KR20200073167A - Tracting vehicle using drone capable of running under water - Google Patents

Abstract

The present invention relates to a traction device using a drone capable of underwater operation and, more specifically, to a traction device using a drone, which may be operated not only in the air but also underwater. The traction device using a drone capable of underwater operation of the present invention may further increase the utilization of the drone by providing a variety of traction environments to a user since the drone may tract a vehicle not only in the air but also underwater. The traction device using the drone capable of underwater operation of the present invention may rotate the drone horizontally in the air and vertically in the water by individually controlling a plurality of propellers through an ascending and descending operation unit, so the traction device may easily switch between air and underwater operation in a simple method.

Description

Traction vehicle using drone capable of running under water

The present invention relates to a towing device using a drone capable of operating underwater, and relates to a towing device using a drone capable of operating underwater as well as in the air.

In general, a drone (Drone) means an unmanned aerial vehicle flying by induction of radio waves.

The drone was first developed for military use and developed from a method of dropping bombs through a hot air balloon to an unmanned bomber through wireless control.It is currently used for reconnaissance, surveillance, and anti-submarine attacks, and depending on the purpose, the target drone , Reconnaissance drone, surveillance drone, multi-roles drone, etc.

In recent years, drones have been actively developed from large fixed-wing drones for military use to ultra-small drones for medical use as they are used in various civilian fields such as aerial photography, transportation, disaster prevention, and security in addition to military applications.

Drones are divided into rotary wing drones, fixed wing drones, and tilt rotors depending on how they operate.

A fixed-wing drone is a flying aircraft that gains lift with the power of an engine or propeller while its wings are fixed to the fuselage, and the tilt rotor rotates the engine and propellers at both ends of the wing up and down to allow vertical or high-speed forward flight. Fixed-wing drones and tilt rotors are mainly used for military purposes rather than commercial purposes, and have advantages such as long flight, high speed, and high altitude flight.

Recently, the hobby activities of individuals who fly-control drones are increasing, and as the usage of drones increases for the purpose of transportation and video shooting in the private field, as interest in drones increases, there is a plan to further increase the utilization of rotary wing drones. Is required.

In the Republic of Korea Patent Publication No. 10-2016-0129788, a bike equipped with a wired drone that can effectively advertise a user's product or service by inducing the surrounding eye is posted.

However, as a hobby activity that an individual can still use a drone, there are limited disadvantages of manipulating a drone's flight or shooting a video using a drone.

In view of this, as disclosed in Korean Patent Registration No. 101796555, the applicant has developed a towing device using drones in which fields in which individuals can utilize drones can be expanded. And, as described above, the traction device using the drone has been continuously researched and developed to follow-up applications.

Republic of Korea Patent Publication No. 10-2016-0129788: bike equipped with a wired drone

The present invention is to solve the above problems, to provide a towing apparatus using a drone capable of underwater operation capable of towing the user as the drone is moved by the control of the user who controls the drone in the air as well as underwater. There is a purpose.

Towing apparatus using a drone capable of underwater operation of the present invention for achieving the above object is at least one drone capable of propulsion in the air and underwater by lift and thrust; A control unit that is gripped by a user and controls the movement direction, speed, and driving of the propeller mounted on the drone according to the user's manipulation and is steerable in the water; And a towing unit connecting the drone and the steering unit so that the steering unit is towed according to the moving direction of the drone.

The drone is characterized in that the propeller in a horizontal state in the air is rotated relative to the traction unit vertically in the water so as to generate propulsion force in the water by manipulation of the control unit.

The towing apparatus using a drone capable of underwater operation of the present invention further includes a carrier that floats on the water and is movable along the control unit to which the user holding the control unit rides and is towed by the drone.

The control unit increases the number of revolutions of the propeller adjacent to the carrier among the plurality of propellers arranged in the front-rear direction so that the drone generates underwater force, or the drone rotates the drone vertically in water, The drone is rotated horizontally for aerial flight in water, and the drone is rotated horizontally by increasing the number of rotations of the propellers located below the plurality of propellers arranged vertically in the vertical state. It is preferable to have a rising and falling operation portion.

In addition, the control unit may further include a reverse rotation operation unit that reverses the rotational direction of the propeller so that the drone flying in the air enters into the water.

The drone has a depth measuring unit for measuring the depth of field, and the control unit displays a value displayed by the depth measuring unit so that a user can move a position in the underwater of the drone by manipulating an ascending and descending operation unit. It is preferably provided.

The ascending and descending operation part is a plurality of when the ascending and descending operation lever for controlling the rotational speed of the plurality of propellers to be differentially controlled or the same according to the position, and when the drone is rotated vertically, The propellers located at the lower side of the propellers are rotated higher than the propellers located at the upper side to induce the drone to be rotated upward to rise, and when the ascending and descending operation lever moves to the other side, the propellers located at the upper side of the propellers The propellers are rotated downwardly to increase the rotational speed of the propellers located at the lower side to induce the drone to descend downwardly, and when the ascending and descending operation lever is positioned at the center, the rotational speed of the propellers is increased or decreased equally. It is desirable to have an operation dial.

Preferably, the drone is provided with a rotation detection sensor that senses an angle rotated on the water surface in the water.

The towing unit includes at least one transmission/reception cable connecting the drone and the control unit, and the transmission/reception cable, so that an operation signal according to the manipulation of the control unit of the user is transmitted to the drone. It is coupled and the other side is provided with a first drone connector connected to the drone, the control unit is hinged to the end of the first drone connector connected to the first drone connector is rotated in the vertical direction and can be rotated left and right It can be provided with a rotating shaft that is mounted.

The towing apparatus using a drone capable of underwater operation of the present invention further comprises a supporting member to which the steering unit and the carrier are interconnected such that the steering unit is positioned above or above the carrier, and the steering unit is rotatably coupled. And, the support member is rotatably supporting the rotating shaft protruding downward with respect to the lower surface of the control unit so that the control unit is positioned upward with respect to the carrier, the lower portion is coupled to the carrier, the control unit is a user Flight of the drone by a rotation angle sensor that detects a rotation angle displacement rotated with respect to the rotation shaft or the support member by an external force applied by the controller, and the rotation angle of the steering unit displaced by receiving a signal detected by the rotation angle sensor. It may be provided with a control unit for controlling the direction.

Alternatively, the traction unit interconnects the steering unit and the carrier so that the steering unit is positioned upward with respect to the carrier, and a supporting member to which the steering unit is rotatably coupled, and a predetermined length at one side of the steering unit support member A second drone connector connected to the drone and extended to extend to the second drone connector through the support member from the control unit so as to transmit an operation signal according to the manipulation of the user's control unit to the drone. At least one transmission/reception cable formed may be provided.

The drone is mounted so that the propeller facing vertically is rotatable in the vertical direction relative to the body part of the drone for underwater operation, and the control unit rotates the propeller facing upward relative to the body part of the drone. A propeller rotation operation unit may be further provided.

The propeller is rotatably mounted with respect to the drive shaft to allow pitch adjustment with respect to a drive shaft for rotating the propeller for adjusting the inclination of the drone, the drone having a propeller rotating motor for rotating the propeller, and a propeller of the propeller. A pitch adjusting motor for adjusting the pitch of the propeller with respect to the drive shaft is provided, and the control unit may further include a pitch adjusting operation unit for adjusting the pitch of the propeller.

