying guide unit 220, and a control unit 230. [ The weight balancer 00 is positioned in the central portion 130a of the moving body 100 in an equilibrium state and is conveyed to the both ends 130b and 130c of the right and left wings 110 in an unbalanced state Lt; / RTI > The driving unit generates power to be transferred to the weight balancer 200. The conveying guide unit 220 is configured to guide the conveyance of the weight balancer 200. The control unit 230 controls the driving unit 210 So as to stop the operation of the driving unit.

9 is a schematic configuration diagram of a weight balance device according to the first embodiment of the present invention. 9, the weight balancer 200 includes a solid structure 300, the driving unit 210 includes a driving motor 310 integrally formed with the weight balancer 200, The conveyance guide unit 220 includes a slide guide 320 extending from one end of the left and right wings 110 to the other end of the left and right wings across the body 100, And a limit switch 330 for controlling the driving motor 310 so that the weight balancer is positioned at a desired point on the target balancer 320. The weight balancer 300 is mounted between the front spar and the rear spar to which the wing 110 is connected, and is coupled to the weight balance support plate. The weight balancer 300 moves toward the left and right wings of the UAV so that the balance of the wings is maintained. The weight W1 'of the weight balancer is preferably designed to be equal to the weight W1 of the armature mounted on one wing, but may be increased or decreased depending on the position of the limit switch 330 installed on the wing side of the UAV. The driving motor 310 is bolted to the weight balancer through a supporting lug, a ball screw is coupled to a driving coupling connected to the driving motor shaft, and a flange-type nut is coupled to the ball screw. And the weight balancer 300 is transported by the rotation of the driving motor. On the other hand, it is preferable to use a stepping motor as the drive motor. The driving coupling functions to prevent a friction from being caused in transferring the weight balance even if the central axis of the shaft shakes during rotation. The slide guide part 320 includes a slide guide shaft so that the weight balancer can linearly move accurately without moving left and right during transportation, and the slide bearing bush is coupled to the weight balancer support plate so as to reduce friction and move up and down smoothly . A metal lubricant may be used instead of the slide bearing bush. The switch can be implemented variously as an interrupt-type photocoupler or switch.

10 is a schematic configuration diagram of a weight balance device according to a second embodiment of the present invention. 4, the weight balancer 200 is disposed on both sides 401b and 401c of the UAV 401 and a fluid (not shown) selectively stored in the fluid tanks 402a, 402b, and 402c provided in the central portion 401a The driving unit 210 includes a transfer pump 410 and the transfer guide unit 220 comprises a transfer pipe 420 for interlocking the fluid tanks 402a and 402b The controller 230 includes a sensing sensor 430 that senses the amount of the fluid 400 in the fluid tanks 402a, 402b, and 402c and controls the transfer pump 410. The sensing sensor 430 senses the amount of fluid stored in each of the fluid tanks 402a, 402b, and 402c. When the amount of stored fluid exceeds a predetermined weight W2 ', the electrical signal is blocked, Thereby stopping the operation of the motor 410.

In the embodiments of FIGS. 7 to 8, the weight is moved in order to eliminate the imbalance in the wing direction in the air vehicle embodiment having a wing. However, in an embodiment of the present invention, The weight can be moved in a direction opposite to the value to correct the imbalance. In this regard, Figure 11 illustrates the trajectory of a three-dimensionally moving weight, in accordance with one embodiment of the present invention. In order to achieve the weight trajectory as shown in FIG. 11, the control unit 230 determines the target coordinates of the corresponding waiter. These target coordinates may be set corresponding to the coordinate values determined in Fig. In the present application, in particular, the larger the Z coordinate value in relation to the Z coordinate is, the greater the weight must be used. In this case, the weight of the moving balancer weight is constant but the movement amount is shifted further from the origin in the three- Lt; / RTI > When the desired three-dimensional coordinate value is determined, the present invention is not limited to the movement of the guide part as in Figs. 7 to 10, but the multi-step pipe in which the weight part is extended or extended, To the target point.

