KR20210002997A - Relief equipments drop device for a drone - Google Patents

Abstract

Provided is an apparatus for dropping rescue equipment for a drone. According to one embodiment of the present invention, the apparatus for dropping rescue equipment for a drone includes: a main body part installed on the drone and including a plurality of receiving modules having lower end holes formed to receive the rescue equipment; a dropping part including a rotation plate having at least one curved groove and rotated by driving power, a plurality of cover plates positioned on each of the lower end holes of the plurality of receiving modules, and a plurality of elastic members installed on each of the plurality of cover plates to restore the cover plates opened by weight of the rescue equipment in the groove of the rotation plate after the rescue equipment is discharged; a driving part installed on the main body part to provide the driving power for rotating the rotation plate; and a control part installed on the main body part to control the driving part. Therefore, the apparatus for dropping rescue equipment for a drone can quickly and safely transmit the rescue equipment or the like to a person in an accident by using the drone when the accident occurs.

Description

Relief equipment dropping device for drones{RELIEF EQUIPMENTS DROP DEVICE FOR A DRONE}

The present invention relates to an apparatus for dropping aid equipment for drones.

Every year in the summer months, many people lose their precious lives or are injured by accidents that occur in water such as seas, rivers and lakes. In addition, falls and disappearance accidents frequently occur even in rugged terrain such as mountains.

In such a distress accident, the time from the occurrence of the accident to the dispatch and rescue of the rescue team is very important. In particular, the shorter the time the rescue team recognizes and takes initial action from the time of the accident, the higher the probability of saving lives.

Recently, in the case of drowning in rivers, lakes, seas, or a distress accident in mountainous terrain, a technology that can quickly move using drones (unmanned aerial vehicles, UAVs) and deliver relief equipment to the accident victims for safe rescue It is being studied.

Therefore, it is intended to propose a technology that can quickly and safely provide relief equipment, etc. to the accidental victim using a drone.

Korean Patent Registration No. 1535401 (2015.07.02. Announcement) Korean Patent Registration No. 1871816 (announced on 21 June 2018)

The present invention is to solve the above problems, and provides a rescue equipment dropping device for drones that can quickly and safely deliver relief equipment and the like to the accident by using a drone when an accident occurs.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

Relief equipment dropping device for a drone according to an embodiment of the present invention for achieving the above object, can be installed in the drone, the body portion including a plurality of receiving modules formed with a lower hole to accommodate the relief equipment; A rotation plate having at least one curved groove and rotating by a driving force, a plurality of cover plates respectively positioned in lower holes of the plurality of receiving modules, and a groove of the rotation plate respectively installed on the plurality of cover plates A dropping unit including a plurality of elastic members for restoring the cover plate opened by the weight of the relief equipment at the end of the relief equipment; A driving unit installed on the main body to provide a driving force for rotating the rotating plate; And a control unit installed on the main body and controlling the driving unit.

In addition, the receiving module may have a door openable and closed on a side surface.

In addition, the rotating plate may include a plurality of magnets arranged at predetermined intervals, and the body portion may include a sensor for sensing magnetic force in the lower frame.

In addition, in the rotating plate, a magnet may be positioned between adjacent cover plates, and a magnet may be positioned at a point corresponding to each cover plate.

In addition, the control unit controls the driving unit to rotate the rotating plate until the sensor detects the next magnet in the magnet currently being sensed according to the input rotation command, and after a predetermined time elapses, the next It is possible to control the drive to rotate the rotating plate until the magnet detects the next magnet.

In addition, the control unit may control the driving unit to rotate the rotating plate in a reverse direction when the sensor does not detect the next magnet in the currently detected magnet within a reference time according to the input rotation command.

In addition, in the main body, six receiving modules may be disposed outside in a cylindrical shape.

Other specific details of the present invention are included in the detailed description and drawings.

According to the present invention, in the event of an accident, it is possible to quickly and safely deliver relief equipment, etc. to the person in question using a drone.