The towing device using a drone capable of underwater operation of the present invention can further increase the utilization of the drone by providing various towing environments to the user since the drone can tow a vehicle in the air as well as in the air.

The traction device using a drone capable of underwater operation of the present invention can individually control a plurality of propellers through an ascending and descending operation unit to rotate the drone horizontally in the air and vertically in the water, so it is easy to switch between air and underwater operation in a simple manner. There is an advantage.

1 is a perspective view of a towing apparatus using a drone capable of underwater operation according to a first embodiment of the present invention,
Figure 2 is a side view of the towing device using a drone capable of underwater operation of Figure 1,
Figure 3 is an enlarged perspective view of the control unit of Figure 1,
Figure 4 is a block diagram of a towing device using a drone capable of underwater operation of Figure 1,
5 is a perspective view of a towing apparatus using a drone capable of underwater operation according to a second embodiment of the present invention,
6 is a perspective view of a towing apparatus using a drone capable of underwater operation according to a third embodiment of the present invention,
7 is a perspective view of a towing apparatus using a drone capable of underwater operation according to a fourth embodiment of the present invention,
8 is an enlarged perspective view of a steering unit of a traction device using a drone capable of underwater operation according to a fifth embodiment of the present invention,
9 is a perspective view of a towing apparatus using a drone capable of underwater operation according to a sixth embodiment of the present invention,
10 is a side view of a traction device using a drone capable of underwater operation according to a seventh embodiment of the present invention,
11 is a perspective view of a towing apparatus using a drone capable of underwater operation according to an eighth embodiment of the present invention.

Hereinafter, a towing apparatus using a drone capable of underwater operation according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 shows a towing device 1 using a drone capable of underwater operation according to a first embodiment of the present invention.

The traction device 1 is a device for moving a manipulator (hereinafter referred to as a user) that controls the drone in the direction of movement of the drone using the driving force of the drone.

The traction device 1 is a control unit that controls at least one drone 10 and a driving direction, speed, and propellers 10a, 10b, and 10c mounted on the drone according to the user's operation. (20), the control unit 20, the drone 10 and the towing unit 40 connecting the drone 10 and the control unit 20 to be towed according to the driving direction of the drone 10, and the control unit 20 is gripped It is equipped with a carrier 50 that the user can ride along and move along the steering unit 20 that is towed by the drone 10.

A general drone is a vehicle that does not ride, but flies by induction of radio waves. The drone 10 applied to the traction device using the drone capable of underwater operation according to the first embodiment of the present invention can individually control the wings of the propeller, and is not limited if it can be driven underwater. In addition to the general rotorcraft drone, the drone 10 is capable of adjusting the inclination of the drive shaft (not shown) for propeller rotation or the propeller on a horizontal line, so that a variable pitch-propeller capable of adjusting the travel distance per one rotation of the propeller A variable pitch drone equipped with or a tilt-rotor drone that can be rotated so that the propeller is directed in the vertical direction or the horizontal direction can be applied, and a ducted fan structure is provided to increase the starting efficiency in water. It is preferred that the drone is applied.

Variable pitch drones generally have a propeller rotating motor (not shown) equipped with a drive shaft (not shown) for rotating the propellers corresponding to the number of propellers so as to rotate a plurality of propellers respectively and to adjust the pitch of each propeller. A pitch adjustment motor (not shown) for adjusting the pitch of the may be applied. Alternatively, the variable pitch drone may be applied with a structure in which a single propeller rotating motor capable of simultaneously rotating a plurality of propellers and a plurality of pitch adjusting motors provided to correspond to the number of propellers to adjust the pitch of each propeller may be applied. When driving a plurality of propellers through a single propeller rotating motor, it is preferable that a reducer (not shown) for gear shifting is mounted to reduce load.

The drone 10 has a waterproof function so that it can be propulsed in the water as well as flying in the air by lift and thrust, and receives an operation signal generated by the control unit 20 according to a user's operation, and the speed and altitude of the drone , A communication unit (12) for transmitting information such as the flight direction to the control unit 20 by wire or wireless, and a first control unit (13) for controlling the flight of the drone according to the operation signal transmitted through the communication unit (12) , It is connected to the first control unit 13 and includes a first power supply unit 11 for supplying power to the drone, and a first rotation angle sensor 17. The first power supply unit 11 is a rechargeable battery is applied. The first power supply 11 may additionally be applied with an engine-generator-battery hybrid power source to which a rechargeable battery and a fuel engine, which are currently being researched as a drone power source, in order to improve a drone start-up time, or a hydrogen fuel cell can be mounted. will be.

In addition, the drone 10 is preferably provided with a first ultrasonic transmission and reception unit 61 for communication between the control unit underwater.

The first ultrasonic transmission/reception unit 61 is not limited as long as it can transmit/receive signals between the drone 10 and the control unit in water. For example, the underwater ultrasonic transmission/reception structure disclosed in Korean Patent Registration No. 20-0224033 or Korean registration The ultrasonic transmission/reception structure disclosed in Patent Publication No. 10-0691516 can be applied.

And, the drone 10 is provided with a depth measurement unit 19 capable of detecting the depth of the drone when positioned underwater on one side, and a front obstacle detection unit (not shown) capable of detecting an obstacle ahead.

The depth measurement unit 19 is connected to the second control unit 34 of the control unit 20 to be described later through the first control unit 13. The depth measuring unit 19 may be a general depth gauge, but a high-performance pressure sensor such as a MS5803-14BA pressure sensor capable of measuring altitude and temperature as well as pressure and depth may also be applied. In this case, the first control unit 13 is preferably applied to accurately measure the height in the water of the drone 10 in consideration of the change in water pressure due to the flow rate according to the speed of the drone 10.

The front obstacle detection unit is mounted on the side of the direction in which the drone is moved, and a sonar capable of detecting an obstacle on the front side of the direction of movement is applied.

The drone according to the present invention is not limited to the illustrated one, and 2 to 16 propeller vehicles may be applied. In addition, the towing apparatus using a drone according to the present invention applies a single drone, but lift and thrust may vary depending on the size, number and rotational speed of the drone, so that the drone required to move the user together with the carrier The number may vary. As a structure for connecting a plurality of drones, the structure published in Korean Patent Registration No. 101796555 may be applied.

On the other hand, the drone 10 is not shown in the first hinge coupling portion 18 connected to the first ring 41 of the traction unit 40, but the drone 10 is in the horizontal state to generate propulsion in the water. In order to detect the rotated angle, a rotation detection sensor 17 is installed. The rotation detection sensor 17 may be a rotation angle sensor for detecting the rotation angle, or a tilt sensor based on the gravity value may be applied. It is also possible to calculate the inclined state through a gyro sensor (not shown) provided in the drone 10, but a rotation detection sensor capable of measuring the angle at which the drone 10 is rotated relative to the horizontal state in the water in the drone 10. It is preferable that (17) is provided separately.

The control unit 20 is a part that is gripped by a user and an operation signal for controlling a flight condition such as a drone's direction, altitude and speed is generated by the user's operation.

