Drone device equipped with XRF and driving method therefor

Abstract

The present invention relates to a drone device equipped with XRF for analyzing soil or rock on a slope, and relates to a drone device equipped with XRF and comprising a drone; and a robot arm mounted under the drone, in which the drone device equipped with XRF can prevent the drone from colliding with a slope or falling due to an imbalance of the weight of the drone when the drone equipped with XRF approaches the slope to analyze soil or rock on the slope.

Description

[Technical Field] The present disclosure relates to a drone device equipped with XRF and a driving method therefor. In particular, the present disclosure relates to a drone device equipped with XRF and a driving method therefor for analyzing soil or rock on a slope. [Background Art] In 1895, Rontgen of Germany first discovered X-rays while conducting experiments using a discharge tube. Thereafter, research using X-rays has undergone significant development in various fields, starting with the field of chemistry. In 1910, Barkla first demonstrated characteristic X-rays, and three years later, Moseley discovered a correlation between the wavelength of characteristic X-rays of each element and the atomic number, that is, that the square root of the wavelength is inversely proportional to the atomic number, and began to use this relationship for qualitative analysis of elements. Since the late 1950s, as interest in qualitative and quantitative analysis using X-rays has increased, X-rays are now widely used in various fields such as minerals, cement, metals, and petrochemicals. When X-rays emitted from an X-ray source are irradiated onto a sample, electrons present in the inner shells of each element of the sample are excited. An excited state refers to a state in which an electron in the outermost shell moves to an electron orbit with a higher energy level when energy is supplied from the outside, and an atom or molecule in such a state is said to be in an excited state. The excited electron is in a highly excited state, and in order to stabilize, an electron in the outer shell fills the inner shell to return to the original state within about 10-6 seconds, and this state is referred to as a ground state. At this time, energy corresponding to the binding energy of each shell is emitted, which is referred to as characteristic X-rays or fluorescent X-rays. Since each element has unique energy and wavelength values of fluorescent X-rays, qualitative analysis of constituent elements can be performed by analyzing the energy values generated when returning from the excited state to the ground state, and quantitative analysis can be performed based on the amount of detected X-rays. An X-ray fluorescence spectrometer (XRF: X-Ray Fluorescence Spectrometer) is an apparatus that analyzes a rock sample by scanning X-rays onto the sample and using fluorescent X-rays generated from the sample. Such an XRF is an apparatus capable of performing qualitative and quantitative analysis in a non-destructive analysis manner, and since analysis can be performed within a short time of 5 seconds or less without deforming the shape of the sample, it is widely used in industrial and research fields requiring component analysis and content analysis. Currently, portable X-ray fluorescence spectrometers that can be carried are widely used in industrial sites, and such XRFs are generally capable of analyzing approximately 80 elements ranging from magnesium to uranium. As a prior art of a conventional fluorescence analysis device, Korean Laid-Open Patent Publication No. 10-2017-0005361 discloses a portable fluorescence analysis device including an emission unit, a tube arranged such that an exit of radiation is directed toward an inspection position of the emission unit, a detection unit directed toward the inspection position of the emission unit and into which fluorescence is input, and an optical sensor unit disposed between the tube and the detection unit or between a radiation path and a fluorescence path, wherein the optical sensor unit detects an amount of visible light introduced from the outside before operation of the tube to confirm an accurate position of a sample at the inspection position. However, a fluorescence analysis method using an X-ray fluorescence spectrometer as in such prior art can be performed only by manpower, and thus a user must directly move to a position to be measured, so that there is a problem in that measurement is impossible in areas where human access is difficult or dangerous, such as cliffs, or in places out of the observer’s line of sight and blind spots, such as strata located in blind areas. To address this, drones equipped with XRF have recently been known. However, in order for XRF to analyze soil or rock on a slope, the XRF must contact the slope to acquire data, and when a conventional drone equipped with XRF approaches a slope to measure soil or rock surfaces of the slope, there is a problem in that the drone may fall due to collision with the slope or imbalance of the weight of the drone. [Disclosure] [Technical Problem] Accordingly, an object of the present disclosure for solving the conventional problems as described above is to provide a drone device equipped with XRF and a driving method therefor, which are capable of preventing a drone from falling due to collision between the drone and a slope or due to an imbalance of the weight of the drone when the drone equipped with XRF approaches the slope to analyze soil or rock on the slope. [Technical Solution] In order to achieve the aforementioned object, an aspect of the present disclosure provides a drone device equipped with XRF, comprising: a drone; and a robot arm mounted at a lower portion of the drone. In some exemplary embodiments, the robot arm may comprise: a motor configured to generate rotational motion; a screw configured to convert the rotational motion into linear motion; and a piston configured to transmit, by the linear motion, a movement operation in a horizontal direction. In some exemplary embodiments, when a first side of the robot arm extends in a first direction, a second side of the robot arm may extend in a second direction. In some exemplary embodiments, a portable XRF may be mounted at the first side. In some exemplary embodiments, an imaging unit configured to capture a slope