1 is a view showing a drone relief equipment dropping apparatus according to an embodiment of the present invention.
FIG. 2 is a view showing the drone relief equipment dropping device of FIG. 1 viewed from the bottom.
3 to 5 are diagrams illustrating a process of dropping relief equipment from the aid equipment dropping apparatus for drones of FIG. 1.
6 is a view showing another embodiment of the main body of the drone relief equipment dropping device of FIG.
FIG. 7 is a view showing another embodiment of a body part and a dropping part of the apparatus for dropping aid equipment for drones of FIG. 1.
FIG. 8 is a view showing another embodiment of a body part and a dropping part of the apparatus for dropping aid equipment for drones of FIG. 1.
9 is a view showing a rotating plate of the dropping unit of the drone relief equipment dropping device of FIG. 8.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms different from each other, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the technical field to which the present invention belongs It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

Although the first, second, etc. are used to describe various elements, components and/or sections, of course, these elements, components and/or sections are not limited by these terms. These terms are only used to distinguish one element, component or section from another element, component or section. Therefore, it goes without saying that the first element, the first element, or the first section mentioned below may be a second element, a second element, or a second section within the technical scope of the present invention.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "made of" a referenced component, step, operation and/or element is one or more of the other elements, steps, operations and/or elements. It does not exclude presence or addition.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a view showing a drone relief equipment dropping apparatus according to an embodiment of the present invention. In addition, FIG. 2 is a view showing the drone relief equipment dropping device of FIG. 1 viewed from the bottom.

Referring to FIGS. 1 and 2, the drone relief equipment delivery device 100 according to an embodiment of the present invention includes a body part 110, a delivery part 120, a driving part 130, and a control part 140. do.

The body unit 110 accommodates various relief equipment 50 and may be installed by being connected to a drone (not shown). Various relief equipment 50 includes various items for lifesaving, such as life-saving tubes, blankets, and food. An appropriate connection frame for connecting the body portion 110 to the drone may be installed on the drone to install the body portion 110 on the drone. It is preferable that the main body 110 is installed under the drone.

Specifically, the main body 110 is connected between the upper frame 112, a plurality of receiving modules 114 in which relief equipment is accommodated, the lower frame 116, the upper frame 112 and the lower frame 116 It may be made of a supporting frame 118 that supports it.

Here, the control unit 140 may be installed in the upper frame 112, and the driving unit 130 may be installed in the lower frame 116. The driving unit 130, the control unit 140, and the like may be simply installed using the fastening member 102.

A plurality of support frames 118 may be installed in the same number as the receiving modules 114 corresponding to the number of receiving modules 114, but is not limited thereto.

The receiving module 114 is a place where the relief equipment 50 is located, and may have a cylindrical shape having a hollow inside. For the efficiency of the relief work, the main body 110 may include a plurality of receiving modules 114. Preferably, six receiving modules 114 may be disposed outside the main body 110 in a cylindrical shape.

The receiving module 114 has a bottom hole with an open bottom in order to quickly and safely deliver relief equipment to the accident, and the bottom hole can be maintained in a closed state by the cover plate 124 of the dropping portion. That is, the relief equipment 50 accommodated in the receiving module 114 is positioned on the cover plate 124.

In addition, the receiving module 114 may be opened in the upper part to quickly put the relief equipment 50, and the lid on the open upper part to prevent the relief equipment 50 from escaping out when the drone falls. (Not shown) can be covered.

In addition, the receiving module 114 may be made of a transparent material so that the aid equipment 50 can be seen from the outside. For example, the receiving module 114 may be made of transparent acrylic or the like.

The delivery unit 120 discharges the relief equipment 50 accommodated in each receiving module 114 to the outside. That is, the dropping unit 120 serves to drop the relief equipment 50 from the receiving module 114 in the drone to the point of the accident.

Specifically, the dropping portion 120 may be formed of a rotating plate 122, a cover plate 124, an elastic member 126, or the like.