The steering unit 20 is formed between the left and right handle portions 21 and 22, and the left handle portion 21 and the right handle portion 22, respectively, to be gripped by a user with both hands, and the towing unit 40 And a center portion 23 connected to the left handle portion 21 and the center portion 23, connected to the second control portion 34, and a descending operation portion 24 for manipulating the rising and falling of the drone, It is installed between the left and right rotation operation portions 25 and the center portion 23 and the right handle portion 22 which are installed adjacent to the ascending and descending operation portion 24 while controlling the left and right rotation of the drone 10, and the drone 10 Forward and backward movement control unit 26 for controlling the forward and backward movement, and forward and backward movement control unit 26 is installed adjacent to the left and right movement control unit 27 to control the left and right movement of the drone 10, and the underwater flight of the drone 10 For this, a reverse rotation operation unit 38a is provided to switch the rotational direction of the propeller 10 so that the drone 10 enters into the water.

The operation signal of the control unit 20 is generated by the user operating the ascending and descending operation portion 24, the left and right rotation operation portion 25, the forward and backward operation operation portion 26, the left and right movement operation portion 27, and the reverse rotation operation portion 38a. Says the signal.

And, the control unit 20 controls the power supply of the second power supply unit 56 of the carrier body 50 according to the operation of the power switch 38b, the rising and falling operation unit 24, the left and right rotation operation unit 25, before and after Turn on the control unit 34 and the second control unit 34 that receives the operation signals according to the user's operation of the true operation unit 26, the left and right movement operation units 27, and the reverse rotation operation unit 38a and transmits them to the wired communication module (a). (On) / Off (Off) is connected to the power switch 38b and the second control unit 34, when the transmission and reception of the control signal of the control unit 20 through the towing unit 40, the communication unit of the drone ( 12) is provided with a wireless communication module 35 capable of transmitting and receiving.

In addition, the control unit 20 is provided with a second ultrasonic transmission and reception unit 63 for transmission and reception with the first ultrasonic transmission and reception unit 61 of the drone 10 located in the water. The ultrasonic transmission/reception structure applied to the first ultrasonic transmission/reception unit 61 may be applied to the second ultrasonic transmission/reception unit 63.

When the drone 10 is located underwater, the operation signal of the control unit 20 is transmitted to the first ultrasound transmission and reception unit 61 of the drone 10 through the second ultrasound transmission and reception unit 63 of the control unit 20. Upon receipt, the drone is controlled.

The second ultrasonic transmission/reception unit 63 is a general ultrasonic receiving device that is responsible for transmitting and receiving ultrasonic waves. It is made of quartz, tourmaline or ceramic (piezoelectric crystal), and converts electrical waves into physical waves or vice versa. An electric signal is applied to a transducer (not shown) mounted therein by a piezoelectric effect that converts it into energy, and ultrasonic waves are generated and transmitted to the drone 10.

In addition, the second ultrasonic transmission/reception unit 63 of the control unit receives each sensing information or image information of the drone from the first ultrasonic transmission/reception unit 61, detects the electrical signal generated by the converter (not shown), and then generates electricity. The information received according to the signal is displayed on the display unit 39 provided in the remote controller.

More specifically, the second ultrasonic transmission/reception unit 63 modulates the operation signal generated by the operation of the user's control unit 20 into a frequency signal of a band preset in the second control unit 34, and modulates the modulation. The converted signal is converted into an ultrasonic signal to transmit ultrasonic waves. The first ultrasonic transmission/reception unit 61 converts ultrasonic waves received through a medium (underwater) into a frequency signal, and the first control unit 13 processes the converted frequency signal as a steering signal to transmit a transmission (ESC) (not shown) Through the drone 10 controls the output of each motor.

On the other hand, unlike the illustrated example, the ascending and descending operation portion 24 and the left and right rotation operation portion 25 are located between the right handle portion 22 and the center portion 23, the forward and backward operation portion 26 and the left and right movement operation portion ( 27) may be applied to be positioned between the left handle portion 21 and the center portion 23.

The control unit 120 according to the present invention, as shown in Figure 3, the left handle portion 21 and the right handle portion 22 with the user holding the left and right hand portions 22, the thumb using each control unit (24) ,25,26,27), and can be pulled by the drone 10 to allow the user to operate each of the operation units 24,25,26,27 even when moving.

The ascending and descending operation unit 24 is provided with an ascending and descending operation lever 24a that controls the rotational speed of the plurality of propellers 10a, 10b, and 10c to be differentially controlled or the rotational speeds of the plurality of propellers 10a, 10b, and 10c are the same. , Equipped with a rotation speed control dial (24b) to increase or decrease the rotation speed of a plurality of propellers (10a, 10b, 10c) are set to be different from each other depending on the position of the rising and falling operation lever (24a) do.

The ascending and descending operation lever 24a controls the rotational speed of the plurality of propellers 10a, 10b, and 10c to be set equally when located at the center side, and among the plurality of propellers 10a, 10b, and 10c when positioned on the left side. The propeller 10b controls the rotational speed to be set higher than the other propellers 10a and 10c, and the propeller 10a among the plurality of propellers 10a, 10b and 10c when positioned on the right side has different propellers 10b and 10c. ) So that the rotation speed is set higher.

The rotation speed control dial 24b is formed in the form of a knob dial that is adjustable in stages to adjust the flight altitude or depth of the drone 10 and maintains a constant height. The rotation speed control dial (24b) It is preferable that the rotation direction away from each user increases the altitude and the direction rotated toward the user is set to the direction lowering the altitude.

In addition, the forward-backward operation unit 26 is also formed in the form of a rotatable knob dial so that the speed of the drone 110 can be adjusted step by step and a constant speed can be maintained. The front-rear operation unit 26 controls the rotational speed and rotational direction of the plurality of propellers 10a, 10b, and 10c while the drone is rotated vertically in the water to move the drone forward or backward. As the front-rear operation unit 26 rotates in a direction away from the user, the forward speed of the drone 110 accelerates, and the reverse of the drone pushes the reverse rotation operation unit 38a and then rotates the front-rear operation unit 26 toward the user. It is reversed by manipulation.

The left and right rotation control unit 25 and the left and right movement control unit 27 are formed in the form of a stick lever that can move left and right when an external force is applied, as shown in FIG. 4, and torsion spring or the external force can return to the center when released. The compression spring is installed. When the left and right rotation operation unit 25 is moved to the left by an external force applied by the user, the drone is rotated counterclockwise, and when the user is moved to the right by an external force applied by the user, the drone is rotated clockwise. The left and right movement control unit 27 operates the left and right handles of the control unit by an external force applied by the user to move the drone left and right. When the control unit is rotated or moved to the left, the drone is moved to the left during flight. When the steering unit is rotated or moved in the right direction by the external force applied by the user, the drone is moved in the right direction.

In addition, the steering unit 120 is formed extending in a direction away from each other at both ends of the center portion 23, but is formed to extend in front of the left and right handle portions of the left and right handle portions, respectively. It is provided with a first and second protective members (28,29) to protect the.

