Drones

Abstract

The unmanned aerial vehicle of the present application includes: a body portion, a battery is installed, the forward direction is set as the x-axis; a plurality of rotors, four or more are provided around the body portion, each rotation axis is aligned in the z-axis direction; an x-axis tilt mechanism portion, the plurality of rotors are tilted with each axis parallel to the x-axis as the center; a y-axis tilt mechanism portion, the plurality of rotors are tilted with each axis parallel to the y-axis as the center; and a first drive motor portion for driving the y-axis tilt mechanism portion; a second drive motor portion for driving the x-axis tilt mechanism portion; a control portion, the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor portion and the second drive motor portion are controlled to realize a plurality of flight modes; and a wing portion, provided on the upper portion of the body portion, formed in the air foil shape to provide lift.

Description

TECHNICAL FIELD

[0001] The present application relates to a drone. BACKGROUND

[0002] A multi-rotor or multi-fan aircraft, which is called a drone, is a kind of helicopter having three or more rotors. It has advantages over a conventional single-rotor helicopter in that it can change the torque and speed of the rotors, is easy to maintain and operate. Due to these advantages and rapid development of electronic technology, the application field of the multi-rotor aircraft is rapidly expanding. In the past, large drones for military use were mainly used, but recently, many small drones for civilian use have been produced. The use thereof has also expanded from image shooting to various fields such as transportation of goods.

[0003] Among the small drones in various forms, the multi-rotor aircraft called quadcopter has more advantages than other aircraft. The greatest advantage is that the mechanical mechanism is very simple. The quadcopter does not need to be trimmed before flight, and the mechanical vibration is not large, and the probability of parts breakage due to aging is also low. Also, since the quadcopter has a simple shape, it is easy to model mathematically, and thus is suitable for automatic flight, unlike other small aircrafts that require a lot of training to adjust the aircraft, beginners can easily manipulate. In addition, since a plurality of small propellers is used, it is relatively safe for people who are not familiar with manipulation or management. That is, even without professional knowledge of the aircraft or a lot of training in advance, the quadcopter can be easily manipulated, maintained, and managed. Thanks to these advantages, the influence of the quadcopter in the small drones for civilian use is gradually expanding.

[0004] There have been many studies on the control and guidance of the quadcopter. First, in the control field, in order to effectively handle the characteristics of the nonlinear model of the quadcopter, the Backstepping technique or the Sliding Mode technique is used to directly control the nonlinear system, and attempts are also made to linearize the quadcopter model using Feedback Linearization and then control it. In addition, in the guidance field, not only can the Flip action of rotating the body of the quadcopter by 360 degrees or more in one direction be performed, but also rapid maneuvers based on a specific trajectory and posture, and delicate maneuvers such as exchanging balls with each other can be implemented.

[0005] With the contribution of many researchers, although it is possible to precisely control and guide the multicopter such as quadcopter, there is still room for improvement in terms of function. Based on the fact that the accurate position and posture of the multicopter in three-dimensional space are expressed by six variables, the final multicopter system becomes an Under Actuated system in which the dimension of input is less than that of output. This fact limits the control and guidance of the multicopter. For example, in order to accelerate the multicopter forward, the body must be tilted forward, and in the state in which the multicopter is tilted backward, it is absolutely impossible to generate forward acceleration. That is, the posture and acceleration of the multicopter cannot be completely independent.

[0006] Therefore, when a target object is photographed by attaching a camera to the body of the multicopter, if the multicopter changes direction, the body will also tilt, so that the photographing direction of the camera will deviate from the target object. In addition, since the entire multicopter must be tilted when changing direction, the responsiveness is relatively low, so rapid maneuvering is not easy. For these reasons, an additional device capable of maintaining the camera according to the change in the angle of the body is used, which causes an increase in components and cost, an increase in weight, and a reduction in the use time of the battery. In addition, since such a camera connection device is easily shaken, a dust suction device is additionally installed, so there is a disadvantage in that the device becomes complicated.

