KR20170086225A - Wheeled Drone - Google Patents

Wheeled Drone Download PDF

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Publication number
KR20170086225A
KR20170086225A KR1020160005786A KR20160005786A KR20170086225A KR 20170086225 A KR20170086225 A KR 20170086225A KR 1020160005786 A KR1020160005786 A KR 1020160005786A KR 20160005786 A KR20160005786 A KR 20160005786A KR 20170086225 A KR20170086225 A KR 20170086225A
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South Korea
Prior art keywords
wall
wheel
support
drone
drones
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KR1020160005786A
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Korean (ko)
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윤혁중
성하규
김시빈
김민식
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윤혁중
김민식
성하규
김시빈
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Priority to KR1020160005786A priority Critical patent/KR20170086225A/en
Publication of KR20170086225A publication Critical patent/KR20170086225A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B29/00—Accommodation for crew or passengers not otherwise provided for
    • B63B29/16—Soil water discharges
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
    • A47K11/00—Closets without flushing; Urinals without flushing; Chamber pots; Chairs with toilet conveniences or specially adapted for use with toilets
    • A47K11/02—Dry closets, e.g. incinerator closets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
    • B05C1/04—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length
    • B05C1/08—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length using a roller or other rotating member which contacts the work along a generating line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
    • B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
    • B07B1/04—Stationary flat screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
    • B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
    • B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
    • B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
    • B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
    • B07B1/4609—Constructional details of screens in general; Cleaning or heating of screens constructional details of screening surfaces or meshes
    • B08B1/001—
    • B08B1/008—
    • B08B1/04—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D35/00—Sanitation
    • B61D35/005—Toilet facilities
    • B61D35/007—Toilet facilities comprising toilet waste receiving, treatment, storage, disposal or removal devices
    • 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
    • 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
    • B64C2201/12—

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Public Health (AREA)
  • Health & Medical Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Hydrology & Water Resources (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Cleaning In General (AREA)

Abstract

이 기술은 바퀴를 이용하여 드론이 벽면에 안정적으로 붙어있을 수 있도록 하는 것이다. 바퀴를 지지대처럼 이용하면 벽쪽으로 힘을 주며 으로 벽을 타고 날아다니는 것이 가능하다. 드론에 지지대와 연결대를 장착하여 지지대 끝의 붙은 연결대에 바퀴를 장착하면 드론이 가려는 벽면의 방향으로 바퀴를 댄 후 벽쪽으로 비행하면 벽에 부딪히지 않고 바퀴의 지지력을 얻어 안정적으로 날 수 있다. 본 발명은 이런 회전체를 이용한 지지를 통해 드론의 건물 외벽에서의 임무 수행 능력을 현저히 증가시켜준다. 예를 들어 두 개의 바퀴 대신 긴 형태의 롤을 이용하면 페인트칠이나 청소를 무인기로 수행할 수 있다.This technique uses a wheel so that the drones can be stably attached to the wall. Using the wheel as a support, it is possible to fly on the wall by applying force to the wall. When the wheel is attached to the link of the support end by attaching the support and the link to the drones, when the wheel is moved in the direction of the wall to which the dron is going, it can fly stably against the wall without hitting the wall. The present invention significantly increases the ability of the drones to perform their mission on the outer wall of the building through the support of such a rotating body. For example, if you use long rolls instead of two wheels, you can do painting and cleaning with UAV.

Description

바퀴 장착형 드론{ Wheeled Drone }Wheeled Drone {Wheeled Drone}

이 기술은 드론에 바퀴를 접목시킨 것으로, 바퀴를 이용하여 드론이 벽면에 안정적으로 붙어있을 수 있도록 하는 것이다. 드론이 건물의 벽과 같은 면에 붙어있을 수 없는 이유는 드론이 공간상에서 벽과 극소의 거리를 유지하며 운동하도록 제어하는 것이 불가능하기 때문인데, 바퀴를 이용하여 이를 지지대처럼 이용하면 벽쪽으로 힘을 주며 이동하여 벽을 따라 안정적으로 이동하는 것이 가능하다.This technique is a combination of a wheel and a wheel, so that the dron can be stably attached to the wall. The reason why the drones can not be attached to the same wall as the building is that it is impossible to control the drones to keep the walls and the small distances in space, so that when the wheels are used like a support, It is possible to move and stably move along the wall.

