KR20200000563A - Unmanned aerial vehicle - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle, which is excellent in energy consumption efficiency and space efficiency for generating thrust and is easy for control when being operated in a narrow space. The unmanned aerial vehicle includes: a body formed by a frame; an upper rotor and a lower rotor mounted on a rotor hub positioned in the inner center of the body and respectively connected to a pair of driving motors to be rotated in an opposite direction of each other; and a plurality of control wings installed on a control wing hub positioned in the inner center of the body with a predetermined interval, respectively connected to the plurality of second driving motors so as to separately adjust an angle, and extended from the control wing hub to an outer circumference of the body.

Description

Unmanned aerial vehicle

The present invention relates to a very small unmanned aerial vehicle that is easy to operate in a narrow space.

Generally, unmanned vehicles are divided largely into fixed blades having fixed vanes that generate lift by forward thrust of the rotor or engine, rotorcrafts that gain both lift and steering by rotating the rotor blades, and these fixed blades and rotary It can be divided into a fusion of ripe.

Here, the rotorcraft is represented by a helicopter and a multicopter, the rotorcraft must effectively generate a force that overcomes the drag while lifting the fuselage only by the rotation of the rotor, as well as the reaction torque acting on the fuselage by the reaction according to the rotation of the rotor Must be offset to ensure a stable and safe flight.

In order to solve the reaction torque described above, in the case of the conventional single rotor type helicopter, the tail rotor is disposed, and in the case of the coaxial rotor (Coaxial Rotor) helicopter, the coaxial reversing rotor is disposed up and down, and the quadcopter In the case of the representative multicopter, a plurality of rotors are arranged in symmetrical directions so that the other pair of rotors rotates in the opposite direction with respect to the direction in which the pair of rotors rotates, and the reaction applied to the fuselage according to the rotation of the rotors. The torque was configured to cancel each other.

However, in order to offset the reaction torque applied to the fuselage, a single rotor type helicopter requires a gearbox and a connection system for the tail rotor, which adds complexity and weight, and the size of the aircraft to mount these components. There are problems that limit the development of ultra-small unmanned aerial vehicle because

In the case of coaxial rotor type helicopters, the structure is somewhat complicated, and in order to control the fuselage stably, such as controlling the angle of the rotating rotor blade or controlling the speed of the up and down rotor in order to control the fuselage direction. There are many difficulties.

On the other hand, since the multicopter is flying while controlling the speed of the plurality of rotors very frequently during operation, there is a problem that it is difficult to increase the flight time due to the high energy consumption of the motor. In addition, there is a problem in that the space efficiency for generating thrust is not high because there are many areas in which the rotor thrust cannot be generated in addition to the region where the rotor thrust is generated in the area of the vehicle of the multicopter.

(Patent Document 1) KR 1084051 B1

Accordingly, an object of the present invention is to provide an unmanned aerial vehicle having excellent energy consumption efficiency and space efficiency for generating thrust and easy to control when operating in a narrow space.

Unmanned aerial vehicle according to an embodiment of the present invention, the body formed of a frame;

An upper rotor and a lower rotor mounted on a rotor hub located at an inner center of the body and connected to a pair of first driving motors to rotate in opposite directions; And a plurality of control blade hubs disposed at an inner center of the body at predetermined intervals, each of which is connected to a plurality of second driving motors to adjust angles separately, and extends out of the outer circumference of the body from the control wing hub. It characterized in that it comprises a control wing.

As described above, according to the present invention, it is possible to provide a safer flight environment when operating in a narrow space, to improve the space efficiency for the generation of thrust, and to contribute to the size and weight of the unmanned aerial vehicle, and to reduce the production cost You get

In addition, according to the present invention, the reaction torque is canceled by the upper rotor and the lower rotor without a separate device and at the same time increase the thrust, greatly reducing the energy consumed by the drive motor compared to the multicopter and increase the flight time It can be, and the flight control is easy, there is an effect that can operate the unmanned aerial vehicle stably.