may be provided at one side of the portable XRF. In some exemplary embodiments, a counterweight may be mounted at the second side. In some exemplary embodiments, a gimbal may be provided at an upper portion of the portable XRF. In some exemplary embodiments, the gimbal may maintain vertical directional balance of the drone. In some exemplary embodiments, after the drone approaches a slope in a state in which the first side and the second side are folded, the first side and the second side may be unfolded. In some exemplary embodiments, the drone may approach a slope in a state in which the first side and the second side are unfolded. Further, in order to achieve the aforementioned object, another aspect of the present disclosure provides a driving method of a drone device equipped with XRF, comprising: mounting a portable XRF at a first side of a robot arm mounted at a lower portion of a drone, and mounting a counterweight at a second side of the robot arm; approaching a slope by the drone; extending the first side of the robot arm in a first direction while extending the second side of the robot arm in a second direction; and bringing the portable XRF into contact with the slope to perform analysis of a surface of soil or rock. Meanwhile, in order to achieve the aforementioned object, still another aspect of the present disclosure provides a driving method of a drone device equipped with XRF, comprising: mounting a portable XRF at a first side of a robot arm mounted at a lower portion of a drone, and mounting a counterweight at a second side of the robot arm; extending the first side of the robot arm in a first direction while extending the second side of the robot arm in a second direction; approaching a slope by the drone in a state in which the first side and the second side of the robot arm are extended; and bringing the portable XRF into contact with the slope to perform analysis of a surface of soil or rock. In some exemplary embodiments, the robot arm may comprise: a motor configured to generate rotational motion; a screw configured to convert the rotational motion into linear motion; and a piston configured to transmit, by the linear motion, a movement operation in a horizontal direction. In some exemplary embodiments, an imaging unit configured to capture a slope may be provided at one side of the portable XRF. In some exemplary embodiments, a gimbal is provided at an upper portion of the portable XRF. In some exemplary embodiments, the gimbal may maintain vertical directional balance of the drone. Specific details of other exemplary embodiments are included in "Details for carrying out the invention" and accompanying "drawings". Advantages and / or features of the present disclosure, and a method for achieving the advantages and / or features will become obvious with reference to various exemplary embodiments to be described below in detail together with the accompanying drawings. However, the present disclosure is not limited only to a configuration of each exemplary embodiment disclosed below, but may also be implemented in various different forms. The respective exemplary embodiments disclosed in this specification are provided only to complete disclosure of the present disclosure and to fully provide those skilled in the art to which the present disclosure pertains with the category of the present disclosure, and the present disclosure will be defined only by the scope of each claim of the claims. [Advantageous Effects] According to the present disclosure, when a drone equipped with XRF approaches a slope to analyze soil or rock on the slope, it is possible to prevent the drone from falling due to collision between the drone and the slope or due to an imbalance of the weight of the drone. [Description of Drawings] FIG. 1 is a perspective view illustrating an overall configuration of a drone device equipped with XRF according to the present disclosure. FIG. 2 is a view illustrating a state in which a robot arm of the drone device equipped with XRF according to the present disclosure is unfolded. FIG. 3 is a view illustrating a state of the robot arm of the drone device equipped with XRF according to the present disclosure. FIG. 4 is a view illustrating an operating state of the drone device equipped with XRF according to the present disclosure. FIG. 5 is a reference view illustrating various types of robot arms used in the drone device equipped with XRF according to the present disclosure. FIG. 6 is a reference view illustrating an example of a robot arm used in the drone device equipped with XRF according to the present disclosure. FIG. 7 is a flowchart illustrating a driving method of the drone device equipped with XRF according to an exemplary embodiment of the present disclosure. FIG. 8 is a flowchart illustrating a driving method of the drone device equipped with XRF according to another exemplary embodiment of the present disclosure. [Best Mode] The present disclosure provides a drone device equipped with XRF and a driving method therefor, which are capable of preventing a drone from falling due to collision between the drone and a slope or due to an imbalance of the weight of the drone when the drone equipped with XRF approaches the slope to analyze soil or rock on the slope. The drone device equipped with XRF comprises: a drone; and a robot arm mounted under the drone. [Mode for Invention] Before describing the present disclosure in detail, the terms or words used in this specification should not be construed as being unconditionally limited to their ordinary or dictionary meanings, and in order for the inventor of the present disclosure to describe his / her disclosure in the best way, concepts of various terms may be appropriately defined and used, and furthermore, the terms or words should be construed as means and concepts which are consistent with a technical idea of the present disclosure. That is, the terms used in this specification are only used to describe preferred embodiments of the present disclosure, and are not used for the purpose of specifically limiting the contents of the present disclosure, and it should be noted that the terms are defined by considering various possibilities of the present disclosure. Further, in this specification, it should be understood that, unless the context clearly indicates otherwise, the expression in the singular may include a