12A, 12B and 12C illustrate a three-dimensionally moving weight balancer according to an embodiment of the present invention. 12A shows that the weight balancer first includes a body portion 801, a pivoting unit 802 coupled to the body portion, a retractable connection portion 803, and a balancing weight 804. 12 shows a state before the expandable and contractible connection portion 803 is expanded. 12A shows a state in which the extendable connection portion 803 is elongated in a predetermined direction, for example, the Z-axis direction. Thereafter, FIG. 12B shows a state in which the balancing weight 804 is moved to the target coordinate value for canceling the weight unbalance corresponding to the coordinate value determined in FIG. 6. In this embodiment, the pivot portion or pivot mechanism 102 is driven by a motor (not shown) installed in the body portion 801 to pivot the balancing weight 804 at the target coordinates.

13A, 13B and 13C and 13D illustrate a two-dimensionally moving weight balancer according to an embodiment of the present invention. 13D, the balancer includes a body portion 901 or a central hub, a rotation portion 905 disposed in the body portion, a stretching and driving portion 904 disposed in the body portion, a stretchable extension portion 908, and a balancing weight portion 902. 13A, first, the balancing weight portion 902 is positioned in the X-axis direction, and the present stretchable extension portion 908 is not yet stretched. Referring to FIG. 13B, the balancing weight portion 902 is rotated by the rotation portion 905 disposed in the body portion in accordance with the XY coordinates of the coordinate values corresponding to the coordinate values determined in FIG. 6, (I.e., the greater the degree of tilting, the greater the Z value, and thus the greater the extension of the stretchable extension 908), the stretchable extension 908 And is extended by a stretching and driving portion 904 disposed in the body portion. Thus, the weight unbalance corresponding to the coordinate value determined in Fig. 6 can be solved.

(2) Propeller  Rotation speed control

The coordinate values X, Y and Z of the horizontal sensor, that is, X and Y indicate the direction of the tilt, and Z indicates the magnitude of the tilt. That is, the angle of the tilt. For example, measurements of unbalance in weight of a horizontal sensor in a payload or shipping container of an unmanned aerial vehicle may be expressed as X, Y, Z coordinate values of the horizontal sensor. For example, in the X, Y coordinate, or in the 45 degree direction in the XY coordinate system, or (1, 1), for example, indicates the direction in which the center of gravity is located. On the other hand, how much the slope has been tilted can be different depending on the weight of the delivery. Therefore, the larger the gravity gravity at the center of gravity, the larger the Z value becomes. Thus, the X, Y, and Z values of the horizontal sensor, or the angular values and Z values in the X and Y planes may represent weight unbalance in the payload or shipping container of the unmanned aerial vehicle due to the loading state of the corresponding carriage .

In this regard, in the present embodiment, in the multi-copter type dron, for example, in the dron of the form of Fig. 14, the X, Y, Z values of the horizontal sensor, The propulsive force or rotational force of the corresponding propeller elements 120 can be adjusted. In the example of Fig. 14, a total of six propellers are installed. Thus, the angle between each propeller element is 60 degrees. In this case, with respect to the angle &thetas; and Z values corresponding to the weight unbalance measurement values in the X, Y plane of the horizontal sensor, for example, the easiest example is a center of gravity In order to compensate for the unbalance value, the thrust force of the first propeller element 102 in FIG. 15 may be increased by 0.5 (45/90) times as much as the propulsion force of the remaining propellers, thereby correcting the center of gravity imbalance have. Alternatively, for center-of-gravity unbalance values where θ is zero degrees and the Z value is 45 degrees, the first propeller impulse and the sixth propeller impulse can be increased by 0.25 times, respectively, to compensate for the center of gravity imbalance . Alternatively, for a center-of-gravity unbalance value of 45 degrees and a Z value of 45, the propulsive force of the first propeller and the propulsive force of the second propeller are increased, but at 45 degrees the first propeller has a placement angle value of 30 degrees , The second propeller has a placement angle of 90 degrees, so the center of gravity differs by 15 degrees from the first propeller and 45 degrees from the second propeller, so the percentage of propulsion increase that the first propeller will bear is 45 / 45) = 75 percent, and the increasing percentage of propulsive forces on the second propeller is 15 / (15 + 45) = 25 percent. In conclusion, the first propeller increases the propulsion force by 0.375 times 0.5 times + 75 percent compared to the propeller propulsion, and the second propeller increases the propulsion force by 0.125 times the propeller propulsion force of 0.5 times + 25 percent.

