KR20180083840A - Combination type multi copter and control method thereof - Google Patents

Abstract

According to an embodiment of the present invention, a combination type multi-copter comprises: a drive unit having a separation and coupling means; and a management unit transmitting a control command to the drive unit. The management unit comprises a control unit transmitting the control command to the drive unit by reflecting center of gravity by separation and coupling of the drive unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a multi-

The present invention relates to a combined multi-copter and a control method thereof. More particularly, when a multi-copter equipped with a plurality of driving units and a propeller for each driving unit is separated or combined to cause a failure or breakage of the driving unit, The present invention relates to a combined multi-copter and a control method thereof.

Unmanned Aerial Vehicle (UAV) is widely known to the general public as a drone. Fixed-wing unmanned aerial vehicles, rotary unmanned aerial vehicles, multi- copter) unmanned aircraft. Quadcopter, Hexacopter, and Octocopter, which we know in general, are a type of multi-copter. These multi-copters are mainly powered by motors, I got the name drones.

Korean Patent Publication No. 10-2015-0075587

SUMMARY OF THE INVENTION It is an object of the present invention to provide a combined multi-copter capable of operating in a geometric shape through a multi-copter capable of being separated and combined, and a control method thereof.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a combined multi-copter capable of performing a continuous mission even when some driving units do not operate normally, and a control method thereof.

According to an aspect of the present invention, there is provided a combined multi-copter comprising: a driving unit having separation and coupling means; And a control unit for transmitting a control command to the driving unit. The control unit includes a control unit for transmitting a control command to the driving unit by reflecting the center of gravity of the driving unit.

The combined type multi-copter according to the embodiment of the present invention has an effect that it can perform the mission continuously by removing the driving part or stopping the operation even if some driving parts are broken or broken.

FIG. 1 illustrates a combined multi-copter utilizing a management unit and a driving unit according to an embodiment of the present invention.
FIG. 2 shows a combined multi-copter in which a management unit and a driving unit are formed of polygons according to an embodiment of the present invention.
FIG. 3 is a view illustrating an engaged state of a driving unit according to an embodiment of the present invention.
Figure 4 is a map of a combined multi-copter according to an embodiment of the invention.
FIG. 5 illustrates a rotation direction of a driving unit in a combined multi-copter according to an embodiment of the present invention.
Figure 6 illustrates the separation and incorporation of a combined multi-copter in accordance with an embodiment of the invention.
FIG. 7 is a flowchart illustrating a control method of a combined multi-copter.

It is noted that the technical terms used in the present invention are used only to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present invention should be construed in a sense generally understood by a person having ordinary skill in the art to which the present invention belongs, unless otherwise defined in the present invention, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when a technical term used in the present invention is an erroneous technical term that does not accurately express the concept of the present invention, it should be understood that technical terms can be understood by those skilled in the art. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Furthermore, the singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as "comprising" or "comprising" and the like should not be construed as encompassing various elements or various steps of the invention, Or may further include additional components or steps.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings.

FIG. 1 illustrates a combined multi-copter utilizing a management unit and a driving unit according to an embodiment of the present invention.

As shown in the figure, the combined multi-copter 300 according to the embodiment of the present invention includes a driving unit 100 and a management unit 200. Although not shown, the driving unit 100 may include a communication unit and an output state checking unit.

The state checking unit of the driving unit 100 checks the state of the output means for rotating the propeller and transmits the result to the managing unit 200 through the communication unit.

A plurality of driving units 100 may be connected to one management unit 200. A plurality of the driving units 200 may be spaced apart from each other by a predetermined angle or more with reference to one management unit 200.

The driving unit 100 may include coupling and separating means. Separation and coupling operations may be performed, for example, with electromagnets. Accordingly, coupling and separation between the driving unit 100 and the driving unit 100 and the management unit 200 are possible. However, the coupling and separation means are not limited thereto.

The management unit 200 may include a control unit 210, a camera unit 220, and a communication unit 230.

The control unit 210 controls the operation of the driving unit 100 connected to the management unit 200. The control unit 200 can also control the disconnection and engagement of the driving unit 100. Accordingly, the driving unit 100 can be coupled to or separated from the combined multi-copter.

The camera unit 220 may capture a flight image of the combined multi-copter and store the same. For this purpose, a storage means such as a memory card may be provided. The image collected by the camera unit 220 may be transmitted to the outside through the communication unit 230.

