WO2023038196A1

WO2023038196A1 - Distance surveying drone that is easy to level off according to movement of surveying means

Info

Publication number: WO2023038196A1
Application number: PCT/KR2021/016704
Authority: WO
Inventors: 김리환
Original assignee: 주식회사 함께드론맵핑
Priority date: 2021-09-10
Filing date: 2021-11-16
Publication date: 2023-03-16
Also published as: KR102346368B1

Abstract

The present invention relates to a distance surveying drone that is easy to level off according to the movement of a survey means, comprising: a drone body capable of level hovering flight through a built-in sensor module; a horizontal guide installed across the drone body; a survey positioning means including a support pole that is vertically mounted so as to be movable on the horizontal guide; a surveying means, mounted elevatably on the support pole, that communicates with an external device located at a reference point, surveys a target distance from the reference point to a survey point on the basis of reflection information of a laser irradiated at the survey point, and processes the survey information; a thrust control means that is installed rotatably and telescopically on the drone body and has a propeller mounted at an end thereof; and a level-off controller configured to perform the level hovering flight by controlling a rotation range of the thrust control means, the length of the thrust control means, and the revolutions per minute of an electric motor operating the propeller on the basis of a change in the center of gravity according to a change in the position of the surveying means.

Description

Distance surveying drone that is easy to maintain level according to the movement of the surveying means

The present invention relates to a distance surveying drone that is easy to maintain the level according to the movement of the surveying means so that the drone equipped with the surveying means can stably maintain the horizontal stationary flight state in response to the change in the center of gravity caused by the movement of the surveying means. will be.

Drones were developed for military purposes in the early 20th century and have performed military missions such as reconnaissance, surveillance, and bombing. Utilization is becoming common in a wide variety of fields, such as being put into difficult points (regions) or dangerous areas to collect information, filming dramas and movies, and logistics delivery.

In recent years, drones have been used to overcome the limitations of the existing surveying device method for inspection and surveying of land, rivers, and facilities. The error is relatively small, and compared to the surveying device method using the global positioning system (GPS) and terrestrial laser scanner, the size of the surveyable area per unit time is wider, so it is a substitute and supplement for existing surveying equipment during surveying. As a tool, it can be used very effectively.

For this reason, the National Geographic Information Institute under the Ministry of Land, Infrastructure, and Transport, a major government agency in Korea, recognized the effectiveness of the 3D model using drones and the surveying device method based on it, and 「Guidelines for public surveying using unmanned aerial vehicles (National Geographic Information Institute Notice No. 2018-1075, 2018.03.030., Enacted)」 are being prepared and are being implemented so that related technologies can be applied to the public surveying field. In order to determine whether the work is appropriately paid and to secure quality, drone surveying standards have been added to the measurement items of the construction standard standards and are currently being applied to most construction industries.

And, in August 2014, Korea Land and Geospatial Informatix Corporation launched a project to utilize unmanned aerial vehicles (drones, etc.) for geospatial information linking fields, such as natural disaster areas and incision areas that are difficult for humans to access. Major construction companies are actively introducing drone-related technologies to construction and civil engineering sites.

In this regard, Korean Patent Registration No. 10-1881121 discloses a drone and a drone control method for measuring a distance so that it can be easily and accurately measured even in areas where ground surveying is difficult.

In addition, through Korean Patent Registration No. 10-2200679, distance measurement that enables more efficient surveying by remotely controlling the position and angle of a device (measuring device) that measures the distance between points by transmitting and receiving signals (laser, etc.) Drones have been disclosed.

However, in order to survey, it is very important to stably perform horizontally suspended flight, but in the past, horizontally stopped flight is performed by controlling the number of revolutions of a propeller.

In this way, it is not easy to respond to the change in the center of gravity according to the measurement means moving on the body of the drone only by controlling the rotation speed of the propeller through the control of the motor, and the drone may momentarily lose its balance and cause a fall. there is.

In addition, when the number of revolutions of the propeller is continuously increased, there are cases in which the operation time of the drone may be reduced.