1 is a cross-sectional view of an unmanned aerial vehicle according to an embodiment of the present invention.
Figure 2 is a perspective view of the unmanned aerial vehicle shown with the protective cover omitted.
3 is a plan view of FIG. 2.
4 is a view showing modifications to the arrangement relationship of the upper rotor and the lower rotor.
FIG. 5 is a diagram illustrating other modified examples of the arrangement relationship between the upper rotor and the lower rotor.
6 is a perspective view of a protective cover.
7 is a schematic configuration diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a cross-sectional view of an unmanned aerial vehicle according to an embodiment of the present invention, Figure 2 is a perspective view of the unmanned aerial vehicle shown with the protective cover omitted, Figure 3 is a plan view of FIG.

As shown in these figures, an unmanned aerial vehicle according to an embodiment of the present invention, the body 10 formed of a frame; An upper rotor 21 and a lower rotor 22 mounted to a rotor hub 23 positioned at an inner center of the body and connected to a pair of first driving motors 24 and rotating in opposite directions, respectively; And installed in the control wing hub 33 located at the inner center of the body at regular intervals, each of which is connected to the plurality of second drive motor 34 can be individually adjusted angle, extending out of the outer circumference of the body from the control wing hub A plurality of control blades 30 are included.

The body 10 is a structure formed of only a plurality of frames so that the wind can pass smoothly during flight. For example, the body includes a plurality of ring frames 11, a plurality of connecting frames 12 for stacking these ring frames and connecting them spaced apart from each other, and extending from the outer periphery of each ring frame toward the center to be connected to each other. It may include a plurality of intermediate frames (13).

If a wall surface is provided between the ring frames 11 along the outer circumference of the body 10, the unmanned vehicle may be pushed against the side wind during flight, but the unmanned vehicle of the present invention is formed only of the frames without the wall surface. It is possible to prevent the phenomena due to the side winds.

In addition, the body 10 may enable the continuous flight of the unmanned aerial vehicle while protecting the unmanned aerial vehicle from damage even if it collides with an external structure or any object, thereby improving the safety of the unmanned aerial vehicle.

In one ring frame 11 of the body 10, a plurality of intermediate frames 13 may be connected to each other via a rotor hub 23 located at the inner center of the ring frame.

One first drive motor 24 is installed on the upper portion of the rotor hub 23, the upper rotor 21 for generating a thrust when the drive motor rotates may be connected to the motor shaft of the first drive motor of the upper portion. .

In addition, the other first driving motor 24 is installed at the lower portion of the rotor hub 23, the lower rotor 22 for generating a thrust when the driving motor is rotated on the motor shaft of the first driving motor in the lower portion Can be connected.

The upper rotor 21 and the lower rotor 22 may each have at least one pair of rotor blades 20.

In this case, the thrust generated when the upper rotor 21 driven by the upper first driving motor 24 and the lower rotor 22 driven by the lower first driving motor 23 are all rotated vertically. By acting downward, the rotational direction of the upper rotor and the lower rotor is set to be opposite to each other, that is, by configuring the up and down inverting rotor so that reaction torque does not occur in the body 10, furthermore unmanned vehicle.

In addition, the rotation by the up-down inversion rotor in this way can be obtained about 85% improved thrust compared to the rotation by a single rotor.

For example, in a multicopter vehicle such as a quadcopter, if the area of the imaginary circle whose radius is the maximum length that one end of a rotor blade can extend from the center of the aircraft is called an aircraft area, In the area, there are many areas in which the rotor thrust cannot be generated in addition to the region in which the rotor thrust is generated, and the space efficiency for generating the thrust is not high.

In the unmanned aerial vehicle according to the embodiment of the present invention, by applying the stacked upside down rotor, the space efficiency for generating thrust reaches almost 100%.

As a result, the unmanned aerial vehicle according to the embodiment of the present invention increases the space efficiency for generating a thrust than an aircraft such as a multicopter, and in addition, solves the reaction torque of the single rotor and at the same time improves the thrust compared to the single rotor. It will have the advantage of improving up to%.

On the other hand, Figure 4 is a view showing a modification of the arrangement relationship between the upper rotor and the lower rotor, the arrangement of the upper rotor 21 and the lower rotor 22 can be changed in various ways, as shown in the figures It is not necessarily limited to the examples given.

As illustrated in (a) and (b) of FIG. 4, the upper rotor 21 and the lower rotor 22 may be arranged in series. In addition, as shown in (c) of FIG. 4, the upper rotor 21 and the lower rotor 22 may be disposed to face each other.

FIG. 5 is a diagram illustrating other modified examples of the arrangement relationship between the upper rotor and the lower rotor. 5A and 5B show examples in which the upper rotor 21 and the lower rotor 22 are coaxially inverted.