The communication unit 230 may transmit the image collected by the camera unit 220 to the outside, receive a command related to the overall operation of the combined multi-copter, and transmit and receive related information. The first combined multi-copter 300-1 has a configuration in which four driving units are disposed at four right angles to surround one management unit 200. FIG.

In addition, in the second combined type multi-copter 300-2, four driving units are arranged at right angles to each other, and a plurality of driving units 200 in two directions are connected in series and spaced apart at an interval of 90 degrees And a driving unit is additionally connected between the driving units 200. In this case, This arrangement is an example, and it goes without saying that it can be arranged in a modified configuration depending on the situation.

The first combined multicoperator 300-1 and the second combined multicoperator 300-2 may be independently driven. That is, the first combined multi-copter 300-1 and the second combined multi-copter 300-2 can be individually driven and mutually separated and combined during driving.

FIG. 2 shows a combined multi-copter in which a management unit and a driving unit are formed of polygons according to an embodiment of the present invention. 2 (a), three driving units are arranged in the shape of a triangle so as to surround the management unit, and one driving unit The driving unit is further connected and driven.

2 (b), six driving units may be arranged in a hexagonal shape so as to surround the management unit. The driving unit and the management unit, and the surface where the driving unit and the driving unit are in contact with each other, are separated and combined according to a control command of the management unit.

FIG. 3 is a view illustrating an engaged state of a driving unit according to an embodiment of the present invention. In the drawing, three driving units are mutually coupled, but the present invention is not limited thereto. As shown, the plurality of drivers or management units include respective ID information.

Each driver or management unit having ID information provides its own ID information to a management unit or a driving unit associated with the ID information and transmits the surrounding information associated with the ID information to the driving unit. In this case, the configuration of the message provides the ID of the message and the ID of the other management unit or the driving unit, which are combined for each edge. Messages transmitted from ID 1 to ID 3 are shown in the table below.

Your ID Corner number One 2 3 4 One 2

Your ID Corner number One 2 3 4 2 3 One

Your ID Corner number One 2 3 4 3 2

That is, since the driving unit having ID 1 contacts with the driving unit having ID 2 at its edge 1, it is indicated that it touches the driving unit having ID 2 in the edge 1 as shown in Table 1 above. Since the driving unit having ID 2 contacts the driving unit having ID 1 at its edge 4 and contacts the driving unit with ID 3 at its edge 3, it touches the driving unit having ID 3 in the edge 3 as shown in Table 2, Is in contact with the driving unit of ID 1.

In addition, since the driving unit with ID 3 contacts the driving unit with ID 2 in its edge 3, it is indicated that it touches the driving unit with ID 2 in the edge 3 as shown in Table 3 above.

The corner numbers can be stored in association with the ID information, respectively, and the joining relationship can be confirmed through the table. The management unit forms a map of the combined multi-copter based on the received information, calculates the center of gravity and the equation of motion, and controls the driving unit on the basis of the center of gravity and the equation of motion. In the case where a failure or breakage occurs in the driving unit, the corresponding driving unit is removed or the operation is stopped. In this case, the changed center of gravity and the equation of motion are re-calculated to actively cope with the changed environment of the combined multi-copter.

FIG. 4 illustrates a map of a combined multi-copter according to an embodiment of the present invention, and FIG. 5 illustrates a direction of rotation of a driving unit in a combined multi-copter according to an embodiment of the present invention.

The management unit forms a map of the combined multi-copter based on the message obtained through the process of FIG. Here, the grid shape of the map of the combined type multi-copter is configured to match the combined shape of the management part and the driving part.

In FIG. 4, the black part corresponds to the control part or the driving part of the combined type multi-copter, and the shape of the combined type multi-copter may be embodied and used to obtain the center of gravity of the combined type multi-copter. In the drawing, the horizontal axis represents x-axis and the vertical axis represents y-axis. The center of gravity of the x-axis and the y-axis can be expressed by the following equations.

...수학식(1)

... Equation (1)

In the above equation, mi and nj are the numbers of the management units or the driving units in the columns and rows, respectively, and m is the mass of the unit driving units (one driving unit) or the unit control units (one control unit). L is the length of the edge of the management part or the driving part and is the length of the unit cell in Fig.

Further, the equation of motion can be expressed by the following equation.