plurality of expressions, and similarly, even if it is expressed in plural, it should be understood that the meaning of the singular may be included. In the case where it is stated throughout this specification that a component "includes" another component, it does not exclude any other component, but may further include any other component unless otherwise indicated. Furthermore, it should be noted that when it is described that a component "exists in or is connected to" another component, this component may be directly connected or installed in contact with another component, and in a case where both components are installed spaced apart from each other by a predetermined distance, a third component or means for fixing or connecting the corresponding component to the other component may exist, and the description of the third component or means may be omitted. On the contrary, when it is described that a component is "directly connected to" or "directly accesses" another component, it should be understood that the third element or means does not exist. Similarly, it should be construed that other expressions describing the relationship of the components, that is, expressions such as “between” and “directly between” or “adjacent to” and “directly adjacent to” also have the same purpose. In addition, it should be noted that if terms such as "one side surface", "other side surface", "one side", "other side", "first", "second", etc., are used in this specification, the terms are used to clearly distinguish one component from the other component and a meaning of the corresponding component is not limited by the terms. Further, in this specification, if terms related to locations such as "upper", "lower", "left", "right", etc., are used, it should be understood that the terms indicate a relative location in the drawing with respect to the corresponding component and unless an absolute location is specified for their locations, these location-related terms should not be construed as referring to the absolute location. Further, in this specification, in specifying the reference numerals for each component of each drawing, the same component has the same reference number even if the component is indicated in different drawings, that is, the same reference number indicates the same component throughout the specification. In the drawings attached to this specification, a size, a location, a coupling relationship, etc. of each component constituting the present disclosure may be described while being partially exaggerated, reduced, or omitted for sufficiently clearly delivering the spirit of the present disclosure, and thus the proportion or scale may not be exact. Further, hereinafter, in describing the present disclosure, a detailed description of a configuration determined that may unnecessarily obscure the subject matter of the present disclosure, for example, a detailed description of a known technology including the prior art may be omitted. Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to related drawings. FIG. 1 is a perspective view illustrating an overall configuration of a drone device equipped with XRF according to the present disclosure. Referring to FIG. 1, a drone device equipped with XRF (1000) according to the present disclosure includes a drone (100) and a robot arm (200). The drone (100) is configured to generate lift by rotational force to perform aerial flight and to move in a desired direction, and is controlled to fly in the air by a user from a remote distance using a remote controller. The robot arm (200) may be mounted at a lower portion of the drone (100). However, in some cases, the robot arm (200) may be mounted at an upper portion of the drone (100). The robot arm (200) is a component of a robot system, and is a multi-degree-of-freedom active mechanism that moves various effectors, such as a robot hand mounted at a distal end, within a space to assume an arbitrary position or posture, and is also referred to as a manipulator arm or an artificial arm. A portable XRF (400) is mounted at a first side of the robot arm (200). The portable XRF (400) refers to an X-ray fluorescence spectrometer (XRF: X-Ray Fluorescence Spectrometer), which is a device capable of performing qualitative and quantitative analysis of a sample in a non-destructive manner. When a high-voltage current flows through the portable XRF (400), X-rays are emitted, and when the emitted X-rays are irradiated onto a sample, electrons within atomic orbitals of elements present in the sample are excited. As the excited electrons return to a ground state, characteristic fluorescent X-rays are emitted according to each element, and the emitted fluorescent X-rays are diffracted by a spectroscopic crystal and pass through a detector to obtain analysis results. In addition, the drone device equipped with XRF (1000) according to the present disclosure may further include, at one side of the portable XRF (400), an imaging unit configured to capture a slope (10). The imaging unit may include, for example, a camera. The camera provides surface data of the slope (10) by capturing an image of the surface of the slope (10), such that the portable XRF (400) comes into contact with a flat portion of the slope (10). Accordingly, a user controlling the drone (100) adjusts the drone (100) such that the portable XRF (400) is positioned at the flat portion of the slope (10) based on the surface data provided by the imaging unit, that is, the camera. In addition, the user adjusts the drone (100) such that the portable XRF (400) comes into contact with the flat portion of the slope (10). Meanwhile, an elastic member may be further included between the portable XRF (400) and the first side of the robot arm (200). The elastic member may include, for example, a spring or a damper. The reason for including the elastic member between the portable XRF (400) and the first side of the robot arm (200) is that, when the portable XRF (400) comes into contact with the slope (10), an impact caused by contact between the hard slope (10) and a contact surface of the portable XRF (400) may affect balance of the drone (100). When the balance of the drone (100) is affected, the portable XRF (400) cannot perform precise measurement when analyzing components of rock or soil upon contact with the slope (10). Accordingly, by including the elastic member between