[0007] Related Prior Art

[0008] Korean Patent Publication No. 10-2017-0061941 (Published on June 7, 2017)

[0009] Korean Patent No. 10-1692315 (Granted on December 28, 2016) SUMMARY

[0010] Technical Problem to be Solved

[0011] The present application aims to stably provide a multicopter with multiple degrees of freedom to implement various flight modes, without the need for an additional device for setting a camera, and to maintain a non-shaking state.

[0012] Another object of the present application is to ensure additional lift when the multicopter is flying, thereby reducing battery consumption and increasing flight time.

[0013] Means for Solving the Problem

[0014] The unmanned aerial vehicle of the present application includes: a body portion, a battery is installed, a forward direction is set as an x-axis; a first rotor and a second rotor, each rotating axis is arranged in a z-axis direction, when viewed from the x-axis direction, at a first position, the body portion is centrally arranged opposite; a third rotor and a fourth rotor, each rotating axis is arranged in the z-axis direction, when viewed from the x-axis direction, at a second position of the body portion, the y-axis direction is arranged opposite; a first frame shaft, at the first position, the body portion is rotatably supported with a y1-axis parallel to the y-axis as a center, at both ends, the first rotor and the second rotor are supported based on each support shaft parallel to the x-axis; a second frame shaft, at the second position, the body portion is rotatably supported with a y2-axis parallel to the y-axis as a center, at both ends, the third rotor and the fourth rotor are supported based on each support shaft parallel to the x-axis; a third frame shaft, relative to the first frame shaft, based on a plurality of first rod portions, is arranged apart in the z-axis direction, based on a force parallel to the y-axis, is moved so that the first rotor and the second rotor are inclined with each axis parallel to the x-axis as a center; a fourth frame shaft, relative to the second frame shaft, based on a plurality of second rod portions, is arranged apart in the z-axis direction, based on a force parallel to the y-axis, is moved so that the third rotor and the fourth rotor are inclined with each axis parallel to the x-axis as a center; a first drive motor portion, connected through a first conversion mechanism portion, provides a force parallel to the y-axis direction to the third frame shaft and the fourth frame shaft; a second drive motor portion, connected through a second conversion mechanism portion, provides a force to the first frame shaft and the second frame shaft to rotate with the y1-axis and the y2-axis as a center, respectively; a control portion controls the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor portion and the second drive motor portion to realize a plurality of flight modes; and a wing portion is arranged at an upper portion of the body portion, formed in a foil shape to provide lift.

[0015] According to an example of the present application, the wing portion can be unfolded or folded from the center axis to the x direction.

[0016] According to an example of the present application, the wing portion is detachably formed in the body portion.

[0017] According to an example of the present application, the plurality of flight modes includes: a first flight mode, stopping the first drive motor portion and the second drive motor portion entirely, individually controlling the speed of the first rotor to the fourth rotor; and a second flight mode, starting the first drive motor portion and the second drive motor portion by individual control, individually controlling the speed of the first rotor to the fourth rotor.

[0018] According to an example of the present application, the first flight mode can include: a 1-1 flight mode that tilts the body portion in the x-axis direction or moves the body portion in the y-axis direction; a 1-2 flight mode that tilts the body portion in the y-axis direction or moves the body portion in the x-axis direction; a 1-3 flight mode that rotates the body portion about the z-axis; and a 1-4 flight mode that moves the body portion in the z-axis direction.

[0019] According to an example of the present application, the second flight mode can include: a 2-1 flight mode that maintains the body portion horizontal, tilts the first to fourth rotors about respective axes parallel to the x-axis, and moves the body portion in the y-axis direction; a 2-2 flight mode that maintains the body portion horizontal, tilts the first to fourth rotors about respective axes parallel to the y-axis, and moves the body portion in the y-axis direction; a 2-3 flight mode that maintains the body portion horizontal, individually controls the speed of the first to fourth rotors, and rotates the body portion about the z-axis; a 2-4 flight mode that maintains the body portion horizontal, individually controls the speed of the first to fourth rotors, and moves the body portion in the z-axis direction; a 2-5 flight mode that rotates the first to fourth rotors about respective axes parallel to the x-axis, and rotates the body portion relative to the x-axis; and a 2-6 flight mode that rotates the first to fourth rotors about respective axes parallel to the y-axis, and rotates the body portion relative to the y-axis.