The present invention is intended to solve the above problems, so that the thrust can be adjusted according to the position change of the propeller so as to respond to the change in the center of gravity of the drone equipped with the distance measuring means on the body, so that the drone can stably fly horizontally. Its purpose is to make it possible.

In addition, another object is to increase the lifespan of the battery by keeping the number of revolutions of the motor of the drone performing horizontally stationary flight for a long time at the lowest possible state.

The object of the present invention is not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the present invention provides a drone body capable of horizontally stationary flight through a built-in sensor module, a horizontal guide installed across the drone body, and a vertically mounted movable on the horizontal guide. A survey position adjusting means including a support pole, mounted on the support pole to be elevated and communicated with an external device located at a reference point, and a target distance from the reference point to the survey point based on the reflection information of the laser irradiated to the survey point. A surveying means for measuring and processing the measurement information, a thrust control means installed rotatably and stretchably on the drone body and having a propeller mounted at the end, and a change in the center of gravity according to the position change of the surveying means. and a horizontal controller for controlling the rotation range of the thrust adjusting means and the length of the thrust adjusting means and controlling the number of rotations of the electric motor for operating the propeller to perform horizontal stationary flight.

The thrust adjusting means includes a first motor installed vertically inside the drone body, a second motor rotatably installed on top of the first motor, and rotatably installed in the second motor in a horizontal direction, A rotating shaft having a screw thread formed on an outer circumferential surface and a screw groove meshing with the screw thread on the inner circumferential surface are coupled to enclose the rotating shaft to perform forward and backward linear motion according to the rotation of the rotating shaft, and the telescopic control unit It is formed extended in a coupled state and exposed to the outside of the drone body, characterized in that it comprises a telescopic arm equipped with the electric motor at the end.

It is formed to extend in the horizontal direction from the second motor, characterized in that it further comprises a deflection prevention member coupled to be interlocked with the operation of the telescopic control sphere to support the telescopic control sphere.

The sagging prevention member is formed inside the drone body to face the second motor, and is formed to extend in a horizontal direction on the side of the second motor, and a support receiver having a cutout groove formed on the opposite surface, so that the end is formed in the cutout A guide bar inserted into a groove and rotated, and a lower end slidably mounted on an upper portion of the guide bar, and an upper end connected to the telescopic control arm to support and interlock with the telescopic control arm. do.

The present invention according to the above configuration can expect the following effects.

It is possible to adjust the thrust according to the change in the position of the propeller so as to respond to the change in the center of gravity of the drone equipped with the distance measurement means on the body, so that the drone can stably perform horizontally stationary flight.

In addition, there is an effect of increasing the lifespan of the battery by keeping the motor rotation speed of the drone performing horizontally stationary flight for a long time in a state as low as possible.

1 is a perspective conceptual view of a distance surveying drone that can be easily leveled according to the movement of a surveying means according to the present invention.

Figure 2 is a plan view of a distance surveying drone that can be easily leveled according to the movement of the surveying means according to the present invention.

3 is a view showing the movement of the surveying means of the distance surveying drone, which can be easily leveled according to the movement of the surveying means according to the present invention.

4 is a view showing a state in which a support pole of a distance surveying drone, which is easy to maintain level according to the movement of a surveying means according to the present invention, moves on a horizontal guide.

Figure 5 is a side cross-sectional view for explaining the thrust control means and the deflection prevention member disposed inside the drone body of the present invention.

Figure 6 is a view showing the propeller position change according to the movement of the surveying means of the present invention.

In particular, it is possible to adjust the thrust according to the change in the position of the propeller so that it can respond to the change in the center of gravity of the drone equipped with the distance measurement means on the body, so that the drone can stably perform horizontally stopped flight, and can perform horizontally stopped flight for a long time. Its technical feature is to increase the lifespan of the battery by keeping the number of revolutions of the motor of the drone as low as possible.