In FIG. 5A, one first driving motor 24a is disposed on the rotor hub 23, and the lower rotor 22 is fixed and rotated to the hollow motor shaft of the first driving motor. In addition, another first driving motor 24b is installed at the rotor hub 23 under the lower driving first driving motor 24a, and the motor shaft of the lower first driving motor 24b is lowered. It may be connected to the upper rotor 21 by extending upward through the motor shaft of the first drive motor 24a for the rotor.

In FIG. 5B, one first driving motor 24b is installed below the rotor hub 23, and the upper rotor 21 is fixed to the hollow motor shaft of the first driving motor to rotate. In addition, another first driving motor 24a is installed on the rotor hub 23 above the first driving motor 24b for the upper rotor, and the motor shaft of the upper first driving motor 24a is the upper rotor. It may be connected to the lower rotor 22 by extending downward through the motor shaft of the first driving motor 24b.

Referring back to FIGS. 1 to 3, in the lower ring frame 11 of the body 10, a plurality of intermediate frames 13 are via the control wing hub 33 located at the inner center of the ring frame. Can be connected to each other.

The control blade hub 33 is positioned below the rotor hub 23, and may have a plurality of second driving motors 34 formed therein while being formed in a substantially cylindrical shape or a box shape.

The plurality of control blades 30 are each provided with a rotation shaft 31, from which the wing surface can be developed. These control blades may be arranged around the control blade hub 33 at intervals of a predetermined angle. The rotation axis of each control blade may be connected to the motor shaft of the corresponding second drive motor 34 in the control blade hub. As a result, the control blade can be rotated at a predetermined angle about its axis of rotation by driving the second drive motor, so that the direction and angle can be adjusted.

2 and 3 show an example in which four control blades 30 are divided in a cross shape at intervals of 90 degrees and are arranged around the control blade hub 33. In this case, the air flow (thrust) generated vertically downward by the rotation of the upper rotor 21 and the lower rotor 22 can be dispersed by the four control wings.

The plurality of control blades 30 divides the lower space of the unmanned aerial vehicle into a plurality of areas in the area of the control blade length. As a result, the air flow (thrust) flowing downward of the unmanned aerial vehicle by the rotation of the upside down rotor is distributed while passing through the plurality of spaces divided by the plurality of control wings.

At this time, by changing the direction and the angle of the control wing 30, the amount and direction of the air flows dispersed in a plurality of spaces can be adjusted, so that the user can easily control the flight direction of the unmanned vehicle in the desired direction during flight do.

In addition, a connection hole 32 (see FIG. 1) formed in the middle of each control blade 30 adjacent to the rotation shaft 31 without interference with the rotation shaft is formed, and the intermediate frame 13 connected to the bottom ring frame 11. In the corresponding position of the support ring 35 may be fixedly installed. By inserting the support ring into the connection hole, the rotating shaft can penetrate the support ring.

By this configuration, one end of the rotating shaft 31 of each control blade 30 is connected to the motor shaft of the second drive motor 34, and the other side of the rotating shaft is laid by the support ring 35. . Accordingly. Each control blade is rotated by the motor shaft of the second drive motor and is supported by the intermediate frame 13 through the support ring, so that the vibration of the control blade, noise or damage due to vibration, and the like can be prevented.

A bearing or the like may be further provided inside the support ring 35 for smooth rotation of the control blade 30.

On the other hand, in order to fly the unmanned aerial vehicle at high speed to a long distance, it is preferable to change the thrust generation direction of the unmanned aerial vehicle from the vertical direction to the horizontal direction.

To this end, in the unmanned aerial vehicle according to the exemplary embodiment of the present invention, the plurality of control wings 30 extend from the control wing hub 33 to the outer periphery of the body 10, respectively. As such, since the extended control blade uses both the wind inside and outside the body, posture control during flight can be made much easier. In addition, during the high-speed flight, the control wing protruding to the outside of the body can serve as a wing of the fixed wing, there is an advantage that can be more efficient flight.

Figure 6 is a perspective view of the protective cover, as shown in the unmanned aerial vehicle according to an embodiment of the present invention, the damage of the unmanned aerial vehicle when colliding with an external structure or any object due to the occurrence of an unintended situation during the flight It characterized in that it further comprises a protective cover 40 formed in the frame to minimize the impact from the side wind while minimizing the.