The rotating plate 122 has at least one curved groove 122a and rotates by a driving force.

The curved groove 122a refers to a portion of the rotating plate 122 that has entered the inner side, and the rotating plate 124 that has been closed is opened in the groove 122a of the rotating plate 122. Only one of the curved grooves 122a may be formed, but a plurality of the curved grooves 122a may be formed for simultaneous delivery of the relief equipment 50. For example, although only one curved groove 122a is shown in the drawing, three relief equipment 50 may be simultaneously dropped by forming three curved grooves 122a apart.

In this case, the driving force for rotating the rotating plate 122 may be provided by the driving unit 130. To this end, the rotating plate 122 may be connected to the driving unit 130 by a rotating shaft or the like and rotated by the driving force of the driving unit 130.

The cover plate 124 is located in the lower hole of the receiving module 114, respectively. The cover plate 124 is partially caught by the rotating plate 122 to maintain a closed state, and there is no part in the groove 122a of the rotating plate 122 to be opened by the weight of the relief equipment 50.

The elastic member 126 is installed on each cover plate 124. This elastic member 126 provides an elastic force so that the cover plate 124 is horizontally positioned at the lower end of the receiving module 114. More specifically, the elastic member 126 has an elastic force that restores the cover plate 124 opened by the weight of the relief equipment 50 in the groove 122a of the rotation plate 122 after the relief equipment 50 is discharged. to provide.

The driving unit 130 is installed in the body unit 110 to provide a driving force to rotate the rotating plate 122. More specifically, the driving unit 130 is installed on the lower frame 116 of the main body unit 110, and the rotation plate 122 is connected to a rotation shaft connected to a driving motor (not shown) such as a servo motor or a step motor of the driving unit 130. ) Is connected and can be rotated. At this time, the driving unit 130 rotates the rotating plate 122 by a predetermined angle by a control signal from the controller 140. Accordingly, a plurality of relief equipment 50 can be sequentially dropped from the drone by rotating the rotating plate 122 using one driving motor of the driving unit 130.

The control unit 140 is installed in the body unit 110 and controls the driving unit 130. More specifically, the controller 140 is installed on the upper frame 112 of the main body 110, and the controller 140 is connected to a communication module (not shown) of the drone to receive a control command from the outside.

More specifically, the control unit 140 controls the driving unit 130 to drop the relief equipment 50 from the receiving module 114 to the victim side at the point of the accident. For example, the controller 140 may control the driver 130 by receiving a PWM signal from the communication module of the drone. The control unit 140 detects a change in the duty rate of the PWM signal input from the communication module of the drone and can drop the relief equipment 50 from the accommodation module 114 according to the drop signal.

Hereinafter, a process of dropping the relief equipment 50 from the aid equipment dropping apparatus 100 for drones will be described in detail.

3 to 5 are diagrams illustrating a process of dropping relief equipment from the aid equipment dropping apparatus for drones of FIG. 1.

Referring to FIG. 3, the relief equipment 50 of the receiving module 114 is located above the cover plate 124, and the cover plate 124 is limited to be opened by the rotating plate 122.

4, when the rotating plate 122 is rotated by the driving unit 130 and the groove 122a matches the cover plate 124, the cover plate 124 is opened and the relief equipment 50 is ejected. It is dropped on the victim. At this time, the cover plate 124 loses its support by the rotating plate 122 by the groove 122a, and the cover plate 124 is opened 90 degrees by the weight of the relief equipment 50 so that the relief equipment 50 is It is discharged from the receiving module 114.

Referring to FIG. 5, when the relief equipment 50 is discharged from the receiving module 114, the cover plate 124 is returned to its original position by the elastic member 126, thereby opening the lower hole of the receiving module 114. This is closed.