[0020] According to an example of the present application, the 2-5 flight mode can include: making the respective rotation axes of the first to fourth rotors parallel to the z-axis, rotating the body portion relative to the x-axis, and maintaining the attitude of the body portion tilted relative to the ground.

[0021] According to an example of the present application, the 2-6 flight mode can include: making the respective rotation axes of the first to fourth rotors parallel to the z-axis, rotating the body portion relative to the y-axis, and maintaining the attitude of the body portion tilted relative to the ground.

[0022] The present invention also discloses a drone, comprising: a fuselage section equipped with a battery, the forward direction of which is set to the x-axis; multiple rotors, four or more of which are arranged around the fuselage section, each rotor axis being neatly arranged in the z-axis direction; an x-axis tilting mechanism section for tilting the multiple rotors about axes parallel to the x-axis; a y-axis tilting mechanism section for tilting the multiple rotors about axes parallel to the y-axis; a first drive motor section for driving the y-axis tilting mechanism section; a second drive motor section for driving the x-axis tilting mechanism section; a control section for controlling the multiple rotors, the x-axis tilting mechanism section, the y-axis tilting mechanism section, the first drive motor section, and the second drive motor section to realize multiple flight modes; and a wing section disposed on the upper part of the fuselage section, formed in the form of a foil to provide lift.

[0023] The effects of the invention

[0024] The UAV according to the present invention enables multiple rotors to tilt independently around the x-axis and y-axis, respectively. Even when the rotors are hovering, changing attitude, or changing speed, the main body can maintain its original attitude or be set to a specific attitude, thereby enabling various flight modes. By individually controlling the speed of multiple rotors, a first flight mode with 4 degrees of freedom can be achieved, and a second flight mode with 6 degrees of freedom can be achieved by tilting the multiple rotors in the x-axis and y-axis directions. Furthermore, by providing wings on the upper part of the fuselage, the present invention can supplement lift during UAV flight, thereby reducing battery consumption and increasing flight time compared to flight relying solely on rotor rotation. Attached Figure Description

[0025] Figure 1 This is a perspective view of an example of a drone 100 according to the present invention.

[0026] Figure 2 Viewed from the x-axis direction Figure 1 The drone looks like 100.

[0027] Figure 3 Viewed from the y-axis direction Figure 1 The drone looks like 100.

[0028] Figure 4 From Figure 1 A 3D view of a drone with 100 split wings and 180 split wings.

[0029] Figure 5 It shows from Figure 4 A 3D view of the state of the split-shell 111.

[0030] Figure 6 Observing from the bottom Figure 5 A 3D view of the drone 100.

[0031] Figure 7 perspective view showing a state in which the plurality of rotors are tilted in a pattern centered on the y axis. Figure 5

[0032] Figure 8 perspective view showing a state in which the plurality of rotors are tilted in a pattern centered on the x axis. Figure 5

[0033] Figure 9 perspective view showing a state in which the plurality of rotors are tilted in a pattern centered on the x axis and the y axis. Figure 5

[0034] Figure 10 to Figure 16 perspective view showing a posture of the unmanned aerial vehicle 200 of the present application based on the first flight mode,

[0035] Figure 10 perspective view showing a balanced state,

[0036] Figure 11 and Figure 12 perspective view showing the unmanned aerial vehicle moving forward and backward (x axis direction) and rotating centered on the y axis,

[0037] Figure 13 and Figure 14 perspective view showing the unmanned aerial vehicle moving left and right (y axis direction) and rotating centered on the x axis,

[0038] Figure 15 perspective view showing the unmanned aerial vehicle moving in the z axis direction,

[0039] Figure 16 perspective view showing the unmanned aerial vehicle rotating centered on the z axis.