the portable XRF (400) and the first side of the robot arm (200), contact impact generated when the portable XRF (400) comes into contact with the slope (10) is alleviated. Further, by including the elastic member between the portable XRF (400) and the first side of the robot arm (200), balance of the drone (100) can be easily maintained when the portable XRF (400) contacts the slope (10), thereby improving accuracy of measurement by the portable XRF (400) and image capture by the imaging unit. In addition, the drone device equipped with XRF (1000) according to the present disclosure may include a gimbal (300) at an upper portion of the portable XRF (400). The gimbal (300) functions to stabilize the portable XRF (400) and the imaging unit. The gimbal (300) is capable of maintaining vertical directional balance of the drone (100). The gimbal (300) isolates the portable XRF (400) and the imaging unit from vibration and movement generated when the drone (100) moves in the air by rotating about multiple axes. This enables stable measurement by the portable XRF (400) or stable image capture by the imaging unit. An operating principle of the gimbal (300) is to continuously adjust movement of the drone (100) using motors mounted on respective axes so that an object maintains a desired direction. Generally, the gimbal (300) is provided as a two-axis or three-axis gimbal, wherein the two-axis gimbal adjusts pitch (vertical movement) and roll (lateral movement), and the three-axis gimbal adjusts pitch, roll, and yaw (horizontal rotation). Accordingly, the gimbal (300) plays an important role in stably maintaining the portable XRF (400) and the imaging unit and performing measurement or image capture at a desired angle and direction. Meanwhile, the drone device equipped with XRF (1000) according to the present disclosure may include a counterweight (500) mounted at a second side of the robot arm (200). In order to maintain stability and flight efficiency of the drone (100), balance is important. A center of gravity (CG) plays a decisive role in stable flight of the drone (100). The center of gravity (CG) refers to an average position of combined weights of all components of the drone (100). Mounting the counterweight (500) is a method of adjusting the center of gravity of the drone (100). In particular, when an additional load (for example, the gimbal (300), the portable XRF (400), a camera, an elastic member, or other imaging or measurement equipment) is mounted at the first side of the robot arm (200) as described above, such a load may change the center of gravity and affect flight stability. To address this issue, by adding the counterweight (500) at the second side of the robot arm (200), weight is added to a side opposite to the side on which the additional load is mounted, thereby moving the center of gravity of the drone (100) back toward a central position. As a result, the drone (100) with a well-adjusted center of gravity can achieve more stable flight, improved energy efficiency, and an extended overall lifespan. Meanwhile, when adding the counterweight (500), care should be taken so that a total weight of the drone does not exceed a maximum takeoff weight. FIG. 2 is a view illustrating a state in which a robot arm of the drone device equipped with XRF according to the present disclosure is unfolded. Referring to FIG. 2, in the drone device equipped with XRF (1000) according to the present disclosure, when a first side of the robot arm (200) extends in a first direction, a second side of the robot arm (200) extends in a second direction. The reason why the first side of the robot arm (200) extends in the first direction is to prevent collision between the drone (100) and the slope (10) when the portable XRF (400) mounted at the first side of the robot arm (200) comes into contact with the slope (10). As described above, by extending the first side of the robot arm (200) in the first direction, the portable XRF (400) approaches and comes into contact with the slope (10) while the drone (100) maintains a predetermined distance from the slope (10). Accordingly, the portable XRF (400) is able to analyze components of rock and soil of the slope (10). Meanwhile, when the first side of the robot arm (200) extends in the first direction, the second side of the robot arm (200) extends in the second direction, thereby maintaining balance of the drone (100). FIG. 3 is a view illustrating a state of the robot arm of the drone device equipped with XRF according to the present disclosure. Referring to FIG. 3, in the drone device equipped with XRF (1000) according to the present disclosure, the robot arm (200) may include a motor (210), a screw (220), and a piston (230). More specifically, in the present exemplary embodiment, the robot arm (200) may perform a role of a linear actuator. The motor (210) functions to generate rotational motion. That is, the robot arm (200) according to the present disclosure is capable of converting various types of energy into linear motion energy. The motor (210) serves as a driving source of the robot arm (200) and generates mechanical energy by receiving electrical power. The motor (210) uses the generated power to convert rotational motion into linear motion. Such linear motion is used to drive an axis by the piston in a horizontal direction. The rotational motion of the motor (210) is generally converted into linear motion through the screw (220). The screw (220) functions to convert the rotational motion generated by the motor (210) into linear motion. The screw (220) constitutes a mechanism for transforming rotational motion of the motor (210) into linear motion. The rotational motion generated when the motor (210) receives electrical power is converted into linear motion by a nut that moves along the screw (220). The screw (220) and the nut cooperate to convert rotational motion into forward and backward motion. Various types of screws may be used. For example, a ball screw provides high precision, high efficiency, and high load capacity, while a lead screw provides a simple structure, low cost, and excellent self-locking characteristics. Accordingly, the screw (220) is an important component of the robot arm (200), and plays a role in converting the rotational motion of the motor (210) into linear motion, as well as determining precision, speed, and load capacity of the