In addition, as shown in Figure 4, the control unit is connected to the second control unit to the center portion 23, respectively, a speedometer 81 for displaying the movement speed of the drone, and a tachometer 82 indicating the number of revolutions of the drone propeller. ), the emergency stop button 83 and the power switch 38b are provided to allow the drone 10 to stop moving and hover on the spot during air flight.

In addition, the control unit 20 is rotatably mounted to the center portion 23 in the left-right direction and the second hinge hinged to the end of the towing unit 40 so that the towing unit 40 is rotatable in the vertical direction at the top. It is provided with a rotating shaft 36 provided with a coupling portion (36a), and a rotation angle sensor (37) for detecting the rotation angle displacement of the steering unit (120) rotated with respect to the support member or the rotating shaft by an external force applied by the user. Although the rotation shaft 36 is not shown, it is rotatably installed on the upper portion of the support member 60 to be protruded downward with respect to the lower surface of the center portion 23, which is located below the center portion 23 It is connected to the auxiliary gripping portion 30 that the user can grip. And, as shown in Figure 4, the upper portion of the hinge coupling portion (36a) is provided with a pin (36b) that can limit the rotation angle range of the traction unit.

The rotating shaft 36 protruding with respect to the lower surface of the control unit has an inlet groove into which the upper end of the support member 60 to be described later can be inserted, and a bearing is provided on the inner peripheral surface of the inlet groove to facilitate rotation with respect to the support member. Can be installed. Alternatively, a thrust bearing may be mounted between the lower end of the rotating shaft 36 and the upper end of the supporting member 60 so that the rotating shaft 36 may be rotatably mounted with respect to the supporting member 60.

The auxiliary gripping portion 30 extends in the direction in which the left handle portion 21 and the right handle portion 22 are spaced apart from each other below the center portion 23, and the auxiliary gripping body 31 capable of being gripped by the user, and the auxiliary Each of the gripping body 31 is provided with a fixed coupling portion 32 which is formed to extend to the outer circumferential surface of the lower portion of the rotating shaft 36 protruding with respect to the lower surface of the control unit, and mounted to the rotating shaft 36. The auxiliary gripping portion 30 is connected to the lower end of the rotating shaft 36 so that the rotating shaft 36 can be rotated in the left and right directions to rotate the traction unit 40 in the left and right directions.

And, the second control unit 34 is a plurality of propellers (10a, 10b, 10c) to switch the drone 10 vertically or horizontally so that the drone 10 can be operated in the air or underwater according to the user's manipulation of the control unit 20 It is connected to the first control unit 13 through the communication unit 12 to control the driving of the. In addition, the second control unit 34 is connected to the rotation angle sensor 37 to receive the signal detected by the second rotation angle sensor 37, the flight direction of the drone 10 as much as the rotation angle of the displaced steering unit 20 The operation signal is transmitted to the drone 10 so that it can be rotated or moved.

The second control unit 34 controls rotation of the propeller by controlling a plurality of driving motors (not shown) coupled to the plurality of propellers 10a, 10b, and 10c, respectively.

Specifically, the second control unit 34 of the plurality of propellers (10a, 10b, 10c) disposed in the front-rear direction so that the drone 10 is rotated vertically so that the drone 10 is generated in the water in accordance with the user's operation A plurality of propellers in which the drone 10 is disposed vertically in the vertical state so that only the propeller 10a adjacent to the carrier body 50 is rotated or the drone 10 in the vertical state is rotated horizontally for aerial flight in water. The driving of the plurality of propellers 10a, 10b, and 10c is controlled such that only the propellers 10b located at the lower ones of (10a, 10b, 10c) are rotated.

The control unit 20 includes propellers 10a adjacent to the vehicle when the drone is flying in the air through the second control unit 34, propellers 10b located at the front end of the drone, propellers 10a and propellers ( It is applied to individually control the rotation and speed of the propellers 10c located between 10b) through the second control unit 34.

In the state that the drone is rotated to be positioned upward with respect to other propellers 10b and 10c in the drone in water, when the drone is to be raised, the rising and falling operation lever 24a is rotated so that the drone is rotated upward. Move to the left and turn the rotation speed control dial (24b) to increase the rotation speed of the propeller (10b) than the propeller (10a), and when trying to descend the drone, the rising and falling operation lever (24a) so that the drone rotates downward And rotate the rotational speed control dial 24b to increase the rotational speed of the propeller 10a than the propeller 10b.

In addition, in order to increase the speed of the drone to be rotated upward or downward, the rising and falling operation lever 24a is positioned at the center and the rotational speed operation dial 24b is rotated away from the user to raise the drone. In order to lower the rotational speed of the upward or downward direction, the drone is lowered by rotating the rotation speed control dial 24b toward the user.

The left and right movement operation unit 27 may be applied with a lever structure movable in the left and right directions. When the drone moves underwater to move the drone to the left while the propeller 10a is rotated to be positioned above other propellers 10b and 10c. Among the propellers 10c, the number of rotations of the propellers 10c located on the right side is increased to make the drone 10 rotate in the left direction to move it to the left. And, when the drone is to move the drone to the right while the propeller 10a is rotated to be positioned above the other propellers 10b and 10c in water. Among the propellers 10c, the number of revolutions of the propellers 10c located on the left side is increased to make the drone 10 rotate in the right direction to move it to the right.

In addition, the front-rear operation unit 26 is set such that the drone 10 is advanced by increasing the rotational speed of a plurality of propellers 10a, 10b, and 10c that are rotated at the same time when the drone is advanced vertically in the water while moving forward. In case of reversing, the reverse drone 10 is set to reverse by increasing the reverse rotation speed of a plurality of propellers 10a, 10b, and 10c rotated at the same time by pressing the reverse rotation operation unit 38a. In normal operation except for emergency situations Therefore, reverse operation is not recommended.

As described above, the drone 10 moves forward, backward, left and right through the rotational speed control of each propeller 10a, 10b, and 10c through the user's control unit 20.

In addition, although the control unit 20 is not shown, sensors such as an IMU and a GPS module connected to the second control unit 34 are built in, so that the user's location information, drone movement information, body specific force, and angle ratio , A display unit 39 for displaying exercise information, etc. through the second control unit 34.

The display unit 39 is connected to the depth measurement unit 19 through the first control unit 13 and the second control unit 34 to display depth position information of the drone 10 when the drone 10 is operating underwater. Connected to the rotation detection sensor 17, the drone 10 displays the angle rotated relative to the horizontal state in the water.

The user refers to the depth information of the drone 10 displayed on the display unit 39 and the rotated angle, and the propellers 10a, 10b through the ascending and descending operation unit 24, the forward and backward operation operation unit 26, and the left and right movement operation unit 27. By controlling the rotation speed of ,10c), the drone 10 can be controlled to move downward or upward, or to move left or right or back and forth in the water.

Specifically, when the drone 10 is to be lowered in the water while being rotated in a direction perpendicular to the water surface, the drone is lowered by rotating the propeller 10a located at the upper side faster than the propeller 10b located at the lower side. Rotate at an angle. On the contrary, when the drone is to be raised in the water while the drone is rotated in a direction perpendicular to the water surface, the drone is rotated upwardly by rotating the propeller 10b located at the lower side faster than the propeller 10a located at the upper side.