The protective cover 40 is formed to cover the upper portion of the body 10, the portion of the protective cover that is in contact with the body is welded or bonded to the body, or coupled by any fixing means such as bolts and nuts to protect The cover may be integral with the body.

The protective cover 40 serves to protect the components mounted in the body 10 and to minimize damage that may occur between the surrounding object and the unmanned aerial vehicle during a collision, and at the same time, the air freely into and out of the protective cover during the flight. By allowing it to flow, it contributes to the weight reduction of the unmanned aerial vehicle and prevents the attitude of the unmanned aerial vehicle from becoming unstable from the influence of crosswind.

In addition, the unmanned aerial vehicle according to an embodiment of the present invention, a plurality of installed down from the outside of the body to protect the control wing 30 and the body 10 from impact with the ground during vertical takeoff and landing and ensure a stable takeoff and landing Characterized in that it further comprises a support leg (50).

In addition, the side of the support leg 50 may be provided with a storage box 51 for installing the necessary components, such as a battery. However, the present invention is not limited thereto, and a necessary component such as a battery may be directly attached to the support leg.

7 is a schematic diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention.

The power supply unit 61 includes a battery and a power distribution circuit, and supplies power of a capacity required for components of an unmanned aerial vehicle that requires electric power such as the first driving motor 24 and the second driving motor 34. do.

When the flight control computer 62 drives the rotor driver 63 to rotate the upper rotor 21 and the lower rotor 22 respectively connected to the first driving motor 24 to generate a thrust to generate a thrust. Takes off from the ground and starts flying.

In addition, the flight control computer 62 drives the plurality of second drive motors 34 through the control blade driver 64, thereby adjusting the direction and angle of the control wing 30 connected to the second drive motor, The position of the unmanned aerial vehicle can be precisely controlled.

The flight control computer 62 may obtain the position information, the attitude information, the direction information, the speed information, etc. of the unmanned aerial vehicle from the navigation sensor module 65 during the operation of the unmanned aerial vehicle and use the same in the automatic flight control program.

The communication module 66 allows the unmanned aerial vehicle to transmit and receive a control signal or information with the remote ground control device 70. The unmanned aerial vehicle of the present invention is remotely controlled from the ground control device through a communication module, and can be operated in the automatic flight mode as well as the manual flight mode.

In particular, the unmanned aerial vehicle according to an embodiment of the present invention has a relatively simple thrust generation and movement mechanism of the aircraft, so when flying in a narrow space, even if it does not receive information from the navigation sensor module 65, multicopter It is possible to maintain the flight altitude more stably compared to the aircraft, such as, it is possible to change the direction of the unmanned aircraft while operating in the manual flight mode or automatic flight mode.

In addition, the unmanned aerial vehicle according to the exemplary embodiment of the present invention collects image data and distance data of surrounding objects while flying and utilizes the image sensor 67 such as a camera module in order to utilize the unmanned aerial vehicle. It may further include a distance sensor 68, such as an ultrasonic sensor.

As schematically illustrated in FIG. 1, the image sensor 67 and the distance sensor 68 may be mounted on at least one portion of the side, top, and bottom of the body 10, or the protective cover 40, respectively. .

More specifically, the image sensor 67 is installed on the ring frame 11 or the connecting frame 12 of the body 10, the lower portion of the control wing hub 33, the upper portion of the protective cover 40, etc. It is good to make it possible to clearly capture the external environment.

Similarly, the distance sensor 39 is installed on the ring frame 11 or the connection frame 12 of the body 10, the lower part of the control wing hub 33, the upper part of the protective cover 40, and the like. It is desirable to be able to accurately measure the distance to the surrounding object.

When installing the image sensor 67 and the distance sensor 68, for example, the ring frame 11 or the connecting frame 12 of the body 10, the lower portion of the control wing hub 33, the protective cover 40 of the A hole (window) is formed in a frame or the like, respectively, and the image sensor 67 or the distance sensor 68 can be provided in the hole (window).

These image sensors 67 and distance sensors 68 may be connected to the flight control computer 62 by wired communication.

Image data obtained from the image sensor 67 may be stored in the flight control computer 62 or transmitted in real time to the ground control device 70 through the communication module 66. In addition, by utilizing the image and landmark information acquired from the mounted image sensor 67, the unmanned aerial vehicle of the present invention can be operated in the manual flight mode or automatic flight mode.