기존의 드론은 휴대성, 간편성과 배터리 등에 중점을 두다보니 넓은 공간에서 날아다니는 것이 발달하여 운송, 촬영 등에 쓰이고 있다. 그러나 건물들의 외벽에 붙어서 해야만 하는 일은 할 수 없다. 드론이 벽면에 가까이 가면 흔들리다 부딪힐 뿐 몸체를 지탱하고 있을 수 없기 때문인데, 본 발명에서는 바퀴를 장착함으로써 벽면을 지지하여 드론 자체의 균형을 잡음은 물론 그 상태에서 이동까지 용이하도록 하였다.Existing drones are focused on portability, simplicity and battery, so flying in a wide space is developed and used for transportation and shooting. But I can not do what I have to do with the outer walls of buildings. In the present invention, by mounting the wheel, the wall is supported so that it is possible to balance the dron itself, and to facilitate the movement of the dron in that state as well.

기존에 드론은 무인기로써 간편성, 속도 등 장점을 이용하여 여가 활동, 물품의 배송, 공중에서의 촬영 등 점차 많은 영역에 적용되고 있었다. 그러나 내구성이 좋지 않고, 흔들림 없이 매끄럽게 움직이도록 정교한 제어가 힘들어 건물의 외벽에서 수행하는 페인트칠, 보수 및 청소 등의 일을 대신할 수 없었다.Conventionally, the drone has been applied to many areas such as leisure activities, delivery of goods, shooting in the air, and so on, taking advantages of simplicity and speed as UAV. However, the durability was poor, and it was difficult to precisely control it so that it moved smoothly without shaking, which could not replace painting, maintenance and cleaning performed on the outer wall of the building.

본 발명은 상기와 같은 문제점을 해결하기 위한 것으로, 드론이 건물 외벽 등을 따라서 안정적으로 움직일 수 있도록 하는 것을 목적으로 한다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to allow a dron to move stably along an outer wall of a building.

본 발명은 드론에 바퀴와 같은 회전체를 접목하여 드론이 벽면을 지지하고 안정적으로 움직일 수 있도록 하였다. 드론에 T자 모양의 막대를 거꾸로 장착하여 드론이 없는 양 끝에 바퀴를 장착한다.이 막대는 드론에서 조종할 수 있게 하여, 드론이 가려는 벽면의 방향으로 바퀴를 댄 후 벽쪽으로 비행하면 벽을 지지하면서 안정적으로 날 수 있다.In the present invention, a wheel such as a wheel is engaged with a drone so that the drone can support the wall and can move stably. The drones are equipped with a T-shaped bar upside down, which attaches the wheels to both ends without a dron, which allows the dron to be steered, so that when the dron moves in the direction of the wall to which it is aiming, And can fly steadily.

이상과 같이 본 발명에 따르면 드론이 벽면을 지지하고 안정적으로 벽면을 따라 움직일 수 있게 되어, 건물 외벽에서의 임무 수행 능력이 현저히 증가하게 된다. 예를 들어 두 개의 바퀴 사이에 굴러가는 솔을 끼거나 바퀴 대신 길쭉한 롤을 장착하면 페인트칠이나 청소를 무인기로 수행할 수 있게 되어 사람들이 하면 위험한 일을 대체 및 자동화할 수 있다.As described above, according to the present invention, the drone can support the wall surface and move stably along the wall surface, so that the ability to perform tasks on the outer wall of the building is significantly increased. For example, a rolling brush between two wheels or an elongated roll instead of a wheel allows painting and cleaning to be carried out on unmanned basis, allowing people to replace and automate dangerous work.

도 1은 바퀴 장착형 드론이 건물의 외벽을 따라서 비행하고 있는 모습의 사시도이다.
도 2는 바퀴 장착형 드론의 각 부분의 연결부분을 바라본 좌측면도이다.FIG. 1 is a perspective view of a wheel-mounted drones flying along an outer wall of a building.
Fig. 2 is a left side view of the connecting portion of each portion of the wheel-mounted drones. Fig.

본 발명을 첨부된 도면을 참조하여 상세히 설명하면 다음과 같다.The present invention will now be described in detail with reference to the accompanying drawings.