1 is a perspective conceptual diagram of a distance surveying drone that is easily leveled according to the movement of the surveying means according to the present invention, and FIG. 2 is a plan view of a distance surveying drone that is easily leveled according to the movement of the surveying means according to the present invention. 3 is a view showing the movement of the surveying means of the distance surveying drone, which is easy to maintain level according to the movement of the surveying means according to the present invention, Figure 4 is easy to maintain level according to the movement of the surveying means according to the present invention It is a view showing a state in which a support pole of a distance surveying drone moves on a horizontal guide, and FIG. 5 is a side cross-sectional view for explaining the thrust control means and the deflection prevention member disposed inside the drone body of the present invention, and FIG. 6 is It is a view showing the propeller position change according to the movement of the surveying means of the present invention.

Hereinafter, a distance surveying drone that can easily be leveled according to the movement of the surveying means according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The distance surveying drone, which is easy to maintain level according to the movement of the surveying means 300 of the present invention, largely consists of a drone body 100, a surveying position adjusting means 200, a surveying means 300, a thrust control means 400 and a horizontal It comprises a controller (not shown).

First, the drone body 100 is capable of horizontally stationary flight through the built-in sensor module. The sensor module may include a gyro sensor and an acceleration sensor for maintaining a level.

The surveying position adjusting means 200 includes a horizontal guide 210 installed across the drone body 100 and a support pole 220 vertically mounted to be movable on the horizontal guide 210. .

The surveying means 300 is mounted on the support pole 220 so as to be elevated and communicates with an external device located at a reference point, and determines the target distance from the reference point to the survey point based on the reflection information of the laser irradiated to the survey point. survey and process the measurement information.

That is, the surveying means 300 is mounted on the support pole 220 so that the height can be adjusted up and down, and at the same time, as the support pole 220 moves forward and backward on the horizontal guide 210, the front and rear positional movement is also possible. It becomes possible.

At this time, the surveying means 300 may be operated in the longitudinal direction of the support pole 220 based on remote control using an external device.

However, the power source for operating the support pole 220 and the surveying means 300 is operated based on an electric motor, and a more detailed description thereof will be omitted.

Next, the thrust control means 400 is rotatably and retractably installed on the drone body 100, and a propeller is mounted at an end thereof.

The horizontal controller adjusts the rotation range of the thrust control means 400 and the length of the thrust control means 400 based on the change in the center of gravity according to the position change of the measurement means 300, and an electric motor for operating the propeller. (P) It is controlled to perform horizontal hovering flight through control of the number of revolutions.

In more detail about the thrust control means 400, the thrust control means 400 includes a first motor 410, a second motor 420, a rotational shaft 430, an expansion and contraction control unit 440, and an expansion and contraction It comprises an arm 450.

The first motor 410 is vertically installed inside the drone body 100.

The second motor 420 is rotatably installed on the upper part of the first motor 410, and an insertion groove is formed at the lower part of the second motor 420 and coupled to the shaft, so that the first motor 410 According to the rotation, the second motor 420 itself rotates. Through this, the position of the propeller can be rotated and moved to correspond to the change in the center of gravity.

The rotating shaft 430 is rotatably provided to the second motor 420 in a horizontal direction, and a screw thread is formed on the outer circumferential surface.

The expansion and contraction control member 440 has a screw groove meshing with the screw thread formed on its inner circumferential surface and is coupled to contain the rotary shaft 430 to perform a forward and backward linear motion according to the rotation of the rotary shaft 430 . Through this, as the position of the propeller expands or contracts inward or outward of the drone body 100, it is possible to respond in addition to the change in the center of gravity due to the change in the position of the measurement means 300.

The extension arm 450 is formed to extend while being coupled to the extension control sphere 440 and is exposed to the outside of the drone body 100, and the electric motor P is provided at the end, and the electric motor P is A propeller is coupled to the end to rotate.

At this time, the deflection prevention member 500 extending in the horizontal direction from the second motor 420 and being interlocked with the operation of the expansion and contraction control unit 440 to support the expansion and contraction control unit 440 is further provided. may be provided.

The deflection prevention member 500 includes a support receiver 510, a guide bar 520, and a support 530.

The support receiver 510 is formed inside the drone body 100 to face the second motor 420, and a cutout groove is formed on the opposite surface.

The guide bar 520 extends horizontally from the side of the second motor 420, and its end is inserted into the incision groove and rotated.