In addition, the distance data received from the distance sensor 68 may be utilized for obstacle detection and avoidance functions, autonomous flight functions, and the like of the unmanned aerial vehicle.

Hereinafter will be briefly described the flight direction control of the unmanned aerial vehicle according to an embodiment of the present invention.

In the state shown in FIG. 1, when the unmanned aerial vehicle of the present invention generates a constant thrust, the unmanned aerial vehicle takes off from the ground and starts to fly. When the angle of all the control blades 30 is maintained at 0 degrees perpendicular to the ground during the flight, the unmanned vehicle can fly vertically upward.

The air flow (thrust) generated by the rotation of the upper rotor 21 and the lower rotor 22 having the same rotational speed and the opposite rotational direction passes through the control blades 30 disposed vertically downward of the upper rotor and the lower rotor. While being distributed to a plurality of spaces divided by the control blades.

While the unmanned aerial vehicle is flying while generating a constant thrust, by tilting the angle of the control wing 30 in an arbitrary direction, the flight direction of the unmanned aerial vehicle is controlled to enable precise flight. In particular, a plurality of control blades are connected to the second drive motor 34, respectively, so that individual angle control is possible. When controlling a flight direction by combining a plurality of control wings, when the control angle is reduced, the horizontal direction moves. Very precise flight control for unmanned aerial vehicles is also possible.

For example, in FIG. 3, the control blades are arranged at symmetrical positions with four control blades 30 at an interval of 90 degrees. Thrust generated by the rotation of the upper rotor 21 and the lower rotor 22 is distributed to four spaces due to the four control wings. By controlling to rotate in a clockwise or counterclockwise direction relative to when the angle of each control blade is 0 degrees, the flight direction of the unmanned aerial vehicle can be controlled.

In a state where a constant thrust is generated by the rotation of the upper rotor 21 and the lower rotor 22 of the unmanned aerial vehicle, the control blades 30 of FIG. While deflecting the control blades shown below counterclockwise and deflecting the control wings shown above in FIG. 3 clockwise, the angle of the control blades shown at left and right and symmetrically in FIG. 3 is zero degrees. When maintained, the thrust increases toward the areas corresponding to the second and third quadrants, so that the unmanned aerial vehicle moves toward the right side (first and fourth quadrants) of FIG. 3.

In addition, in a state where a constant thrust is generated by the rotation of the upper rotor 21 and the lower rotor 22 of the unmanned aerial vehicle, the control blades 30 shown in the up and down and symmetrical position in FIG. While deflecting the control blades shown below 3 in a clockwise direction and deflecting the control blades shown in FIG. 3 counterclockwise, the angle of the control wings shown in FIG. If it is maintained at 0 degree, the thrust is increased toward the areas corresponding to the first and fourth quadrants, so that the unmanned aerial vehicle moves toward the left side (the second quadrant and the third quadrant) of FIG. 3.

Meanwhile, in a state where a constant thrust is generated by the rotation of the upper rotor 21 and the lower rotor 22 of the unmanned aerial vehicle and is flying, among the control wings 30 shown in left and right sides in FIG. The angle of the control blades in the position shown upwards and downwards and symmetrically in FIG. 3 while simultaneously deflecting the control blades shown on the left side of the clockwise direction and the control blades shown on the right side of FIG. 3 counterclockwise. If 0 is maintained at 0 degrees, the thrust increases toward the areas corresponding to the third and fourth quadrants, so that the unmanned aerial vehicle moves upward (first and second quadrants) in FIG. 3.

In addition, in a state in which a constant thrust is generated by the rotation of the upper rotor 21 and the lower rotor 22 of the unmanned aerial vehicle, the control blades 30 shown in left and right in FIG. The angle of the control blades in the position shown upwards and downwards and symmetrically in FIG. 3 while simultaneously deflecting the control blade shown in the left side of 3 counterclockwise and in the clockwise direction in the control blade shown in the right side of FIG. If 0 is maintained at 0 degrees, the thrust is increased toward the areas corresponding to the first and second quadrants, so that the unmanned aerial vehicle moves downward (third and fourth quadrants) in FIG.