도 1은 접합부(40)에 바퀴를 장착한 바퀴 장착형 드론이다. 드론의 몸체(10)에 연결된 것은 지지대(20)로, 드론을 기준으로 회전이 가능하여 벽이 있는 방향으로 회전하도록 조종할 수 있다. 그 지지대의 반대쪽 끝에는 연결대(30)가 연결되어 있으며, 연결대는 각 접합부를 연결 및 고정해준다. 도 1의 경우 접합부(40)에는 바퀴가 연결된 상태로, 이를 이용하여 벽(50)을 따라 사선으로 이동하고있다.1 is a wheel-mounted type dron equipped with a wheel in a joining portion 40. Fig. The body 10 of the drone is connected to the support 20 and is rotatable with respect to the drone so that it can be rotated in the direction of the wall. A connecting rod 30 is connected to the opposite end of the supporting rod, and the connecting rod connects and secures the respective connecting rod. In the case of FIG. 1, the joining portion 40 is moved in a diagonal direction along the wall 50 using wheels connected to the joining portion 40.

도 2는 입체적 이해를 위하여 각도를 다르게 본 도면으로, 드론 몸체(10)와 지지대(20)의 접점(60), 그리고 지지대(20)와 연결대(30)의 접점(70)을 표시한 것이다. 60의 경우 벽(50)이 드론을 기준으로 어느 방향에 있더라도 그 방향을 향할 수 있도록 드론의 상, 하단 중앙을 지나는 축에 대하여 360도의 회전이 가능하다. 이 때 지지대는 원뿔을 그리며 회전하게 되는데, 이런 회전을 이용하여 벽쪽에 지지대를 대고난 뒤 70의 회전을 이용하여 원하는 진행방향으로 갈 수 있다. 연결대의 경우 70을 지나며 지지대에 수직인 평면 위에서 회전할 수 있기에, 드론이 벽을 타고 사선방향으로도 진행할 수 있다.2 shows the drill body 10 and the contact point 60 of the support base 20 and the contact point 70 of the support base 20 and the connection base 30 in a perspective view for three-dimensional understanding. 60, the wall 50 can rotate 360 degrees with respect to the axis passing through the upper and lower centers of the drone so that the wall 50 can be oriented in any direction with respect to the drone. At this time, the support is rotated by drawing a cone, and by using this rotation, the support is placed on the wall side, and then the rotation of 70 can be used to go in the desired direction of travel. In the case of a connecting rod, the dron can move in a diagonal direction on the wall because it can rotate on a plane perpendicular to the support, passing through 70.

기존의 드론은 몸체만을 가졌으나, 본 발명을 통하여 지지대와 연결대, 그리고 연결대에 있는 접합부에 의하여 벽과 같은 물체를 지지하고 날 수 있게 되었다. 또한 지지대와 연결대가 회전할 수 있게 하여 간편하게 접합부에 연결된 회전체가 원하는 방향으로 굴러갈 수 있게 하였다.Conventional drones have only a body, but through the present invention it has become possible to support and fly objects such as walls by means of joints in the supports, connectors, and connectors. In addition, the support member and the connecting member can be rotated so that the rotating member connected to the connecting member can be easily rotated in a desired direction.

드론 몸체(10)의 경우 기존 드론의 몸체, 날개 등 모든 부분을 의미한다.In the case of the drone body 10, it means all parts such as the body, wing, etc. of the existing drone.

지지대(20)의 경우 드론과 연결되어 기계적인 지지력을 가질 수 있어야 한다. 회전을 통하여 드론 몸체를 기준으로 임의의 방향을 향할 수 있으며, 연결대에 접합된 바퀴 등에 의한 지지력을 몸체로 연결시켜줄 수 있어야 한다.In the case of the support 20, it should be connected to the drone so that it can have a mechanical support force. It can be turned in any direction with respect to the drone body through rotation, and it should be able to connect the supporting force by wheels joined to the connecting rod to the body.

연결대(30)의 경우 그 중앙부분이 지지대(20)의 한 쪽 끝에 연결되어 있으며, 자신의 양 끝에는 접합부를 가지고 있다. 이를 통하여 접합부에 바퀴, 길쭉한 회전형 먼지털이와 같은 임의의 회전체를 달 수 있으며 지지대와의 접점(70)에서 평면상에서의 회전이 가능하다. 따라서 접합부에 연결된 회전체가 굴러가는 방향이 옮겨질 수 있어 벽을 지지한 채로 임의의 방향으로의 전진이 가능하다.In the case of the connecting rod 30, its central part is connected to one end of the support 20 and has its own joint at both ends. Through this, it is possible to apply an arbitrary rotating body such as a wheel and elongated rotating dust hairs to the joint, and it is possible to rotate in a plane at the contact point 70 with the support. Therefore, the direction in which the rotating body connected to the joint portion is rolled can be shifted, and it is possible to advance in an arbitrary direction while supporting the wall.