When the drone 10 is rotated vertically and moved, when the drone receives a force rising upward in the water due to buoyancy, the user rotates the speed of the propeller 10a located at the upper side while the drone 10 is rotated vertically. By rotating the propeller 10b located at the lower side and operating the ascending and descending operation unit 24 to incline downward to control the drone so that it can be moved in the horizontal direction.

And, when the drone is horizontal to the water surface in the water, the user rotates the plurality of propellers 10a, 10b, and 10c at the same rotational speed, or reversely rotates the propeller by an operation signal from the reverse rotation operation unit 38a. By doing so, the drone 10 may be moved upward and downward.

On the other hand, when the drone 10 is manufactured so that the propeller 10 sinks below the surface by its own weight while the propeller 10 stops rotating, when the rotation of the propeller 10 gradually decreases and stops, the drone enters into the water and the propeller 10 When the rotation of) is gradually increased, the drone gradually rises to the surface. Before the drone 10 enters underwater, it recognizes the front direction of the drone 10, which is a direction away from the user, based on the location information of the GPS and the azimuth information, and transmits it to the second control unit 34 to display the It is preferably applied so that it can be displayed. And, when the drone enters into the water, it is preferable that the location information of the user is transmitted to the outside through the GPS module (not shown) provided in the control unit.

On the other hand, the display unit 39 is connected to a separate GPS module (not shown) built into the drone 10 when the drone is flying, and displays the position information of the drone. Displays the position information of the drone identified through the ultrasonic transmission and reception unit 63, and displays the depth position information measured by the depth measurement unit so that the drone can be moved.

One side of the towing unit 40 is connected to the center side of the lower surface of the drone, and the other side is connected to the steering unit 20.

The towing unit 40 includes a transmission/reception cable (not shown), a first drone connector 42, a power cable (not shown), and a support member 60.

The transmission/reception cable connects the drone 10 and the control unit 120 to transmit the operation signal of the control unit 20 to the drone 10, and is controlled by one side so as to transmit the operation signals to the drone 10 respectively. It is connected to the wired communication module (a) of the unit 20 and the other side is connected to the drone 10.

The power cable is extended from the control unit 20 to the drone 10 so as to transmit the power of the second power supply unit 56 built in the carrier 50 to the drone.

The first drone connector 42 is provided with a transmission/reception cable and a power cable, and is formed to be extended so that the drone 10 and the control unit 20 maintain a constant distance from each other. 2 and 3, the first drone connecting pipe 42 is rotatably installed on one side of the rotating shaft 36 of the steering unit 20 to facilitate the high-level changeover of the drone to the east and west sides of the drone, and on the other side. The first ring 41 is formed so as to be rotatable with respect to the drone 10.

The first drone connecting pipe 42 includes a first main towing pipe 45 and a flexible pipe 49. The first main traction tube 45 is hinged to one side of the control unit 20 and extends in a direction away from the control unit 20, and includes a transmission/reception cable and a power cable. The flexible pipe 49 is formed of a bendable material to facilitate the flight of the drone 10, and is formed by extending a certain length at the end of the first main towing pipe 45 to be connected to the drone.

The first main towing tube 45 is formed in a tube shape capable of maintaining a certain distance, but a bend-free rope form may be applied.

The support member 60 connects the steering unit 20 and the carrier body 50 so that the carrier body 50 can be moved along the steering unit 20 towed by the drone 10. The support member 60 rotatably supports the rotating shaft 36 protruding downward with respect to the lower surface of the control unit 20 so that the control unit 20 is located on the upper side with respect to the carrier body 50, and the lower portion is a carrier ( It is formed extending in the vertical direction so that it can be coupled to the carrier body 51 of 50). Inside the support member 60, a connecting cable (not shown) connecting the second power supply unit 56 of the carrier body 50 and the power switch 38b of the control unit 20 is built-in.

On the other hand, the second power supply unit 56 installed on the transport body is installed on the transport body 51 and connected to the control unit 120 through the support member 60 to serve to assist the power supply to the drone 110. The second power supply unit 56 is preferably applied with a rechargeable battery that is detachably installed in the transport body 51, but is equipped with a hydrogen fuel cell or a fuel engine in the space of the transport body 51 for long-time startup of the drone. In addition, an engine-generator-battery hybrid power source may be applied.

The carrier body 50 is floatable in the water phase and is formed to allow the user to climb and is connected to the traction unit 40 at the front end side.

The carrier body 50 supports the user, and the carrier body 51 with the seating portion 52 and the frame 53 supporting both sides of the seating portion mounted on the user, and the front and rear portions of the carrier body 51 It is mounted to the lower end to provide a buoyancy to the transport body 51 and has a plurality of buoyancy bodies 55 formed in a streamlined shape on the lower side for easy movement in the water phase by the traction force of the drone 10.

The transport body 51 is formed such that the front end side is inclined upward upward and the width is gradually narrowed toward the front end.

The towing device 1 using the drone capable of underwater operation according to the first embodiment of the present invention can provide various towing environments to the user because the drone 10 can tow the vehicle in the air as well as underwater.

The towing device 1 using the drone capable of underwater operation according to the first embodiment of the present invention controls the plurality of propellers 10a and 10b individually through the ascending and descending operation unit 24 to horizontally control the drone 10 in the air. And it can be rotated vertically in the water, so it has the advantage of being easy to switch between air and underwater in a simple way.

The towing device 1 using the drone according to the first embodiment of the present invention is a drone in the air because the ascending and descending operation portion 24 and the forward and backward operation operation portion 26 are each formed in the form of a rotary dial such as a rotary knob dial. In addition to maintaining a constant altitude and constant speed, there is an advantage of maintaining a constant depth and constant speed in the water.

The traction device 1 using a drone according to the first embodiment of the present invention applies a single drone, but lift and thrust may vary depending on the size, number, and rotational speed of the drone, so the user with the carrier can be used. The number of drones required to move may vary. The structure connecting the plurality of drones may be applied to the structure disclosed in Korean Patent Registration No. 101796555.

The towing device 1 using a drone capable of underwater operation according to the present invention is exemplified as a general rotorcraft drone that is raised and lowered by rotation of the propeller 10 as an example.

When the drone 10 is a tilt-rotor drone, the control unit 20 according to the present invention instead of the ascending and descending operation unit 24, propellers 10a, 10b, and 10c pointing upwards to the body 10d of the drone 10 It is preferable to have a propeller rotating operation unit (not shown) that rotates against. In this case, the drone 10 rotates the propellers 10a, 10b, and 10c to face the front direction through manipulation of the propeller rotation control unit to obtain propulsive force, and rises in the water according to the rotational angle of the propellers 10a, 10b, and 10c. Or it descends. The rotation detection sensor 17 is installed on the propellers 10a, 10b, 10c or propellers 10a, 10b, 10c to sense the rotated angle of the propellers 10a, 10b, 10c. That is, when moving horizontally with respect to the water surface in the water, the user moves the drone forward by rotating the propellers 10a, 10b, and 10c at right angles to the drone through the propeller rotation control unit (rotating 10b faster). , You can move left and right (rotate 10c faster), ascend and descend (adjust the rotation angle of 10a, 10b, 10c).