Therefore, in a hexacopter having six equally spaced propellers, the weightlessness value resulting from the loading of the cargo in the payload portion of the UAV is represented by the direction of the center of gravity, and the magnitude of the imbalance is 14 (for example, the first propeller element is at 30 degrees, the second propeller element is at 90 degrees, the third propeller element is at 120 degrees, and so on) , And finally, the sixth propeller element is in the direction of 330 degrees), when θ is 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees, and 330 degrees, Increasing the propulsive force of the propeller and increasing the propulsive force of the first and second propellers when the angle is between 30 and 90 degrees and increasing the propulsive forces of the second and third propellers when the angle is between 90 and 150 degrees , θ is 1 Increasing the propulsive forces of the third and fourth propellers when between 50 and 210 degrees and increasing propulsive forces of the fourth and fifth propellers when theta is between 210 and 270 degrees, The propulsive forces of the fifth and sixth propellers are increased and the propulsive forces of the sixth and first propellers are increased when theta is between 330 and 30 degrees.

At this time, of the increments of the propulsive forces of both propellers adjacent to theta, a propeller (a first side propeller, which is located at the angle A) and a propeller at a value larger than? Propeller, placed at angle B) is as follows:

Ps = (B-?) / (B-A) * 100,

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

Next, when the Z value is tilted by 30 degrees, 30/90 = 0.3333. In other words, the first side propeller and the second side propeller on both sides of the θ value must be larger by 0.3333 times than the propulsion force of the remaining propellers. For example, in the above example, the second propeller and the third propeller must each bear 0.3333 * 0.5 times = 0.1665 times.

Let's apply this bar to a multi-copter with more N propeller elements. Thus, N propeller elements are arranged at equal intervals of 360 / N angles. At this time, the direction of the center of gravity is θ, and the magnitude of the unbalance is increased by Z magnitude. Among the increments of the propulsive forces of both propellers adjacent to θ, a propeller (a first side propeller, (B-θ) / (BA) * 100, which is borne by the propeller (located on the second side propeller, at angle B) greater than Ps and θ, Pl = (? - B) / (BA). In addition, the propulsive force increase rate to be paid by both propellers is z / 90 * 100, the propulsive force increase rate that the first propeller has to bear is z / 90 * 100 * (B-?) / z / 90 * (? - A) / (BA).

By adjusting the propulsive force between the propeller elements, weight unbalance due to load loading can be solved.

(3) Position control of propeller elements

In this embodiment, the weight imbalance due to load loading is eliminated by controlling the propulsive force or rotational speed of the propeller elements. On the other hand, in this embodiment, rather than adjusting the propulsive forces or rotational speeds of the propeller elements, the propeller elements are moved to eliminate weight imbalance due to load loading. Also in this embodiment, an example of the hexacopter of FIGS. 14 and 15 is assumed, but the present invention is not limited to this.

The coordinate values X, Y and Z of the horizontal sensor, that is, X and Y indicate the direction of the tilt, and Z indicates the magnitude of the tilt. That is, z represents the angle of the tilt. For example, measurements of unbalance in weight of a horizontal sensor in a payload or shipping container of an unmanned aerial vehicle may be expressed as X, Y, Z coordinate values of the horizontal sensor. For example, in the X, Y coordinate, or in the 45 degree direction in the XY coordinate system, or (1, 1), for example, indicates the direction in which the center of gravity is located. On the other hand, how much the slope has been tilted can be different depending on the weight of the delivery. Therefore, the larger the gravity gravity at the center of gravity, the larger the Z value becomes. Thus, the X, Y, and Z values of the horizontal sensor, or the angular values and Z values in the X and Y planes may indicate weight unbalance in the payload or shipping container of the unmanned aerial vehicle due to the loading status of the corresponding carriage.

In this regard, in the present embodiment, in the multi-copter type dron, for example, in the dron of the form of Fig. 14, the X, Y, Z values of the horizontal sensor, The position of the corresponding propeller elements 120 can be adjusted. In the example of Fig. 14, a total of six propellers are installed. Thus, the angle between each propeller element is 60 degrees. In this case, with respect to the angle &thetas; and Z values corresponding to the weight unbalance measurement values in the X and Y planes of the horizontal sensor, for example, in the simplest case, In order to compensate for the central imbalance value, a fourth propeller element added to the first propeller element 102 in FIG. 15 by a value of 180 degrees moves by 0.5 (45/90) * R (radius) in the radial direction . This bar is shown in Figure 16a. As a result, the center-of-gravity imbalance can be corrected. This movement can be done by a motor according to a separate guide.