That is, the guide bar 520 is preferably disposed parallel to the lower portion of the telescopic arm 450 .

The support member 530 has a lower end slidably mounted on an upper portion of the guide bar 520 and an upper end connected to the telescopic control member to support and interlock with the telescopic control member 440 .

The aforementioned motor and electric motor P may be wired or wirelessly connected to the horizontal controller, and the operation is controlled through the horizontal controller.

That is, the horizontal controller is connected to a sensor module including an acceleration sensor and a gyro sensor for detecting inclination, detects inclination of the drone body 100, and individually controls the electric motor (P) for maintaining the level, and thus rotates can be adjusted.

In addition, by controlling the rotation of the first motor 410 and the expansion and contraction of the second motor 420, it is possible to enable the drone to fly horizontally.

However, the horizontal controller preferentially performs the control to enable the horizontal stop flight through the control of the first motor 410 and the second motor 420, and additionally controls the operation of the individual electric motors P to perform the horizontal stop. It is desirable to control the flight to be possible.

That is, when the drone stops at a required point while flying and moves to a position where an optimal measurement state is possible through the movement of the surveying means 300 in a horizontally stationary flight state, a change in the center of gravity occurs. At this time, the horizontal controller first Through the control of the motor 410 and the second motor 420, the position of the propeller is changed to adjust the drone body 100 to a horizontal flight state.

However, it is preferable that the horizontal controller controls individual electric motors P to maintain a horizontally stationary flight state through adjusting the thrust of each propeller when additional variables including wind occur.

The above embodiment is merely an example, and other embodiments variously modified therefrom are possible to those skilled in the art.

Therefore, the true technical protection scope of the present invention should include not only the above embodiments but also variously modified other embodiments according to the technical spirit of the invention described in the claims below.

The present invention is directed to the field of distance surveying drones, which are easy to maintain horizontality according to the movement of the surveying means, to stably maintain the horizontal stationary flight state in response to the change in the center of gravity caused by the movement of the surveying means in the drone equipped with the surveying means. available

Claims

Drone main body capable of horizontally stationary flight through the built-in sensor module;

Surveying position adjusting means including a horizontal guide installed across the drone body and a support pole mounted vertically to be movable on the horizontal guide;

Surveying means mounted on the support pole to be lifted up and down, communicating with an external device located at a reference point, measuring a target distance from the reference point to the survey point based on reflection information of a laser irradiated to the survey point, and processing the measurement information ;

a thrust adjusting means installed in the drone body to be rotatable and stretchable, and having a propeller mounted at an end thereof;

Based on the change in the center of gravity according to the change in the position of the measuring means, it is possible to perform horizontal stop flight by adjusting the rotation range of the thrust control means and the length of the thrust control means and controlling the number of rotations of the motor for operating the propeller. A distance surveying drone that is easy to maintain level according to the movement of the surveying means, characterized in that it comprises a horizontal controller for controlling to be.
According to claim 1,

The thrust control means,

A first motor installed in the vertical direction inside the drone body;

a second motor rotatably installed above the first motor;

a rotating shaft rotatably installed in the second motor in a horizontal direction and having a screw thread formed on an outer circumferential surface;

A screw groove meshing with the screw thread is formed on an inner circumferential surface and is coupled to contain the rotation shaft to perform a forward and backward linear motion according to the rotation of the rotation shaft;

Telescoping arm coupled to the telescoping control sphere, exposed to the outside of the drone body, and equipped with the electric motor at the end; drone.
According to claim 2,

It is formed to extend in the horizontal direction from the second motor, and is coupled to be interlocked with the operation of the telescopic control sphere to support the telescopic control sphere. Easy-to-use distance-measuring drone.
According to claim 3,

The sagging prevention member,

a support receiver formed inside the drone body to face the second motor and having a cutout groove formed on the opposite surface;

a guide bar extending horizontally from a side surface of the second motor and having an end inserted into the incision groove and rotated;

The lower end is slidably mounted on the upper part of the guide bar, and the upper end is connected to the telescopic control arm to support and interlock with the telescopic control arm; horizontal maintenance according to the movement of the surveying means comprising a Easy ranging drone.