..수학식(2)

(2)

는 멀티콥터 자세 각속도이며,

은 멀티콥터 자세각이다. 또한, T는 구동부에서 생성되는 추력으로 하기의 수학식으로 나타낼 수 있다.In the above equation,? Is a distance and v is a velocity. And

Is the multi-copter attitude angular velocity,

Is the multi-copter attitude angle. Also, T can be expressed by the following equation as a thrust force generated in the driving unit.

..수학식(3)

(3)

In the above equation, ωik is the angular velocity of the i-th row and k-th column driving unit, and αki is the switching term, which can be expressed by the following equation.

...수학식(4)

... (4)

In addition, τ can be expressed by the following equation as a torque.

...수학식(5)

... (5)

(u, v) is a coordinate value of a block having a center of gravity. In FIG. 5, (u, v) can be expressed by (2, 3). The thrust of the driving unit can be determined in consideration of the center of gravity. Further, G is a gyroscopic torque and can be expressed by the following equation.

..........수학식(6)

... (6)

Figure 6 illustrates the separation and incorporation of a combined multi-copter in accordance with an embodiment of the invention. As shown in the figure, in order to combine the combined multi-copter, two or more combined multi-copters select a master management unit, and the selected management unit combines the combined multi-copter, Redesign. Whereby the output of the driving unit is adjusted. The separation and coupling of the combined multi-copter may, for example, be performed with an electromagnet, but is not limited thereto.

As shown in the figure, since the center of gravity moves due to the coupling of the combined type multi-copter, and one driving part 101 moves during the separation, the center of gravity is changed accordingly. Therefore, And controls the driving unit to reflect the change of the center of gravity according to the separation. This may be calculated by the calculation using Equations 1 to 6 or the process in FIG.

FIG. 7 is a flowchart illustrating a control method of a combined multi-copter. First, when the combined multi-copter is combined, the connection state of each corner is detected and transmitted to the management unit (S100). Next, a map of the multi-copter for controlling the center of gravity and the driving unit is constructed through the connection state, and parameters of the driving unit are set by reflecting the map. The above parameters can be set through FIG. 4, FIG. 5 and the above equation.

Next, it is determined whether the driving unit is normally operated (S300). If it is determined that the driving unit is normally operated (S500), the operation of the driving unit is stopped or separated (S400).

When the operation of the driving unit is stopped or separated, the output of the other driving unit may be changed. Therefore, the control unit 210 of the management unit 200 returns to step S100 to repeat the steps S100 to S300.

The features, structures, effects and the like described in the foregoing embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. Further, the features, structures, effects, and the like illustrated in the embodiments may be combined or modified in other embodiments by those skilled in the art to which the embodiments belong.

Therefore, it should be understood that the present invention is not limited to these combinations and modifications. While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the present invention. It can be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiments may be modified and implemented. It is to be understood that the present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof.

100:
200:
210:
220:
230:
300: Combined multi-copter

Claims (6)

In a combined multi-copter capable of being separated and combined,
A driving unit having detachment and coupling means to be coupled to or separated from the multi-copter; And
And a control unit for transmitting a control command to the driving unit,
The management unit calculates the center of gravity and the equation of motion according to the coupling relationship and the output state of the driving unit and recalculates the center of gravity and the equation of motion when the center of gravity and the equation of motion due to the separation, And a controller for transmitting a control command to the driving unit.
The method according to claim 1,
Wherein the management unit comprises a separating and coupling means for coupling to or separating from the multi-copter.
The method according to claim 1,
Wherein the driving unit and the management unit include an ID and a corner number, and the management unit configures the map of the combined type multi-copter based on the ID and the corner number.
The method according to claim 1,
When the number of the management units is more than one, a master management unit is selected,
And the selected master control unit adjusts the output of the driving unit.
The method according to claim 1,
And the driving unit includes an output state checking unit for checking an output state.
A method of controlling a multi-copter including a plurality of driving units,
The control unit of the multi-copter grasps the state of connection between the driving units or between the driving unit and the management unit and transmits them to the management unit;
Setting parameters of the driving unit through the connection status; And
Determining whether each of the driving units is operating normally in the multi-copter, stopping the operation of the driving unit in which the abnormality occurs if it is determined that the normal operation is performed,
Wherein the parameter is a result of calculating a center of gravity and an equation of motion by determining a connection state between the driving unit and the management unit that is currently connected and an output state of the driving unit.

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