On the other hand, for center-of-gravity unbalance values where θ is zero degree and Z value is 45 degrees, the third propeller impulsive force and the fourth propeller elements adjacent to the position of zero + 180 degrees = 180 degrees are radially 0.5 (45 / 90) * 1/2 * Moves by R (radius). This bar is shown in Figure 16b.

Alternatively, for a center of gravity unbalance value of 45 degrees and a Z value of 30 degrees, the fourth and fifth propeller elements, which are two propeller elements adjacent to a position of 45 degrees + 180 degrees = 225 degrees, As shown in FIG. In this case, the fourth propeller moves radially in the radial direction by 45 / (15 + 45) because the difference between the 225 ° position and the fourth propeller is 15 degrees and the difference is 225 degrees and 45 degrees from the fifth propeller. = 75 percent * (30/90) R, and the extent to which the fifth propeller moves inward is 45 / (15 + 45) = 25 percent * (30/90) R. This bar is shown in Figure 6c.

Therefore, in a hexacopter having six equally spaced propellers, the weightlessness value resulting from the loading of the cargo in the payload portion of the UAV is represented by the direction of the center of gravity, and the magnitude of the imbalance is 14 (for example, the first propeller element is at 30 degrees, the second propeller element is at 90 degrees, the third propeller element is at 120 degrees, and so on) 180 degrees, 270 degrees, and 330 degrees, respectively, in the case where θ is 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees, and 330 degrees, And when the angle θ is in the range of 30 to 90 degrees, the fourth and fifth propeller elements are moved in the inner diameter direction, and when the angle θ is in the range of 90 to 150 degrees, the propeller elements are moved in the radial direction. 5 and The sixth propeller elements are each moved in the inner radial direction, and when the angle is between 150 and 210 degrees, the sixth and first propeller elements are moved in the inner diameter direction, and when the angle is between 210 and 270 degrees, 1 and the second propeller elements are moved in the inner radial direction and the second and third propeller elements are moved in the inner radial direction respectively when the angle is between 270 and 330 degrees and θ is between 330 and 30 degrees The third and fourth propeller elements are each moved in the radially inner direction.

At this time, the moving distance of the propeller in the inner diameter direction adjacent to the position of [theta] + 180 is as follows. First, a propeller element at a value greater than the distance Ds and? + 180 at which a propeller element (first side propeller element, arranged at the A angle) moves at an angle of arrangement smaller than? + 180, , Placed at angle B) travels as follows:

Ds = (B- (? + 180)) / (B-A) * R * (Z / 90)

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

For example, when θ is 120 degrees and Z is 20 degrees, both propellers near 120 +180 = 300 degrees are the fifth propeller at 270 degrees and the sixth propeller element at 330 degrees, ≪ / RTI > Thus, the fifth propeller element as the first side propeller element moves inward by (330- (120 + 180) / 330-270) = 30/60 * R * (20/90) = 0.111 * R, The fifth propeller element as the second side propeller element moves inward by ((120 + 180) -270) / (330-270) = 30/60 * R * (20/90) = 0.111 * R.

Let's apply this bar to a multi-copter with more N propeller elements. Thus, N propeller elements are arranged at equal intervals of 360 / N angles. At this time, when the direction of the center of gravity is θ and the magnitude of the unbalance is inclined by Z magnitude, the moving distance of the inner side of both propeller elements adjacent to the position of θ + 180 is smaller than θ + 180 The distance Dl at which the propeller element (located at the second side propeller element, angle B) at which the distance Ds and the distance at which the deployed propeller element (located at the first side propeller element, A angle) As follows:

Ds = (B- (? + 180)) / (B-A) * R * (Z / 90)

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

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

18 is a conceptual diagram of a payload unit according to an embodiment of the present invention. The payload frame 1801 is partitioned into an upper portion and a lower portion by a partition wall portion 1807. In the upper portion, the object to be loaded 1802 is loaded, and in the lower portion, space portions 1804 and 1803 having an inverted triangular or truncated inverted triangular pyramid shape are formed. An area 1805 other than the inverted triangular pyramidal space part in the lower part may be an empty space or filled with a solid material. On the other hand, the spaces 1804 and 1803 of the inverted triangular pyramid shape are partially filled with the fluid 1803. Such a fluid may serve to mitigate weight imbalance due to loading imbalances within the payload portion.