접합부(40)의 경우 기계적 또는 전자기적인 방법으로 바퀴, 롤과 같은 회전체를 장착할 수 있으며 접합부 자체는 연결대의 양 끝에 위치한다.In the case of the joint 40, a rotating body such as a wheel or a roll can be mounted mechanically or electromagnetically, and the joint itself is located at both ends of the joint.

이상, 첨부 도면을 참조하여 본 발명의 바람직한 실시예에 대하여 상세히 설명하였으나, 이는 예시에 불과한 것이며 본 발명의 기술적 사상의 범주내에서 다양한 변형과 변경이 가능하다. 따라서, 본 발명의 권리범위는 이하의 특허청구범위의 기재에 의하여 정하여져야 할 것이다.While the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the disclosed embodiments, and various changes and modifications may be made without departing from the scope of the present invention. Accordingly, the scope of the present invention should be defined by the following claims.

10 : 드론의 몸체
20 : 드론을 지지해주는 지지대
30 : 두 바퀴와 지지대를 연결해주는 연결대
40 : 바퀴를 달 수 있는 접합부
50 : 건물의 외벽
60 : 드론의 하단 중앙부에 위치하여 모든 방향으로의 회전이 가능한 드론의 몸체와 지지대의 접점
70 : 서로 직각을 유지한 채로 180도 이상의 회전이 가능한 연결대와 지지대의 접점10: Body of the drone
20: Support for supporting the drones
30: Connections between two wheels and supports
40: A joint capable of rolling wheels
50: Outer wall of the building
60: The contact between the body of the dron and the support, which is located at the lower center of the dron and can be rotated in all directions
70: Contact between the connecting rod and the supporting rod, which can rotate 180 degrees or more at a right angle to each other

Claims (2)

드론에 있어서
드론의 상단 중앙과 하단 중앙을 지나는 직선을 축으로 하여 원뿔을 그리는 회전운동이 가능한 지지대;
양 끝에 임의의 물체를 붙일 수 있는 접합부가 포함되어있으며 지지대와의 연결점에서 180도 이상 회전이 가능한 연결대;
임의의 원하는 물체를 고정하여 연결시킬 수 있는 접합부;
을 포함하는 바퀴 장착형 드론In the drone
A rotary support which draws a cone around a straight line passing through the upper center and lower center of the drone;
A connecting rod including a joint capable of attaching an arbitrary object to both ends and capable of rotating 180 degrees or more at a connection point with the support;
A joint capable of fixing and connecting any desired object;
A wheel-mounted drones 상기 1항에 있어서, 기계적 또는 전자기적으로 물체를 탈부착할 수 있는 접합부를 포함하는 바퀴 장착형 드론2. A wheel-mounted drones according to claim 1, further comprising a joint capable of mechanically or electromagnetically attaching and detaching an object,
KR1020160005786A 2016-01-18 2016-01-18 Wheeled Drone KR20170086225A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020160005786A KR20170086225A (en) 2016-01-18 2016-01-18 Wheeled Drone

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Application Number Priority Date Filing Date Title
KR1020160005786A KR20170086225A (en) 2016-01-18 2016-01-18 Wheeled Drone

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200020369A (en) * 2018-08-17 2020-02-26 한국과학기술원 A wall-climbing drone unit for maintaining and managing of high-storied building and the control method thereof
KR102221237B1 (en) * 2020-06-12 2021-03-03 에스큐엔지니어링(주) System for monitoring degraded steel facility using subminiature drone
KR102511743B1 (en) 2022-03-28 2023-03-21 주식회사 우성디앤씨 Drone for construction and structure management method using the same

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200020369A (en) * 2018-08-17 2020-02-26 한국과학기술원 A wall-climbing drone unit for maintaining and managing of high-storied building and the control method thereof
KR102221237B1 (en) * 2020-06-12 2021-03-03 에스큐엔지니어링(주) System for monitoring degraded steel facility using subminiature drone
KR102511743B1 (en) 2022-03-28 2023-03-21 주식회사 우성디앤씨 Drone for construction and structure management method using the same

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