In addition, although not shown in the drawings, the drone relief equipment dropping apparatus 100 may further include a camera (not shown) to identify a victim. The camera may be installed on the drone, but it is preferable to be located in the drone relief equipment dropping device 100 installed under the drone in order to check the exact location of the victim. The image captured by the camera may be converted into a compressed format in which the image is compressed to facilitate data transmission by the controller 140. Image data in the form of a compressed format may have various formats such as Moving Picture Experts Group (MPEG)-1 or MPEG-4. The image processed by the controller 140 may be transmitted to a remote drone operator through a communication module of the drone. The camera may be a camera capable of shooting at night so that objects can be accurately detected at night. That is, it may be a camera including an infrared sensor module that detects infrared rays. Particularly, the infrared sensor module is preferably a near-infrared sensor module for detecting near-infrared rays, but is not limited thereto, and it is natural that the infrared sensor module may be a far-infrared sensor module for detecting far-infrared rays.

At this time, the controller 140 of the drone relief equipment dropping device 100 analyzes the image captured by the camera to check the exact location of the victim, and can accurately drop the relief equipment 50 to the victim.

More specifically, the controller 140 may detect an event by analyzing an image acquired from a camera. The controller 140 may detect an event using feature extraction for extracting feature information from an image and the extracted feature. For example, as a local feature of an image, a Haar-like feature that uses the difference of the sum of the values of pixels (pixels) between two or more adjacent blocks, or the sum of weight products using weights. ) Can be applied. In order to obtain the difference of the sum of pixel values between adjacent blocks when extracting the HAAL-like feature, a mask considering the simple square feature can be used.

In addition, the controller 140 may set a region of interest from an image and derive feature information of an event detected in the region of interest. Specifically, the controller 140 may set a region of interest (ROI) in the image, and detect a specific pattern including a region having a predetermined brightness or higher in the region of interest as an event.

As an example, the controller 140 may detect at least one of brightness data or color data of an ROI, and use at least one of the detected brightness data or color data as threshold brightness data, The event can be detected by comparing it with the threshold color data.

6 is a view showing another embodiment of the main body of the drone relief equipment dropping device of FIG.

Referring to FIG. 6, the receiving module 114 of the main body 110 may further include a door 114a that can be opened or closed on a side surface. It is possible to more easily put the relief equipment 50 through the door (114a).

FIG. 7 is a view showing another embodiment of a body part and a dropping part of the apparatus for dropping aid equipment for drones of FIG. 1.

Referring to FIG. 7, the rotating plate 122 may further include a plurality of magnets 1222 disposed at predetermined intervals. In addition, the main body 110 includes a sensor for detecting magnetic force on the lower frame 116 ( 1142) can be provided.

More specifically, the plurality of magnets 1222 disposed on the rotating plate 122 may be positioned between adjacent cover plates 124 and at points corresponding to each cover plate 124. For example, as shown in FIG. 7, when there are 6 cover plates 124 corresponding to 6 receiving modules 114, 6 magnets 1222 are positioned corresponding to each cover plate 124 At the same time, since each magnet 1222 is positioned between the adjacent cover plates 124, that is, between the six magnets 1222, a total of 12 magnets 1222 may be disposed on the rotating plate 122.

Through this, when the driving unit 130 is operated by the control unit 140 and the rotating plate 122 rotates, the sensor 1142 detects the magnetic force of the nearest magnet 1222 to more accurately rotate the plate 122 Can be operated.

For example, the control unit 140 controls the driving unit 130 so that the rotation plate 122 rotates until the sensor 1142 detects the next magnet in the magnet currently being sensed by the rotation command input from the outside. I can. Thereafter, the control unit 140 may control the driving unit 130 to rotate the rotating plate 122 until the next magnet detects the next magnet after a predetermined time has elapsed. For example, when the rotation command is input once, the driving motor of the driving unit 130 rotates until a magnet other than the magnet being sensed is detected, and after 1 second of input time, until the next magnet is detected. The driving motor of the driving unit 130 is stopped after rotation.