Motor-driven weight unbalance correction device

19 is a conceptual diagram of a weight unbalance correcting apparatus according to an embodiment of the present invention. The apparatus includes a frame 1901, a balancer weight 1902 located at the center of the frame, and a moveable stopper 1093 that regulates the movement of the balancer weight. When the θ and Z values are determined as described above, the stopper moves to the corresponding position in such a manner that the balancer weight 1902 moves and stops in the θ-direction and at a value corresponding to Z, so that the movement of the balancer weight 1902 .

Specifically, a driving motor is integrally coupled to the balancer weight 1902, a driving wheel is connected to the balancer weight 1902, the driving wheel is rotatable so as to be aligned in the? Direction, The stopper moves to a position corresponding to the above-mentioned &thetas; For this purpose, the stopper 1903 is movable on the frame based on the θ and Z values. The balancer weight portion includes a motor and a wheel connected to the motor. The weight unbalance correcting device includes a wheel controller (not shown) that adjusts the alignment direction of the wheel to coincide with the? Direction. The stopper moves to a position distant from the center of the frame by a distance corresponding to the Z value in a direction corresponding to the? Wherein the weight unbalance correcting apparatus further comprises a stopper control unit (not shown) for controlling the movement of the stopper, wherein the stopper control unit is configured to calculate a coordinate value of the current position of the stopper on the frame and a coordinate value And controls the movement of the stopper.

20 is a conceptual diagram illustrating a mechanism for moving the stopper 2005 according to an embodiment of the present invention. The mechanism for moving the stopper 2005 includes a rotation mechanism 2001 for rotating the support 2004 supporting the stopper 2005 in correspondence to the angle θ so as to move the stopper 2005 in the direction corresponding to the θ value, The contraction or extension length of the expanding / contracting portion 2003 composed of the expandable / contractible portion (e.g., multi-step pipe) connected to the support 2004 or the retractable or advanceable multi-segment links is adjusted to correspond to the Z value And a translating mechanism 2002 for translating. On the other hand, when the movement of the stopper 2005 to the coordinates is completed, the stopper 2005 from the support 2004 can extend upright and serve as a stopper, as shown in the upper drawing of Fig. The protrusion of the upper end of the stopper 2005 and the downward retraction of the stopper 2005 can be performed by a mechanism (not shown) embedded in the support 2004.

Magnetically-implemented weight unbalance correction device

In another embodiment, the stopper may comprise a magnetic body, and the balancer weight portion may also comprise a magnetic body. For example, at least one of the magnetic body of the stopper and the magnetic body of the balancer weight may be an electromagnetic magnetic body, whereby the magnetic force may be activated or deactivated. For example, the stopper moves to a position corresponding to [theta] and Z so that the electromagnetic capability is activated, and the magnetism of the balancer weight also activates the electromagnetic capability, whereby the stopper can attract the weight. For this purpose, it is possible to control the attracting force between the polarity of the magnetic body of the stopper and the polarity of the magnetic body of the balancer weight. The weight unbalance correcting device of the present invention may include a magnetic controller for controlling the electromagnetically polarity and controlling the electromagnetically polarity activation and timing. Here, the electromagnetic magnetic body includes a coil, and when electric power is supplied to the coil, magnetic force is generated by electromagnetic induction. For example, in the example of the stopper of Fig. 20, the stopper is fixedly connected to the stopper support member or the stretchable and contractible member, so that when the magnetic member of the stopper is turned on, a heavy magnetic magnetic substance or material magnetic substance other than the electromagnetic magnetic substance is included The weight portion can be pulled out. In this connection, the weight portion may have a weight portion orientation adjusting portion for orienting the magnet portion so that the polarity of the magnet portion facing the stopper is opposite to the polarity of the magnet portion at the position of the stopper, or the polarity of the material portion is oriented.