In addition, in a state where a constant thrust is generated by the rotation of the upper rotor 21 and the lower rotor 22 of the unmanned aerial vehicle, the unmanned aerial vehicle can be rotated by controlling each control blade 30 to be deflected in a specific direction. have. That is, if all control blades are set to be deflected clockwise, the unmanned aircraft rotates clockwise while maintaining its position. On the contrary, if all control blades are set to be deflected counterclockwise, the unmanned aircraft is kept counterclockwise while being in place. Rotate

In order to fly the unmanned aerial vehicle of the present invention at high speed to a long distance, the thrust direction of the unmanned aerial vehicle should be changed from the vertical direction to the horizontal direction. To this end, in the unmanned aerial vehicle according to an embodiment of the present invention, a plurality of control blades 30 extend from the control blade hub 33 to the outer periphery of the body 10, respectively, the extended control blades and the inside of the body Since all the outside wind is used, the posture control during the flight can be made much easier. In addition, during the high-speed flight, the control blade protruding to the outside of the body can serve as a wing of the fixed wing, it is possible to fly more efficiently.

Accordingly, the unmanned aerial vehicle of the present invention can easily perform in-flight flight and direction change by dispersing and adjusting the vertical thrust generated by the rotation of a pair of upside down rotors while passing through a space formed by a plurality of control wings. do.

In particular, the unmanned aerial vehicle of the present invention has better space efficiency for generating thrust than unmanned aerial vehicles such as the conventional multicopter, and when the in-flight flight and horizontal movement are required, the rotational speed of the rotor is almost unchanged and the control wing is simply changed. Since only the direction and angle of the control need be controlled, it is also advantageous in terms of energy efficiency of the vehicle.

Furthermore, the unmanned aerial vehicle of the present invention includes a protective cover that covers a part of the body, thereby minimizing damage when a collision situation with a surrounding object occurs.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the specification and the drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: body 20: rotor blades
21: upper rotor 22: lower rotor
23: rotor hub 24: first drive motor
30: control wing 33: control wing hub
34: second drive motor 40: protective cover
50: support leg 51: holder
61: power supply 62: flight control computer
63: rotor driver 64: control blade driver
65: navigation sensor module 66: communication module
67: image sensor 68: distance sensor
70: ground control

Claims (9)

A body formed of a frame;
An upper rotor and a lower rotor mounted on a rotor hub located at an inner center of the body and connected to a pair of first driving motors to rotate in opposite directions; And
Installed at regular intervals in the control blade hub located in the inner center of the body, respectively connected to a plurality of second drive motors to adjust the angle individually, a plurality of controls extending out of the outer periphery of the body from the control blade hub wing
Unmanned vehicle comprising a. The method of claim 1,
The body,
Plural ring frames,
A plurality of connecting frames for stacking the ring frames and connecting them spaced apart;
A plurality of intermediate frames extending from the outer periphery of each ring frame toward the center and connected to each other
Unmanned aerial vehicle comprising a. The method of claim 2,
In one ring frame, the plurality of intermediate frames are connected to each other via the rotor hub located at the inner center of the ring frame,
In the bottom ring frame, the plurality of intermediate frames are connected to each other via the control blade hub located in the inner center of the ring frame. The method of claim 3,
The plurality of control blades each has a rotation axis,
The one end of the rotary shaft is connected to the motor shaft of the second drive motor, the other side of the rotary shaft, characterized in that it is laid over by a support ring fixed to the intermediate frame of the bottom ring frame. The method of claim 1,
And the upper rotor and the lower rotor are coaxially inverted. The method of claim 1,
And a protective cover mounted to the body to cover at least an upper portion of the body and formed of a frame. The method of claim 1,
Unmanned vehicle further comprises a plurality of support legs installed downward from the outside of the body. The method of claim 1,
A power supply unit including a battery and a power distribution circuit;
A rotor driver connected to the power supply unit to rotate the upper rotor and the lower rotor respectively connected to the first driving motor, and drive the second driving motor through a control blade driver to control the direction of the control blade. A flight control computer for adjusting the angle; And
Communication module connected to the flight control computer, for transmitting and receiving to the remote ground control device
Unmanned aerial vehicle further comprising a. The method of claim 8,
At least one of an image sensor for obtaining image data of a surrounding object including a landmark, or a distance sensor for obtaining distance data with a surrounding object is mounted on the body or a protective cover and connected to the flight control computer Drone.

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