[0040] Figure 17 to Figure 20 perspective view showing a posture of the unmanned aerial vehicle 200 of the present application based on the second flight mode, which is different from the posture of the first flight mode,

[0041] Figure 17 perspective view showing the unmanned aerial vehicle moving forward and backward,

[0042] Figure 18 perspective view showing the unmanned aerial vehicle moving left and right,

[0043] Figure 19 perspective view showing the body portion rotating centered on the x axis,

[0044] Figure 20 perspective view showing the body portion rotating centered on the y axis. DETAILED DESCRIPTION

[0045] The unmanned aerial vehicle of the present application is described in detail below with reference to the drawings. In the present specification, even if different embodiments, the same or similar components are given the same or similar reference numerals, and for their description, reference can be made to the previous description.​​​

[0046] According to Figure 1 to Figure 3 , the structure of the drone 100 of this example includes a body portion 110 having a plurality of rotors and a wing portion 180 provided at the upper portion of the body portion 110. Such a wing portion 180, in addition to the mobility by the plurality of rotors described later, additionally provides lift, can save the power supplied by the battery, and utilize the flow of the surrounding air, and thus can increase the flight time. Such a wing portion 180 can be deployed (as Figure 1 to Figure 3 the deployment pattern) with respect to the central axis of the body portion 110 or folded in the opposite direction. The folding method can be embodied in the form of folding like a fan or in a radial shape or a curled shape. In addition, the wing portion 180 can be detachably provided to the body portion 110. In order to provide the wing portion 180 to the body portion 110, an additional holder or a fastening structure can be provided on the body portion 110 or the wing portion 180.

[0047] As Figure 4 , the drone 100 of the present application has a middle body portion 110 and a plurality of rotors 121, 122, 123, 124 provided around the body portion 110. In order to support the plurality of rotors 121, 122, 123, 124, a first frame shaft 131, a second frame shaft 132, a third frame shaft 133, and a fourth frame shaft 134 are provided in the body portion 110.

[0048] For the convenience of explanation, when a coordinate system is defined, the body portion 110 is placed in the front-rear direction, that is, the x-axis direction, the left-right direction of the body portion 110 is the y-axis direction, and the up-down direction of the body portion 110 is the z-axis direction. The respective rotation axes of the plurality of rotors 121, 122, 123, 124 are arranged in the z-axis direction.

[0049] A plurality of rotors can be provided in pairs at a plurality of positions along the x-axis direction of the body portion 110. Figure 1 As one of such examples, it can be seen that two pairs are provided. That is, at the rear end of the body portion 110, the first rotor 121 and the second rotor 122 form a pair, and at the front end of the body portion 110, the third rotor 123 and the fourth rotor 124 form a pair. The first rotor 121 and the second rotor 122 are supported by the first frame shaft 131 and the third frame shaft 133, and the third rotor 123 and the fourth rotor 124 are supported by the second frame shaft 132 and the fourth frame shaft 134.

[0050] The plurality of rotors 121, 122, 123, 124 are supported by respective support shafts 136, 137, 138, 139 parallel to the x-axis. The support shafts 136, 137, 138, 139 are spaces for the arrangement of cables for supplying power to the plurality of rotors, and are primary support points for tilting the plurality of rotors 121, 122, 123, 124 by control.

[0051] The body part 110 can be a form in which a plurality of components inside are covered by the case 111. A camera 112 can be provided at the front of the body part 110. As Figure 2 The camera 112 is directly provided on a substrate or the like, and a separate stabilizer or the like is not used in order to reduce shaking. The camera 112 is reduced in shaking and accurately and easily directed in a desired direction by the components and flight mode of the unmanned aerial vehicle of the present application, which will be described later.

[0052] As Figure 5 The body part 110 is provided with a battery 113 to supply power to a plurality of components. In order to reduce power consumption of the battery 113 and increase flight time, the stabilizer and additional components described above are omitted in the present application, and thus the corresponding weight can be reduced.