Magnetic fluid implemen- tation imbalance correction device

The imbalance correction device implemented by the present magnetic fluid is a novel concept and can be used for other purposes as well as solving the weight imbalance of the flying body. For example, weight imbalance can be used in the field of fine-tuning operations of machines that perform sensitive operations. Such a weight imbalance correction system, including such a weight imbalance correction device, includes a device for measuring a weight imbalance value; And an apparatus for correcting a weight unbalance based on the measured weight unbalance value, wherein the apparatus for correcting the weight unbalance corrects a weight unbalance by movement of a magnetic fluid. In one embodiment, the weight unbalance measuring apparatus measures a weight unbalance using a horizontal sensor, the weight unbalance value is represented by a Z value indicating a direction of a tilt and a magnitude of a tilt, and the weight unbalance is corrected The apparatus comprising: a magnetic body portion moving based on the? And Z values; And a weight portion moving toward the magnetic body portion, wherein the weight portion includes a magnetic fluid. In one embodiment, the weight unbalance correcting device includes: a rotation unit that rotates the magnetic body by the value of?; A translating part for translating the magnetic body part by the Z value; And a connection part for connecting the magnetic body part and the translating part. In one embodiment, the connecting portion is hollow, and the magnetic fluid moves toward the magnetic body portion along the connecting portion in the connecting portion. In one embodiment, the connection is a multi-step pipe.

Now, the magnetic fluid implemen- tation weight imbalance correction apparatus will be described in detail with reference to FIG. 21 and FIG. Here, the magnetic fluid includes a dispersion in the form of a colloid in which magnetic fine particles are dispersed in a liquid solution, that is, a liquid having a viscosity capable of reacting with a magnet containing an iron component. The magnetic fluid may be referred to as ferrofluid. Figure 21 illustrates a weight unbalance correction device, in accordance with an embodiment of the present invention. The apparatus includes a frame 2101 having a center, a center side container 2102 receiving a magnetic fluid disposed in the center, and a magnetic body side container 2103 including a magnetic body and capable of receiving a magnetic fluid. Fig. 22 shows a connection part 2105 in which a channel is formed and a length of which enables mutual connection of the center-side container and the magnetic-field-side container and the magnetic body to move therebetween. The connection portion 2105 has a magnetic fluid flow channel formed therein, and may be a multi-stage pipe in one embodiment.

23 illustrates a weight unbalance correction apparatus, according to an embodiment of the present invention. The center side magnetic fluid container 2201 accommodates the magnetic fluid 2202. The container 2201 includes a rotation mechanism 2203 for rotating the length adjustable connection portion 2205 in the θ direction, And a translation mechanism 2204 for translating or adjusting the length of the connection portion 2205 whose length is adjustable by a corresponding length. 24 illustrates an opening 2206 formed in a region accommodated inside the central magnetic fluid container 2201 in the length adjustable connection portion 2205. [ Through this opening, the magnetic fluid in the central magnetic fluid container 2201 can flow into the channel in the length-adjustable connection portion 2205. Fig. 25 illustrates a magnetic substance-side container. The container includes a frame 2207 having a center, an electrically realized magnetic body 2206 disposed at the center of the frame, and a magnetic fluid receiving space portion 2208 existing between the outer wall of the frame and the magnetic body. An electrically implemented magnetic body 2206 includes an electromagnetic coil, and a magnetic control unit (not shown) may be provided for electrically activating the electromagnetic coil to induce magnetic force for weight unbalance correction. In operation, based on the weight unbalance values? And Z values measured by the weight unbalance measuring means, the magnetic body side container moves and the magnetic fluid moves from the center of the frame of the weight unbalance correcting apparatus to the magnetic body side container, Correct the imbalance. On the other hand, in order to move the magnetic fluid again to the center of the frame of the weight unbalance correcting device, two methods can be employed. One is that a magnetic body in the magnetic body side container is inactivated and a fluid pump (not shown) in the center of the frame of the weight unbalance correcting device sucks and moves the magnetic fluid from the magnetic body side container. Alternatively, if a magnetic body (not shown) that is separately electrically realized exists in the center of the frame of the weight unbalance correcting apparatus and the magnetic body in the magnetic body side container is inactivated, a magnetic body at the center of the frame of the weight unbalance correcting apparatus is implemented, , The magnetic fluid can be moved from the magnetic body side container toward the central portion by magnetic attractive force. Also, a control (not shown) for controlling the operation of such a pump and the operation of such electrically implemented magnetic bodies may be installed in or outside the component, or may be installed within or outside the weight unbalance correction device.