On the other hand, when the variable pitch drone is applied to the drone 10, the traction device according to the present invention has a pitch control motor for adjusting the pitch of the propeller 10 through the first control unit 11, the second control unit 34 It is connected to, and a pitch control operation unit (not shown) is further provided in the control unit 20. The user can make and rotate the pitches of the plurality of propellers 10a, 10b, and 10c at right angles to the water surface through the operation of the pitch adjustment operation portion in addition to the ascending and descending operation portion, and the propellers 10a, 10b, and 10c rotated at right angles are underwater. Advances in drone (changes the pitch angle of 10b from horizontal to vertical), moves left and right (changes the pitch angle of 10c from horizontal to vertical), and increases and decreases (adjusts the pitch angle of 10a, 10b, 10c, For example, the descent may control the movement of the rising pitch angle and the reverse pitch angle).

Meanwhile, FIG. 5 shows a towing device 2 using a drone capable of underwater operation according to a second embodiment of the present invention. Components having the same function as in the above-described drawings are denoted by the same reference numerals.

The towing device 2 using the drone capable of underwater operation according to the second embodiment of the present invention has the same structure as the towing device according to the first embodiment of the present invention, except the towing unit.

The traction unit 140 of the traction device 2 according to the second embodiment of the present invention includes a transmission/reception cable (not shown), a second drone connector 142, a power cable (not shown), and a supporting member (60).

The support member 60 interconnects the steering unit 20 and the carrier body 50 such that the steering unit 20 is positioned above the carrier body 50, and is rotatably installed relative to the carrier body 51. On the other hand, the steering unit 120 is not provided with a rotating shaft 36 according to the first embodiment of the present invention, it is rotatably mounted to the support member 60.

The second drone connecting pipe 142 includes a second main towing pipe 145 and a flexible pipe 49.

The second main towing tube 145 is rotatably mounted on one side on the outer circumferential surface of the front side supporting member 60 in the vertical direction, and a predetermined length is extended to connect the flexible pipe 49 to the other side. Although the second main towing tube 145 is not shown, a hollow portion is formed inside so that the transmission/reception cable and the power cable can be extended to the drone 10, and the transmission/reception cable and the power cable are provided through the support member 60 The hollow portion communicates with the inner space (not shown) of the support member 60 so as to be connected to the steering unit 20. The inner space of the support member 60 is a space in which a connecting cable (not shown) connecting the second power supply unit 56 and the control unit 20 of the carrier body 50 is installed.

The rotation angle sensor 37 mounted on the control unit 20 senses the rotation angle of the control unit 20 with respect to the support member 60 and transmits it to the second control unit 34, and the second control unit 34 is The control signal is transmitted through the wired communication module so that the direction of the drone can be controlled according to the detection signal of the rotation angle sensor 37.

Meanwhile, FIG. 6 shows a towing device 3 using a drone capable of underwater operation according to a third embodiment of the present invention. Components having the same function as in the above-described drawings are denoted by the same reference numerals.

The towing device 3 using the drone according to the third embodiment of the present invention does not include the support member 60 in the structure of the towing device according to the first embodiment of the present invention, the departure prevention unit 70 and the lower body fixing A unit 80 and a third power supply unit 90 are further provided.

The departure preventing unit 70 prevents the user holding the steering unit 20 from being detached from the steering unit 20 when the steering unit 20 is towed by the drone 10. The departure prevention unit 70 is mounted on the control unit 20, and is provided with an upper body fixing portion 71 and a lower body fixing portion 75 respectively fixing a user's upper body and lower body.

The upper body fixing part 71 connects the upper body fixing belt 72 surrounding the user's upper body, the steering unit 20 and the upper body fixing belt 72, so that the steering unit 20 and the upper body fixing belt 72 are mutually constant. It has a first connecting member (not shown) formed to maintain a distance. The lower body fixing unit 75 connects the first and second lower body fixing belts 76 and 77 surrounding the user's leg, and the steering unit 20 and the first and second lower body fixing belts 76 and 77, respectively. The control unit 20 and the first and second lower body fixing belts 76 and 77 are provided with second and third connecting members 78 and 79 formed to maintain a constant distance.

The first to third connecting members are capable of maintaining a certain shape such that the user is fixed at a certain distance from the control unit so that the user can be actively towed according to the change in the direction of movement of the drone, such as plastic, carbon or metal such as aluminum Materials and the like can be applied. However, unlike illustrated, the first to third connecting members may be bent wires.

The carrier body 150 is formed in a plate shape, such as a water ski board, but is formed with a front end inclined upward, and the lower body support unit supporting and fixing the lower body of the user so that it can be moved along the user towed along the control unit 20 at the top. 80 is mounted. .

The carrier body 150 is not limited to the structure shown, and other shapes may be applicable if the lower surface is capable of sliding on the water surface and the user can board.

The lower body support unit 80 may be in the form of a belt that wraps the user's shoes and calf, or may be in the form of a closed slipper that accommodates the user's instep, and the boots used for riding on skis or snowboards on the carrier 50. It may be of a fixed shape.

The third power supply unit 90 is formed to allow the user to hang on his back and is connected to the control unit 20 to assist in supplying power to the drone 10. The third power supply unit 90 includes a battery 91, a shoulder strap 92 for attaching the battery to the shoulder, and a battery power cable 93 connecting the battery 91 and the control unit 20. Unlike the illustrated third power supply unit 90, a connector (not shown) including a battery (not shown) embedded in the carrier 150 and a cable connecting the battery and the control unit 20 may be applied. .

Meanwhile, FIG. 7 shows a traction device 4 using a drone capable of underwater operation according to a fourth embodiment of the present invention. Components having the same functions as in the above-described drawings are denoted by the same reference numerals, and detailed descriptions are omitted.

The traction device 4 according to the fourth embodiment of the present invention includes a bendable traction unit 240, a control unit 20, a departure prevention unit 70, a third power supply unit 90, and a carrier body (150).

The drone 10 applied to the traction device 4 according to the fourth embodiment of the present invention is not shown, but it is preferable that a prop guard is mounted outside. The structure and shape of the prop guard is not limited as long as it can protect the drone, and lightweight materials such as carbon, aluminum, and expanded polypropylene (EPP) should be adopted, and the surface of the prop protection guard is mesh, It is preferable to be molded and molded in the form of a mesh and manufactured in a form that minimizes water resistance.

The towing unit 240 is formed of a material that can be bent, one side is connected to the control unit 20, and a predetermined length extension is formed so that the other side is flexible tube 241 connected to the drone 10 and the control unit 20 A transmission/reception cable (not shown) and a power cable (not shown) formed to extend inside the flexible tube 241 along the longitudinal direction of the connection 241 are provided.

Meanwhile, FIG. 8 shows a control unit 120 of a traction device 5 using a drone capable of underwater operation according to a fifth embodiment of the present invention. Components having the same functions as in the above-described drawings are denoted by the same reference numerals, and detailed descriptions are omitted.

The towing device 5 using a drone capable of underwater operation according to a fifth embodiment of the present invention includes a drone 10, a towing unit 240, a steering unit 120, and a carrier.

The steering unit 120 is not formed with a second hinge coupling portion 36a in the structure of the steering unit 20 of the first embodiment of the present invention, and is rotated together with the rotating shaft on the upper portion of the rotating shaft 36 and the towing unit 240 ) Is provided with a winding unit 400 that can wind the flexible tube 241.