[0053] The plurality of frame shafts 131, 132, 133, 134 for supporting the plurality of rotors 121, 122, 123, 124 adopt a structure that can be 'fixed' as well as 'tilted'. To this end, as an example, the plurality of frame shafts include a first frame shaft 131 supported by the body part 110 at the rear end of the body part 110 and capable of rotating about a y1 axis parallel to the y axis, a second frame shaft 132 supported by the body part 110 at the front end of the body part 110 and capable of rotating about a y2 axis parallel to the y axis, a third frame shaft 133 spaced apart in the z axis direction with respect to the first frame shaft 131 based on a plurality of first rod parts 141, 142, and a fourth frame shaft 134 spaced apart in the z axis direction with respect to the second frame shaft 132 based on a plurality of second rod parts 143, 144. That is, the first frame shaft 131 and the second frame shaft 132 exhibit a form supported by the body part 110 and capable of rotating in the y axis direction, and although the third frame shaft 133 and the fourth frame shaft 134 are not fixed with respect to the body part 110, they exhibit a form moving in a state of being constrained with respect to the first frame shaft 131 and the second frame shaft 132 by a driving force based on the respective rod parts 141, 142, 143, 144. In this example, the third frame shaft 133 and the fourth frame shaft 134 move in the y axis direction, so that support shafts 136, 137, 138, 139 primarily supporting the plurality of rotors 121, 122, 123, 124 rotate about respective axes parallel to the x axis.

[0054] A first conversion mechanism section is provided to drive the third frame shaft 133 and the fourth frame shaft 134, and converts the driving force of the first driving motor section 150 into a force for moving the third frame shaft 133 and the fourth frame shaft 134 in a direction parallel to the y-axis. However, because the third frame shaft 133 and the fourth frame shaft 134 are constrained by the first lever sections 141 and 142, they move in directions that spiral around the x1-axis and the x2-axis, which are parallel to the x-axis, with respect to the first frame shaft 131 and the second frame shaft 132. The first conversion mechanism section is provided with a first transmission lever 151 to simultaneously transmit the driving force of the first driving motor section 150 to the third frame shaft 133 and the fourth frame shaft 134. The first transmission lever 151 extends in the x-axis direction, rotates by the rotational force transmitted by the first driving motor section 150, and causes the third frame shaft 133 and the fourth frame shaft 134 to simultaneously move in the y-axis direction by rotating the link member at the opposite end.

[0055] As Figure 6 the first frame shaft 131 and the second frame shaft 132 are connected by a second conversion mechanism section, the second conversion mechanism section is connected by a second driving motor section 160, and transmits the rotational force of the second driving motor section 160 to cause the first frame shaft 131 and the second frame shaft 132 to rotate around the respective rotational axes y1 and y2. The second conversion mechanism section has a second transmission lever 161 that can simultaneously transmit the driving force of the second driving motor section 160 to the first frame shaft 131 and the second frame shaft 132. The second transmission lever 161 also extends in the x-axis direction, moves in the x-axis direction by receiving the driving force of the second driving motor section 160, and based on this, provides a torque that rotates the first frame shaft 131 and the second frame shaft 132.

[0056] Referring Figure 7 to Figure 8 to describe the effects of this configuration. Figure 7 It is shown that the second transmission lever 161 moves in the x-axis direction based on the driving force of the second driving motor section 160 to rotate the first frame shaft 131 and the second frame shaft 132, and as a result, the first rotor 121 and the second rotor 122 rotate around the y1-axis, and the third rotor 123 and the fourth rotor 124 rotate around the y2-axis, respectively. The inclination of the y-axis direction of the plurality of rotors 121, 122, 123, and 124 will result in a change in the angle with respect to the fuselage section 110, and the propulsion force possessed by the plurality of rotors 121, 122, 123, and 124 will be inclined in the y-axis direction with respect to the fuselage section 110.

[0057] Figure 8It is shown that the first transmission lever 151 rotates around the x-axis based on the driving force of the first driving motor part 150, and the third frame shaft 133 and the fourth frame shaft 134 move in the y-axis direction, as a result, the support shafts 136, 137, 138, 139 supporting the plurality of rotors 121, 122, 123, 124 respectively rotate in the x1 and x2-axis directions, and the plurality of rotors 121, 122, 123, 124 also rotate in the same direction. The inclination of the plurality of rotors 121, 122, 123, 124 will guide the inclination (left and right inclination) around the x-axis or the movement (left and right movement) in the y-axis direction relative to the fuselage part 110.

[0058] Figure 9 It is shown that the first driving motor part 150 and the second driving motor part 160 are both active, resulting in the inclination of the plurality of rotors 121, 122, 123, 124 in the x-axis and y-axis directions, respectively. The inclination of the plurality of rotors 121, 122, 123, 124 eventually causes the fuselage part 110 to move or tilt in the diagonal direction.