Fluid imbalance correction device

This fluid imple- mentation compensating device is substantially the same as the one shown in Figs. 21 to 25 except that the fluid is moved by the pump, instead of magnetically moving the fluid, Can be similar. However, unlike in the embodiment shown in FIGS. 21 to 25, the weight unbalance correction component corresponding to the Z value of the weight unbalance magnitude can be derived by controlling the movement amount of the fluid. That is, as shown in FIGS. 21 to 25, the Z value can be canceled by adjusting the length of expansion or contraction of the length-adjustable connection portion. However, the Z value is not limited to the length- But the amount of fluid to be moved can be adjusted to offset the Z value. The former embodiment can be performed by using a pump instead of the magnetic body in the above-described FIG. 21 to FIG. 25, and therefore its detailed illustration is omitted. On the other hand, as in the latter case, an embodiment of a combination of a fixed length fluid channel portion and a mechanism for regulating the amount of fluid movement will now be described with reference to the drawings.

FIG. 26 illustrates a fluid imple- mentation weight imbalance correction device 2600, in accordance with an embodiment of the present invention. The apparatus includes a first fluid container 2602 and a second fluid container 2608, a connection portion 2604 connecting the fluid container and having a fluid channel formed therein, . In the first fluid container, a rotation mechanism 2607 for rotating the pump 2607 enabling the movement of the fluid and the connection portion 2064 to correspond to the value of the component of the weight unbalance measurement value is disposed. A fluid receiving space 2601 is formed between the rotating mechanism 2607 and the outer wall of the first fluid container. Meanwhile, a second fluid pump 2609 is also installed in the second fluid container, and a fluid accommodation space 2608 is formed between the fluid pump and the outer wall of the second fluid container. In operation, the rotating mechanism 2607 rotates the connecting portion 2604 corresponding to the value of θ, and then the second fluid pump 2609 operates to suck the fluid. This movement of the fluid may correct the weight imbalance. On the other hand, the amount of fluid moved corresponding to the Z value of the weight unbalance needs to be adjusted. This can be achieved by controlling the fluid suction force of the pumps. To this end, a controller (not shown) may be included to adjust the rotational rate of the pump to correspond to the Z value.

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

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

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

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Although the weight unbalance measuring apparatus and the weight unbalance correcting apparatus described in the present specification are described in the context of the weight unbalance that occurs when the load of the unmanned airplane is loaded, the weight unbalance measuring values are expressed by? And Z values, It should be appreciated that the present invention can be applied in any usage and context that needs to be corrected. That is, the application to the drone is only an example of the application of the present invention.

Claims (20)