robot arm (200). The piston (230) functions to transmit a movement operation in a horizontal direction by the linear motion generated by the screw (220). The piston (230) is a main component that performs linear motion and is operated by the screw (220) driven by the motor (210). The piston (230) is connected to the screw (220) and converts rotation of the motor (210) into linear motion of the piston (230). Movement of the piston (230) occurs in a forward or backward direction. By operation of the motor (210), the screw (220), and the piston (230) as described above, when a first side of the robot arm (200) extends in a first direction, a second side of the robot arm (200) extends in a second direction, thereby maintaining balance of the drone (100). FIG. 4 is a view illustrating an operating state of the drone device equipped with XRF according to the present disclosure. Referring to FIG. 4, in the drone device equipped with XRF (1000) according to the present disclosure, after the drone (100) approaches a slope (10) in a state in which a first side and a second side of the robot arm (200) are folded, the first side and the second side of the robot arm (200) are unfolded. In addition, in the drone device equipped with XRF (1000) according to the present disclosure, the drone (100) may approach the slope (10) in a state in which the first side and the second side of the robot arm (200) are unfolded. As described above, when the portable XRF (400) mounted on the robot arm (200) comes into contact with the slope (10) in a state in which the robot arm (200) is unfolded, an effect of preventing collision between the drone (100) and the slope (10) is achieved. FIG. 5 is a reference view illustrating various types of robot arms used in the drone device equipped with XRF according to the present disclosure. Referring to FIG. 5, in the drone device equipped with XRF (1000) according to the present disclosure, various types of robot arms (200) may be employed. As described above, in the present exemplary embodiment, a robot arm (200) configured to convert rotational motion into linear motion has been described as an example; however, the present disclosure is not limited thereto. As illustrated in FIG. 5, the portable XRF (400) may be brought into contact with a slope by means of various types of robot arms (200). Specifically, a gripper, which is used for a robot or a mechanical device to grasp, move, and manipulate an object, may be employed. Alternatively, a single-link having only one section or part capable of independently moving may be used, or a linear actuator may be employed. Further, a single-arm having one manipulable arm, a dual-arm having two independently manipulable arms, a delta manipulator operated by rapid movement and precise control, a snake robot arm (Hyperredundant) having a plurality of degrees of freedom, a robot arm capable of covering a long range of motion while simultaneously performing pendulum-like circular motion (long reach in pendulum configuration), or a robot arm in which three arms are driven by a landing gear may also be employed. When such various types of robot arms are used, it is preferable that the drone (100) maintains balance by means of a counterweight (500). FIG. 6 is a reference view illustrating an example of a robot arm used in the drone device equipped with XRF according to the present disclosure. Referring to FIG. 6, one example of the robot arm (200) used in the drone device equipped with XRF (1000) according to the present disclosure is as follows. The robot arm (200) illustrated in FIG. 6 includes a multi-rotor support frame, which supports multiple rotors of the drone, fixes the rotors at appropriate positions, and maintains stability of the overall system; an X-axis structure frame and a Y-axis structure frame; linear guides and micro motors mounted on the X-axis structure frame; linear guides and micro motors mounted on the Y-axis structure frame; and a battery counterweight configured to balance or adjust a center of gravity of the system by additionally providing a battery to a machine or device for driving the same. Further, the robot arm (200) may include a spring-lever transmission in which a lever performing an arm function operates in combination with a spring, a robot arm link having flexibility, and a magnetic gripper configured to acquire an object using a strong magnetic force. As described above, in such a configuration, it is preferable that the drone (100) maintains balance by means of a counterweight (500). FIG. 7 is a flowchart illustrating a driving method of the drone device equipped with XRF according to an exemplary embodiment of the present disclosure. Referring to FIG. 7, a method of operating a drone device equipped with XRF according to the present disclosure includes four steps. In a first step (S10), a portable XRF (400) is mounted on a first side of a robot arm (200) installed at a lower portion of a drone (100), and a counterweight (500) is mounted on a second side of the robot arm (200). In a second step (S20), the drone (100) approaches a slope (10). In a third step (S30), the first side of the robot arm (200) is extended in a first direction, and simultaneously, the second side of the robot arm (200) is extended in a second direction. In a fourth step (S40), the portable XRF (400) comes into contact with the slope (10) to perform analysis of a soil surface or a rock surface. FIG. 8 is a flowchart illustrating a driving method of the drone device equipped with XRF according to another exemplary embodiment of the present disclosure. Referring to FIG. 8, a method of operating a drone device equipped with XRF according to another exemplary embodiment of the present disclosure also includes four steps. In a first step (S100), a portable XRF (400) is mounted on a first side of a robot arm (200) installed at a lower portion of a drone (100), and a counterweight (500) is mounted on a second side of the robot arm (200). In a second step (S200), the first side of the robot arm (200) is extended in a first direction, and simultaneously, the second side of the robot arm (200) is extended in a second direction. In a third step (S300), the drone (100) approaches a slope (10) in a state where both the first side and the second side of the robot arm (200) are extended. In a fourth step (S400), the portable XRF (400) comes into contact with