[0059] The unmanned aerial vehicle 100 with multiple degrees of freedom of the present application has a control part that realizes multiple flight modes by controlling the plurality of rotors 121, 122, 123, 124 and the first driving motor part 150 and the second driving motor part 160. The control part precisely adjusts the inclination of the plurality of rotors 121, 122, 123, 124 by controlling the speed of the plurality of rotors 121, 122, 123, 124 or the action or rotation angle of the first driving motor part 150 and the second driving motor part 160. The fuselage part 110 is provided with a wireless communication module to communicate with a remote controller on the ground, and the control part realizes the flight mode according to the input signal.

[0060] The flight modes of the unmanned aerial vehicle 200 with multiple degrees of freedom of the present application are described below with reference to the accompanying drawings. In these drawings, the plurality of rotors 221, 222, 223, 224 correspond to the aforementioned plurality of rotors 121, 122, 123, 124, and the components supporting or tilting these plurality of rotors 221, 222, 223, 224 are also the same as described above. However, the representation is simplified for ease of understanding.

[0061] The plurality of flight modes of the unmanned aerial vehicle 200 with multiple degrees of freedom of the present application can include 4-degree-of-freedom mode and 6-degree-of-freedom mode. These 4-degree-of-freedom mode and 6-degree-of-freedom mode can be realized independently, and according to the situation, they can be realized simultaneously.

[0062] Figure 10 to Figure 16 It is shown that the first flight mode of the unmanned aerial vehicle 200 of the present application is in the posture.

[0063] Figure 10The rotation state of the plurality of rotors 221, 222, 223, 224 for forming a balanced state is shown. That is, in order for the body portion 210 of the drone to hover stably, the rotation directions of the plurality of rotors 221, 222, 223, 224 that see each other in a diagonal line need to be consistent, and the plurality of rotors in a row are in opposite directions to each other. If the rotation speeds of the plurality of rotors 221, 222, 223, 224 are the same, the body portion 210 can be kept horizontal, and when the size of the propulsion force based on the rotation of the rotors is consistent with the size of the gravity of the drone 200, the drone 200 can stably achieve the maneuver of stopping in the air, that is, hovering. The plurality of rotors 221, 222, 223, 224 of the drone 200 of the present example regarding hovering do not need additional tilting and are controlled by the speed of the motor.

[0064] Figure 11 and Figure 12 The relationship of the rotation speeds of the plurality of rotors 221, 222, 223, 224 for moving the drone 200 forward and backward (x direction) is shown. That is, in order to move the drone 200 forward and backward, the angle of the body portion 210 needs to be tilted forward and backward to change the direction of the propulsion force. For this purpose, the rotation speed of the third rotor 223 and the fourth rotor 224 in the front is slowed down and the speed of the first rotor 221 and the second rotor 222 in the back is increased, then the body portion 210 of the drone 200 will be tilted forward, as a result, the propulsion force will be directed to the back side of the body portion 210, and the drone 200 will move forward.

[0065] Figure 13 and Figure 14 The figure showing the drone moving left and right (y axis direction) and rotating around the x axis is shown. That is, in order for the drone 200 to move left and right, the angle of the body portion 210 needs to be tilted left and right to change the direction of the propulsion force. For this purpose, the speed of the second rotor 222 and the fourth rotor 224 is reduced and the rotation speed of the first rotor 221 and the third rotor 223 is increased, then the body portion 210 of the drone 200 will be tilted to the right side, as a result, the propulsion force will be directed to the left side of the body portion 210, and therefore the drone 200 will move to the right side.

[0066] Figure 15 The concept of the drone moving in the z axis direction is shown, and the up and down movement of the drone 200 is the same as the principle of hovering. If the size of the rotation speed of the plurality of rotors 221, 222, 223, 224 is consistent, and the rotation speed of the plurality of rotors 221, 222, 223, 224 is increased equally, the propulsion force will be increased, and in the state that the body is kept horizontal, the height will be increased Figure 15 a), and on the contrary, if the rotation speed of the plurality of rotors 221, 222, 223, 224 is reduced equally, the propulsion force will be reduced, and in the state that the body is kept horizontal, the height will be decreased Figure 15 b).