The winding unit 400 extends in the left and right directions of the control unit, and the rotatable winding shaft 410 and the winding shaft 410 are rotatably supported to rotate the flexible second drone connector 242, and the rotating shaft ( 36) and a rotating shaft supporting portion rotatable, and the flexible tube 241 is rotated so as to be unwound relative to the winding shaft 410 by a force pulled by the drone during flight of the drone. When the force pulled by the drone is released, the flexible tube 241 is provided with a winding force generating part 420 with a spiral spring (not shown) mounted therein so as to be wound on the winding shaft 410.

On the other hand, the winding unit 400 may be mounted on the side of the drone 10, unlike shown.

A drone having a structure of dropping voltage using a transformer (not shown) is preferably applied. The towing device 5 using a drone capable of underwater operation according to a fifth embodiment of the present invention is a drone 10 When the gap between the control unit 120 and the narrowing pipe 241 is wound on the winding unit 400, the towing unit 240 can be prevented from being caught on the drone 10 or caught in an obstacle, thereby improving the steering efficiency. Can increase

Preferably, the thickness of the flexible tube 241 wound on the winding unit 400 is preferably 2 to 10 mm thin.

The traction device according to the fifth embodiment of the present invention has the advantage of ensuring a wide movement distance of the drone through the flexible tube 241 that is wound or unwound, while the current supply problem appears to the drone due to power loss. Can. Therefore, the drone applied to the traction device according to the fifth embodiment of the present invention is 110~220V or more than the normal 22.2~44.4V voltage type, such as the currently sold tethered drone, in order to stably receive current. It is preferable that a drone having a structure of dropping voltage using a transformer (not shown) mounted on a drone and boosting power transmission and mounting on a drone is applied.

Meanwhile, FIG. 9 shows a towing device 6 using a drone capable of underwater operation according to a sixth embodiment of the present invention. Components having the same functions as in the above-described drawings are denoted by the same reference numerals, and detailed descriptions are omitted.

The towing apparatus 6 using the drone capable of underwater operation according to the sixth embodiment of the present invention includes a drone 10, a towing unit 40, and a steering unit 20.

The towing device 6 using the drone capable of underwater operation according to the sixth embodiment of the present invention allows the steering unit 20 to be operated in the water, such as the drone 10, so that the diver can be towed in the water. It is formed to have a waterproof and dustproof function. It is preferable that the drone 10 and the control unit 20 have IP-66 to IP-68 grades among waterproof and dustproof grades (IP grades).

In addition, the towing device 6 using a drone capable of underwater operation according to the sixth embodiment of the present invention is preferably provided with a portable power supply connected to the steering unit 20 and the diver is wearable on one side.

Meanwhile, FIG. 10 shows a towing device 7 using a drone capable of underwater operation according to a seventh embodiment of the present invention. Components having the same functions as in the above-described drawings are denoted by the same reference numerals, and detailed descriptions are omitted.

The towing device 7 using the drone capable of underwater operation according to the seventh embodiment of the present invention includes a drone 10, a towing unit 340, a steering unit 320, and a submersible carrier 250 do.

The submersible vehicle 250 is capable of accommodating a user, has an internal enclosed space inside, a user-attached seating unit and a control unit 320, and an engine-generator-battery hybrid power source with a rechargeable battery and a fuel engine added This is applied or equipped with a hydrogen fuel cell, equipped with a liquid oxygen and compressed air storage (not shown), and equipped with a buoyancy unit 255, a water inlet 257 and an outlet 259 for controlling the depth of diving Submersible submersibles may apply.

A buoyancy portion 255 is provided below the submersible carrier 250, and the buoyancy portion 255 serves to provide variable buoyancy so that the carrier 250 can be positioned within a predetermined depth. That is, the buoyancy unit 255 serves to generate buoyancy so that the submersible carrier 250 can be positioned at a depth within a water pressure that the body of the carrier 250 can withstand when the submersible vehicle 250 dives underwater. ) Since the configuration and operation are general to those skilled in the art, a description thereof will be omitted.

In addition, an inlet 257 for introducing water into the buoyancy portion 255 is provided at the bottom of the submersible carrier 250, and an outlet 259 for discharging the introduced water is provided at the rear end of the vehicle 250. The inlet 257 and the outlet 259 control the inflow and discharge of water to the buoyancy portion 255 to function the submersion and injury of the carrier, and the buoyancy of the buoyancy portion 255 to adjust the buoyancy of the carrier 250 within the desired depth. Try to keep it constant. Although not shown, it is preferable that the inlet 257 and the outlet 259 are connected to a second control unit and are provided with opening and closing valves for opening and closing the inlet and outlet, respectively.

The location of the inlet 257 can be any place where the inflow of water is free, such as the lower end of the carrier 250 body or the lower front of the carrier 250 body, and the outlet 259 through which water is discharged is also the rear end of the lower body of the carrier 250 It can be freely located anywhere.

Meanwhile, the traction unit 340 includes a first drone connector 42 and a connector 341 connecting the first drone connector 42 and the steering unit 320. One side of the first drone connecting pipe 42 is rotatably mounted up and down on the hinge coupling portion 336 formed on the front end side of the carrier body 250, and the hinge coupling portion 336 is rotatable relative to the carrier body 250 Is mounted.

The connector 341 is connected to the first drone connector 42 from the outside of the carrier, penetrates into the carrier, and is connected to the control unit 320, and transmit/receive cables and power cables extending from the first drone connector 42 are built-in. do.

Meanwhile, FIG. 11 shows a towing apparatus using a drone capable of underwater operation according to an eighth embodiment of the present invention.

Components having the same functions as in the above-described drawings are denoted by the same reference numerals, and detailed descriptions are omitted.

A towing apparatus using a drone capable of underwater operation according to an eighth embodiment of the present invention includes a drone 10, a towing unit 240, a steering unit 120, and a carrier 250.

The carrier body 250 has an internal space, and a transport body 260 formed with a seating unit and a control unit support part supporting the control unit 20 that can be seated by a user, and a plurality of main body supports supporting the lower ends of the transport body 260 A bar 257 and a plurality of buoyancy bodies 255 connected to each side or each other side of the plurality of main body support bars 257 are provided. The transport body 260 may have a side portion open as illustrated, but a door that can be opened and closed may be mounted. In addition, the upper portion of the transport body 260 is formed of a transparent material to secure a forward field of view.

The traction unit 240 is rotatably coupled to both sides of the transport body 260 so as to be rotatable in the vertical direction with respect to the transport body 260, respectively, and a rotation coupling tube extending along the circumference of the transport body 260 ( 249), formed of a bendable material, one side connected to the central side of the pivoting coupling pipe 249, the other side connected to the flexible pipe 241 connected to the drone 10, and the control unit 20, and a predetermined length The drone extends to the inside of the flexible pipe 241 after passing through the inside of the flexible coupling pipe 249 through the control unit support in the control unit 20 and the flexible pipe 241 connected to the drone 10 with the other side extended. It is provided with a transmission and reception cable (not shown) and a power cable (not shown) electrically connected to the power supply.