the slope (10) to perform analysis of a soil surface or a rock surface. This will be described in more detail below. Referring to the driving method of the drone device (1000) equipped with an XRF according to the present disclosure, the drone device (1000) includes a drone (100) and a robot arm (200). The drone (100) is configured to generate lift by rotational force to perform aerial flight and to move in a desired direction, and is controlled to fly in the air by a user from a remote distance using a remote controller. The robot arm (200) may be mounted at a lower portion of the drone (100). However, in some cases, the robot arm (200) may be mounted at an upper portion of the drone (100). The robot arm (200) is a component of a robot system, and is a multi-degree-of-freedom active mechanism that moves various effectors, such as a robot hand mounted at a distal end, within a space to assume an arbitrary position or posture, and is also referred to as a manipulator arm or an artificial arm. A portable XRF (400) is mounted at a first side of the robot arm (200). The portable XRF (400) refers to an X-ray fluorescence spectrometer (XRF: X-Ray Fluorescence Spectrometer), which is a device capable of performing qualitative and quantitative analysis of a sample in a non-destructive manner. When a high-voltage current flows through the portable XRF (400), X-rays are emitted, and when the emitted X-rays are irradiated onto a sample, electrons within atomic orbitals of elements present in the sample are excited. As the excited electrons return to a ground state, characteristic fluorescent X-rays are emitted according to each element, and the emitted fluorescent X-rays are diffracted by a spectroscopic crystal and pass through a detector to obtain analysis results. In addition, the drone device equipped with XRF (1000) according to the present disclosure may further include, at one side of the portable XRF (400), an imaging unit configured to capture a slope (10). The imaging unit may include, for example, a camera. The camera provides surface data of the slope (10) by capturing an image of the surface of the slope (10), such that the portable XRF (400) comes into contact with a flat portion of the slope (10). Accordingly, a user controlling the drone (100) adjusts the drone (100) such that the portable XRF (400) is positioned at the flat portion of the slope (10) based on the surface data provided by the imaging unit, that is, the camera. In addition, the user adjusts the drone (100) such that the portable XRF (400) comes into contact with the flat portion of the slope (10). Meanwhile, an elastic member may be further included between the portable XRF (400) and the first side of the robot arm (200). The elastic member may include, for example, a spring or a damper. The reason for including the elastic member between the portable XRF (400) and the first side of the robot arm (200) is that, when the portable XRF (400) comes into contact with the slope (10), an impact caused by contact between the hard slope (10) and a contact surface of the portable XRF (400) may affect balance of the drone (100). When the balance of the drone (100) is affected, the portable XRF (400) cannot perform precise measurement when analyzing components of rock or soil upon contact with the slope (10). Accordingly, by including the elastic member between the portable XRF (400) and the first side of the robot arm (200), contact impact generated when the portable XRF (400) comes into contact with the slope (10) is alleviated. Further, by including the elastic member between the portable XRF (400) and the first side of the robot arm (200), balance of the drone (100) can be easily maintained when the portable XRF (400) contacts the slope (10), thereby improving accuracy of measurement by the portable XRF (400) and image capture by the imaging unit. In addition, the drone device equipped with XRF (1000) according to the present disclosure may include a gimbal (300) at an upper portion of the portable XRF (400). The gimbal (300) functions to stabilize the portable XRF (400) and the imaging unit. The gimbal (300) is capable of maintaining vertical directional balance of the drone (100). The gimbal (300) isolates the portable XRF (400) and the imaging unit from vibration and movement generated when the drone (100) moves in the air by rotating about multiple axes. This enables stable measurement by the portable XRF (400) or stable image capture by the imaging unit. An operating principle of the gimbal (300) is to continuously adjust movement of the drone (100) using motors mounted on respective axes so that an object maintains a desired direction. Generally, the gimbal (300) is provided as a two-axis or three-axis gimbal, wherein the two-axis gimbal adjusts pitch (vertical movement) and roll (lateral movement), and the three-axis gimbal adjusts pitch, roll, and yaw (horizontal rotation). Accordingly, the gimbal (300) plays an important role in stably maintaining the portable XRF (400) and the imaging unit and performing measurement or image capture at a desired angle and direction. Meanwhile, the drone device equipped with XRF (1000) according to the present disclosure may include a counterweight (500) mounted at a second side of the robot arm (200). In order to maintain stability and flight efficiency of the drone (100), balance is important. A center of gravity (CG) plays a decisive role in stable flight of the drone (100). The center of gravity (CG) refers to an average position of combined weights of all components of the drone (100). Mounting the counterweight (500) is a method of adjusting the center of gravity of the drone (100). In particular, when an additional load (for example, the gimbal (300), the portable XRF (400), a camera, an elastic member, or other imaging or measurement equipment) is mounted at the first side of the robot arm (200) as described above, such a load may change the center of gravity and affect flight stability. To address this issue, by adding the counterweight (500) at the second side of the robot arm (200), weight is added to a side opposite to the side on which the additional load is mounted, thereby moving the center of gravity of the drone (100) back toward a central position. As a result, the drone (100) with a well-adjusted center of gravity can achieve more stable flight, improved energy efficiency, and