As a unmanned aerial vehicle capable of loading loads,
And a payload unit disposed at a lower end of the unmanned air vehicle,
The payload portion is divided into an upper portion and a lower portion by a partition wall,
Wherein the load is loaded in the upper portion,
The lower portion is formed with an inverted triangular pyramidal or truncated inverted triangular pyramidal space,
A portion of the space portion is filled with a liquid fluid.
Unmanned aerial vehicle. As a weight unbalance correction system,
Wherein the weight unbalance value is measured using a horizontal sensor and is expressed as a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt, An imbalance measuring device; And
And an apparatus for correcting the weight unbalance based on the measured weight unbalance value,
The apparatus for correcting weight unbalance comprises:
A frame having a center;
A balancer weight movable on the frame along the? Direction based on the? Value; And
And a stopper that restricts movement of the balancer weight based on the Z value.
Weight unbalance correction system. 3. The method of claim 2,
Wherein the stopper is movable on the frame based on the &thetas; and Z values,
Weight unbalance correction system. The method according to claim 2 or 3,
The balancer weight portion including a motor and a wheel coupled to the motor,
Wherein the weight unbalance correcting device includes a wheel control unit for adjusting the alignment direction of the wheel so as to coincide with the &thetas;
Weight unbalance correction system. The method of claim 3,
The stopper moves to a position distant from the center of the frame by a distance corresponding to the Z value in a direction corresponding to the &thetas;
Weight unbalance correction system. 6. The method of claim 5,
Wherein the weight unbalance correcting device further comprises a stopper control unit for controlling the movement of the stopper,
Wherein the stopper control unit controls the movement of the stopper based on a coordinate value of the current position of the stopper on the frame and a coordinate value corresponding to theta and Z,
Weight unbalance correction system. The method of claim 3,
The weight unbalance correcting device comprises:
A rotation unit for rotating the stopper by the angle?
A translating unit for translating the stopper by the Z value; And
And a length adjustable connection portion connecting the stopper and the translating portion,
Weight unbalance correction system. 8. The method of claim 7,
The weight unbalance correcting device further comprises a stopper supporter for supporting the stopper,
Wherein the stopper protrudes upward or downward from the support,
Weight unbalance correction system. As a weight unbalance correction system,
An apparatus for measuring a weight unbalance value generated when a load is loaded, the weight unbalance value being measured using a horizontal sensor and expressed as a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt, Measuring device; And
And an apparatus for correcting the weight unbalance based on the measured weight unbalance value,
The apparatus for correcting weight unbalance comprises:
A frame having a center;
A stopper moving on the frame based on the? And Z values; And
And a weight portion moving on the frame,
Wherein the stopper includes a first magnetic body, the weight portion includes a second magnetic body,
Wherein at least one of the first magnetic body and the second magnetic body includes an electromagnetic magnetic body,
Weight unbalance correction system. 10. The method of claim 9,
The weight unbalance correcting device comprises:
A rotation unit for rotating the stopper by the angle?
A translating unit for translating the stopper by the Z value; And
And a length adjustable connection portion connecting the stopper and the translating portion,
Weight unbalance correction system. 11. The method of claim 10,
Wherein the first magnetic body is an electromagnetic magnetic body,
The second magnetic body is a material magnetic body,
Wherein when the magnetic force of the first magnetic body is activated, the weight portion including the second magnetic body moves by the attraction force toward the stopper,
Weight unbalance correction system. As a weight unbalance correction system,
A device for measuring a weight unbalance value; And
And an apparatus for correcting the weight unbalance based on the measured weight unbalance value,
Wherein the apparatus for correcting the weight imbalance corrects the weight imbalance by movement of a magnetic fluid based on the weight imbalance value,
Weight unbalance correction system. 13. The method of claim 12,
The weight unbalance measuring apparatus measures a weight unbalance using a horizontal sensor, and the weight unbalance value is represented by a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt,
The apparatus for correcting weight unbalance comprises:
A magnetic body moving based on the? And Z values; And
And a weight portion moving toward the magnetic body portion,
Wherein the weight portion comprises a magnetic fluid,
Weight unbalance correction system. 14. The method of claim 13,
The weight unbalance correcting device comprises:
A rotating part for rotating the magnetic body part by the? Value;
A translating part for translating the magnetic body part by the Z value; And
And a length adjustable connection portion connecting the magnetic body portion and the translating portion.
Weight unbalance correction system. 15. The method of claim 14,
The connecting portion is hollow,
The magnetic fluid moves toward the magnetic body portion along the connection portion in the connection portion,
Weight unbalance correction system. 16. The method of claim 15,
Wherein the connection portion is a multi-step pipe,
Weight unbalance correction system. As a weight unbalance correction system,
An apparatus for measuring a weight unbalance value, wherein the weight unbalance value is measured using a horizontal sensor and is expressed as a value indicating a direction of a tilt and a Z value indicating a magnitude of a tilt; And
And an apparatus for correcting the weight unbalance based on the measured weight unbalance value,
The apparatus for correcting weight unbalance comprises:
A frame having a center;
A first fluid container disposed centrally;
A second fluid container portion connected to the first fluid container portion and movable on the frame;
A connecting portion connecting the first fluid container portion and the second fluid container portion and having a fluid flow channel formed therein; And
And a rotation mechanism disposed at the center to rotate the connection portion in a direction corresponding to the &thetas;
Weight unbalance correction system. 18. The method of claim 17,
The apparatus for correcting weight unbalance comprises:
Further comprising a fluid pump installed in at least one of said first fluid container portion and said second fluid container portion to generate movement of fluid,
Weight unbalance correction system. The method according to claim 17 or 18,
The length of the connecting portion is fixed,
The weight unbalance offset corresponding to the Z value is obtained by controlling the amount of fluid to be moved.
Weight unbalance correction system. The method according to claim 17 or 18,
The length of the connecting portion is adjustable,
Wherein the weight unbalance offset corresponding to the Z value is obtained by adjusting the length of the connecting portion.
Weight unbalance correction system.

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