The towing apparatus using a drone capable of underwater operation according to the eighth embodiment of the present invention can tow the carrier 250 in a floating state from the water by a drone that is flying in the air or operated underwater, and the rotating coupling pipe 249 After the drone flying in the air so that the central side of the carrier is rotated so as to be positioned above the carrier 250, the carrier 250 may be towed away from the water surface or the ground while being raised.

So far, the towing apparatus using a drone capable of underwater operation according to the present invention can further increase the utilization of the drone by providing various towing environments to the user since the drone can tow the vehicle in the air as well as in the air.

The traction device using a drone capable of underwater operation of the present invention can individually control a plurality of propellers through an ascending and descending operation unit to rotate the drone horizontally in the air and vertically in the water, so it is easy to switch between air and underwater operation in a simple manner. There is an advantage.

The towing apparatus using a drone capable of underwater operation according to the present invention described above has been described with reference to an example shown in the drawings, but this is only exemplary, and those skilled in the art can make various modifications therefrom. And it will be understood that other equivalent embodiments are possible. Therefore, the scope of the technical protection of the present invention should be defined by the technical spirit of the appended claims.

1: Towing device using drone capable of underwater operation
10: drone 12: communication unit
13: first control unit 14: first power supply unit
17: rotation detection sensor 19: depth measurement unit
20: control unit 23: center
24: rising and falling operation unit 25: left and right rotation operation unit
26: forward and backward movement control unit 27: left and right movement control unit
34: second control unit 37: rotation angle sensor
39: display unit 40: traction unit
50: carrier 60: support member
142: First drone connector

Claims (13)

At least one drone capable of propulsion in the air and underwater by lift and thrust;
A control unit that is gripped by a user and controls the movement direction, speed, and driving of the propeller mounted on the drone according to the user's manipulation and is steerable in the water;
And a towing unit connecting the drone and the steering unit so that the steering unit is towed according to the moving direction of the drone.
The drone
Towing apparatus using a drone capable of underwater operation, characterized in that the propeller in a horizontal state in the air is rotated with respect to the towing unit vertically in the water so as to generate propulsion force in the water by manipulation of the control unit. According to claim 1,
Towing using a drone capable of underwater operation, characterized in that it further comprises a; a carrier that is floating on the water or submerged in the water and grips the control unit and is movable along the control unit towed by the drone. Device. According to claim 1, The control unit
Increase the number of revolutions of the propeller adjacent to the carrier among the plurality of propellers disposed in the front-rear direction so that the drone generates propulsion force in the water, and the drone rotates the drone vertically in water or vertically in water. An ascending and descending operation unit that increases the number of revolutions of the propellers positioned below the plurality of propellers in which the drones are vertically rotated to rotate the drones in a horizontal state for aerial flight. Towing apparatus using a drone capable of underwater operation, characterized in that provided. According to claim 3, The control unit
Towing apparatus using a drone capable of underwater operation, characterized in that it further comprises a reverse rotation operation unit for reversely converting the rotational direction of the propeller so that the drone flying in the air enters into the water. The method of claim 3 or 4,
The drone is equipped with a depth measuring unit for measuring the depth,
The control unit
Towing apparatus using a drone capable of underwater operation, characterized in that it has a display unit for displaying the measured value in the depth measurement unit so that the user can move the position of the drone by moving the ascending and descending operation unit. The method of claim 3, wherein the rising and falling operation unit
A rising and falling operation lever for controlling the rotational speed of the plurality of propellers to be differentially controlled or the same according to the position;
In the state in which the drone is rotated vertically, when the ascending and descending operation lever moves to one side, increase the rotational speed of the propellers located below the plurality of propellers than the propellers located above so that the drone is rotated upward and raised. Induce, when the ascending and descending operation lever moves to the other side, increase the rotational speed of the propellers located above the plurality of propellers than the propellers located at the bottom, and induce the drone to rotate downward and descend, and the ascend and descend operation When the lever is located at the center side, a towing device using a drone capable of underwater operation, characterized in that it has a rotation speed control dial to increase or decrease the rotation speed of the propellers equally. The method of claim 1, wherein the drone
Towing apparatus using a drone capable of underwater operation, characterized in that it comprises a rotation detection sensor for detecting the angle rotated on the water surface in the water. The method of claim 2, wherein the traction unit
At least one transmission/reception cable connecting the drone and the control unit to transmit an operation signal according to the operation of the control unit of the user to the drone;
The transmission/reception cable is built in, and one side is coupled to the control unit, and the other side is provided with a first drone connector connected to the drone,
The control unit
Towing apparatus using a drone capable of underwater operation, characterized in that the first drone connecting pipe is hingedly coupled to an end portion of the first drone connecting pipe so as to be rotatable in the vertical direction and is rotatably mounted to the left and right. The method of claim 8,
The control unit is further provided with a support member that is connected to the control unit and the carrier so that the control unit is positioned above or above the carrier and the control unit is rotatably coupled,
The support member
The control unit is rotatably supporting the rotating shaft protruding downward with respect to the lower surface of the control unit so that the control unit is positioned upward with respect to the carrier, and a lower portion is coupled to the carrier,
The control unit
The rotation angle sensor detects a rotation angle displacement rotated with respect to the rotation shaft or the support member by an external force applied by a user, and receives the signal detected by the rotation angle sensor and moves the rotation angle of the drone by the rotation angle of the steering unit. Towing apparatus using a drone capable of underwater operation, characterized in that it comprises a control unit for controlling the flight direction. The method of claim 2, wherein the traction unit
A support member which interconnects the steering unit and the carrier so that the steering unit is positioned upward with respect to the carrier, and a supporting member to which the steering unit is rotatably coupled;
A second drone connector connected to the drone by extending a predetermined length from one side of the control unit support member;
And at least one transmission/reception cable extending from the control unit to the second drone connector through the support member so as to transmit an operation signal according to the user's manipulation of the control unit to the drone. Towing device using drone that can be operated. The method of claim 1, wherein the drone
The propeller facing vertically is rotatably mounted in the vertical direction relative to the body of the drone for underwater operation,
The control unit
Towing apparatus using a drone capable of underwater operation, further comprising a propeller rotation operation unit for rotating the propeller facing upward relative to the body portion of the drone. According to claim 1, The propeller
In order to adjust the inclination of the drone, the drive shaft for rotation of the propeller is rotatably mounted with respect to the drive shaft to enable pitch adjustment.
The drone
A propeller rotating motor for rotating the propeller and a pitch adjusting motor for adjusting the pitch of the propeller with respect to the drive shaft of the propeller are provided.
The control unit
Towing apparatus using a drone capable of underwater operation, characterized in that it further comprises a pitch control operation for controlling the pitch of the propeller. The method of claim 1, wherein the traction unit
It is formed of a material that can be bent, one side is connected to the control unit, the other side is connected to the drone, and the transmitting and receiving cables extending along the longitudinal direction of the flexible pipe from the control unit and the flexible pipe with built-in power cable are provided. Equipped,
It is installed in the drone or the control unit, underwater operation is possible further comprising a winding unit capable of winding and unwinding the flexible tube so that the distance between the drone and the control unit can be narrowed or further away. Towing device using drones.

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