an extended overall lifespan. Meanwhile, when adding the counterweight (500), care should be taken so that a total weight of the drone does not exceed a maximum takeoff weight. In addition, in the drone device equipped with XRF (1000) according to the present disclosure, when a first side of the robot arm (200) extends in a first direction, a second side of the robot arm (200) may extend in a second direction. The reason why the first side of the robot arm (200) extends in the first direction is to prevent collision between the drone (100) and the slope (10) when the portable XRF (400) mounted at the first side of the robot arm (200) comes into contact with the slope (10). As described above, by extending the first side of the robot arm (200) in the first direction, the portable XRF (400) approaches and comes into contact with the slope (10) while the drone (100) maintains a predetermined distance from the slope (10). Accordingly, the portable XRF (400) is able to analyze components of rock and soil of the slope (10). Meanwhile, when the first side of the robot arm (200) extends in the first direction, the second side of the robot arm (200) extends in the second direction, thereby maintaining balance of the drone (100). Meanwhile, in the drone device equipped with XRF (1000) according to the present disclosure, the robot arm (200) may include a motor (210), a screw (220), and a piston (230). More specifically, in the present exemplary embodiment, the robot arm (200) may perform a role of a linear actuator. The motor (210) functions to generate rotational motion. That is, the robot arm (200) according to the present disclosure is capable of converting various types of energy into linear motion energy. The motor (210) serves as a driving source of the robot arm (200) and generates mechanical energy by receiving electrical power. The motor (210) uses the generated power to convert rotational motion into linear motion. Such linear motion is used to drive an axis by the piston in a horizontal direction. The rotational motion of the motor (210) is generally converted into linear motion through the screw (220). The screw (220) functions to convert the rotational motion generated by the motor (210) into linear motion. The screw (220) constitutes a mechanism for transforming rotational motion of the motor (210) into linear motion. The rotational motion generated when the motor (210) receives electrical power is converted into linear motion by a nut that moves along the screw (220). The screw (220) and the nut cooperate to convert rotational motion into forward and backward motion. Various types of screws may be used. For example, a ball screw provides high precision, high efficiency, and high load capacity, while a lead screw provides a simple structure, low cost, and excellent self-locking characteristics. Accordingly, the screw (220) is an important component of the robot arm (200), and plays a role in converting the rotational motion of the motor (210) into linear motion, as well as determining precision, speed, and load capacity of the robot arm (200). The piston (230) functions to transmit a movement operation in a horizontal direction by the linear motion generated by the screw (220). The piston (230) is a main component that performs linear motion and is operated by the screw (220) driven by the motor (210). The piston (230) is connected to the screw (220) and converts rotation of the motor (210) into linear motion of the piston (230). Movement of the piston (230) occurs in a forward or backward direction. By operation of the motor (210), the screw (220), and the piston (230) as described above, when a first side of the robot arm (200) extends in a first direction, a second side of the robot arm (200) extends in a second direction, thereby maintaining balance of the drone (100). In addition, in the drone device equipped with XRF (1000) according to the present disclosure, after the drone (100) approaches a slope (10) in a state in which a first side and a second side of the robot arm (200) are folded, the first side and the second side of the robot arm (200) are unfolded. Further, in the drone device equipped with XRF (1000) according to the present disclosure, the drone (100) may approach the slope (10) in a state in which the first side and the second side of the robot arm (200) are unfolded. As described above, when the portable XRF (400) mounted on the robot arm (200) comes into contact with the slope (10) in a state in which the robot arm (200) is unfolded, an effect of preventing collision between the drone (100) and the slope (10) is achieved. As described above, according to the present disclosure, when a drone equipped with an XRF approaches a slope to analyze soil or rock on the slope, it is possible to prevent the drone from crashing due to a collision between the drone and the slope or due to an imbalance in the weight of the drone. In the above, although several preferred embodiments of the present disclosure have been described with some examples, the descriptions of various exemplary embodiments described in the "Specific Content for Carrying Out the Invention" item are merely exemplary, and it will be appreciated by those skilled in the art that the present disclosure can be variously modified and carried out or equivalent executions to the present disclosure can be performed from the above description. In addition, since the present disclosure can be implemented in various other forms, the present disclosure is not limited by the above description, and the above description is for the purpose of completing the disclosure of the present disclosure, and the above description is just provided to completely inform those skilled in the art of the scope of the present disclosure, and it should be known that the present disclosure is only defined by each of the claims. [Industrial Applicability] 5           The present disclosure relates to a drone device equipped with XRF and a driving method therefor. In particular, the present disclosure relates to a drone device equipped with XRF and a driving method therefor which are capable of preventing a drone from falling due to collision between the drone and a slope or due to an imbalance of the weight of the drone when the drone equipped with XRF approaches the slope to analyze soil or rock on the slope, 10 and thus has industrial applicability.