In addition, when the sensor 1142 does not detect the next magnet from the magnet currently being sensed within the reference time by the input rotation command, the control unit 140 rotates the rotation plate 122 in the reverse direction. Can be controlled. For example, when the rotation command is input once, the driving motor of the driving unit 130 rotates until a magnet other than the magnet being sensed is detected, and after 1 second of input time, until the next magnet is detected. The control unit 140 generates a control signal so that the driving motor of the driving unit 130 stops after rotation, but when the time it takes for the sensor 1142 to detect the next magnet is longer than the input time of 1 second, the control unit 140 It is determined that rotation is impossible due to foreign substances, and the rotation plate 122 may be returned to its original position to the previous magnet position through reverse rotation. In addition, when forward rotation is impossible due to foreign substances or the like, the control unit 140 may drop the relief equipment 50 in the opposite direction through the reverse rotation.

FIG. 8 is a view showing another embodiment of a body part and a dropping part of the apparatus for dropping aid equipment for drones of FIG. 1. In addition, Figure 9 is a view showing a rotating plate of the dropping unit of the drone relief equipment dropping device of Figure 8.

Referring to FIGS. 8 and 9, the aid device 100 for drones does not sequentially drop the aid equipment 50 one by one, but may drop a plurality of relief devices at the same time.

For example, as shown in FIG. 9, not only one groove 222a is formed in the rotating plate 222 (hereinafter referred to as'second rotating plate') having a different shape from the rotating plate 112 described above, By forming a plurality of them at appropriate intervals, the relief equipment 50 can be simultaneously dropped. For example, when six receiving modules 114 are provided, by forming three grooves in the second rotary plate 222, three relief devices 50 are simultaneously dropped, and a second rotary plate after a predetermined time elapses. Rotate (222) to drop the remaining 3 relief devices (50) at the same time. Here, in order to determine the exact position of the second rotating plate 222, the sensor 1142 and the magnet 1222 may be used as described above. In particular, as shown in Fig. 8, when dropping a plurality of aid equipment 50, when dropping all the aid equipment 50 with only two commands, the sensor 1142 only needs to detect the origin position, 1 Only two magnets 1222 may be installed on the second rotating plate 222.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features. You can understand. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting.

100: drone relief equipment dropping device
110: body portion 120: dropping portion
130: driving unit 140: control unit

Claims (7)

A body portion that can be installed on a drone and includes a plurality of receiving modules having a lower hole formed therein to accommodate the relief equipment;
A rotation plate having at least one curved groove and rotating by a driving force, a plurality of cover plates respectively positioned in lower holes of the plurality of receiving modules, and a groove of the rotation plate respectively installed on the plurality of cover plates A dropping unit including a plurality of elastic members for restoring the cover plate opened by the weight of the relief equipment at the end of the relief equipment;
A driving unit installed on the main body to provide a driving force for rotating the rotating plate; And
Relief equipment dropping device for drones including a control unit installed in the main body to control the driving unit. The method of claim 1,
The receiving module,
Relief equipment dropping device for drones with doors that can be opened and closed on the side. The method of claim 1,
The rotating plate,
It has a plurality of magnets arranged at predetermined intervals,
The body part,
Relief equipment dropping device for drones, provided with a sensor for detecting magnetic force in the lower frame. The method of claim 3,
The rotating plate,
A magnet is located between adjacent cover plates,
Relief equipment dropping device for drones with magnets located at points corresponding to each cover plate. The method of claim 4,
The control unit,
Controls the driving unit to rotate the rotating plate until the sensor detects the next magnet in the magnet currently being sensed by the input rotation command, and after a predetermined time elapses, the next magnet in the next magnet is Relief equipment dropping device for drones for controlling the drive to rotate the rotating plate until it is sensed. The method of claim 4,
The control unit,
When the sensor does not detect the next magnet in the magnet currently being sensed within a reference time by the input rotation command, the driving unit is controlled to rotate the rotating plate in the reverse direction, the aid equipment dropping device for drones. The method of claim 1,
The body part,
Relief equipment dropping device for drones, in which six of the receiving modules are arranged outside in a cylindrical shape.

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