Claims

1. A drone device equipped with XRF, comprising:a drone; anda robot arm mounted at a lower portion of the drone.

2. The drone device of claim 1,wherein the robot arm comprises:a motor configured to generate rotational motion;a screw configured to convert the rotational motion into linear motion; anda piston configured to transmit, by the linear motion, a movement operation in a horizontal direction.

3. The drone device of claim 1,wherein, when a first side of the robot arm extends in a first direction, a second side of the robot arm extends in a second direction.The drone device of claim 3,wherein a portable XRF is mounted at the first side.

5. The drone device of claim 4,wherein an imaging unit configured to capture a slope is provided at one side of the portable XRF.

6. The drone device of claim 3,wherein a counterweight is mounted at the second side.

7. The drone device of claim 5,wherein a gimbal is provided at an upper portion of the portable XRF.

8. The drone device of claim 7,wherein the gimbal maintains vertical directional balance of the drone.The drone device of claim 3,wherein, after the drone approaches a slope in a state in which the first side and the second side are folded, the first side and the second side are unfolded.

10. The drone device of claim 3,wherein the drone approaches a slope in a state in which the first side and the second side are unfolded.

11. A driving method of a drone device equipped with XRF, comprising:mounting a portable XRF at a first side of a robot arm mounted at a lower portion of a drone, and mounting a counterweight at a second side of the robot arm;approaching a slope by the drone;extending the first side of the robot arm in a first direction while extending thesecond side of the robot arm in a second direction; andbringing the portable XRF into contact with the slope to perform analysis of a surface of soil or rock.A driving method of a drone device equipped with XRF, comprising:mounting a portable XRF at a first side of a robot arm mounted at a lower portion of a drone, and mounting a counterweight at a second side of the robot arm;extending the first side of the robot arm in a first direction while extending the second side of the robot arm in a second direction;approaching a slope by the drone in a state in which the first side and the second side of the robot arm are extended; andbringing the portable XRF into contact with the slope to perform analysis of a surface of soil or rock.

13. The driving method of claim 11 or claim 12,wherein the robot arm comprises:a motor configured to generate rotational motion;a screw configured to convert the rotational motion into linear motion; anda piston configured to transmit, by the linear motion, a movement operation in a horizontal direction.The driving method of claim 11 or claim 12,wherein an imaging unit configured to capture a slope is provided at one side of the portable XRF.5

15. The driving method of claim 11 or claim 12,wherein a gimbal is provided at an upper portion of the portable XRF.10

16. The driving method of claim 15,wherein the gimbal maintains vertical directional balance of the drone.

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