[0067] Figure 16 The unmanned aerial vehicle is shown to rotate about the z-axis. In order to make the unmanned aerial vehicle 200 rotate in the direction of the z-axis, the rotation speed of the plurality of rotors that rotate in the direction of the z-axis is reduced by a certain ratio, and the rotation speed of the remaining plurality of rotors that rotate in the opposite direction of the z-axis is increased by the same ratio. According to Newton's law of action and reaction, when the sum of the z-axis direction rotation vectors of the plurality of rotors 221, 222, 223, 224 is greater than 0, the body rotates in the opposite direction of the z-axis based on the reaction.

[0068] Figure 17 to Figure 20 The unmanned aerial vehicle 200 of the present application is shown in a different attitude based on the second flight mode from the first flight mode. In the 6-DOF flight mode, hovering, z-axis rotation, ascending, and descending can be achieved similarly to the aforementioned 4-DOF flight mode. The description of this example is mainly in a mode that cannot be achieved in the 4-DOF flight mode.

[0069] Figure 17 The unmanned aerial vehicle is shown to move forward and backward. That is, in order to make the unmanned aerial vehicle 200 move forward and backward, the plurality of rotors 221, 222, 223, 224 are tilted forward (tilted to rotate about the y-axis) while maintaining hovering. At this time, the mechanism for maintaining the body portion 210 horizontal is similar to that when hovering.

[0070] Figure 18 The unmanned aerial vehicle is shown to move left and right. In order to make the unmanned aerial vehicle 200 move left and right, the plurality of rotors 221, 222, 223, 224 are tilted left and right (tilted to rotate about the x-axis) while maintaining hovering. At this time, the mechanism for maintaining the body portion 210 horizontal is similar to that when hovering.

[0071] Figure 19 The body portion is shown to rotate about the x-axis. That is, in order to tilt the body portion 210 about the x-axis while maintaining hovering, the rotation speed of the second rotor 222 and the fourth rotor 224 on the right side is increased, and the rotation speed of the first rotor 221 and the third rotor 223 on the left side is decreased, and the body portion 210 of the unmanned aerial vehicle 200 will rotate about the x-axis.

[0072] When the body portion 210 rotates, the plurality of rotors 221, 222, 223, 224 also rotate in the same direction to change the direction of the thrust, and the body portion 210 moves, and in order to compensate for this, the angle of the plurality of rotors 221, 222, 223, 224 is changed in the opposite direction to the rotation direction of the body portion 210 by the same amount.

[0073] Figure 20The fuselage section is shown rotating around the y-axis. That is, while hovering, in order to tilt the fuselage section 210 towards the y-axis, the rotational speed of the front third rotor 223 and fourth rotor 224 is increased, while the rotational speed of the rear first rotor 221 and second rotor 222 is decreased, and the fuselage section 210 of the UAV 200 will rotate around the y-axis.

[0074] and Figure 19 Similarly, when the fuselage 210 rotates, the multiple rotors 221, 222, 223, and 224 also rotate in the same direction to change the direction of thrust, thereby causing the fuselage 210 to move. To compensate for this, the angles of the multiple rotors 221, 222, 223, and 224 are changed by the same amount in the opposite direction to the rotation direction of the fuselage 210.

[0075] The drones described above are not limited to the configurations and methods of the above embodiments. Various modifications can be made to the embodiments by selectively combining all or part of the various embodiments.

Claims

1. A drone, characterized in that, Comprising: a body portion in which a battery is installed, a forward direction of which is set as an x-axis; a first rotor and a second rotor, each of which has a rotational axis arranged in a z-axis direction, and which are arranged in opposition to each other with the body portion as a center when viewed in the x-axis direction; a third rotor and a fourth rotor, each of which has a rotational axis arranged in the z-axis direction, and which are arranged in opposition to each other in a y-axis direction at a second position of the body portion when viewed in the x-axis direction; a first frame shaft, which is rotatably supported by the body portion with a y1-axis parallel to the y-axis as a center at the first position, and which supports the first rotor and the second rotor at both end portions based on respective support shafts parallel to the x-axis; a second frame shaft, which is rotatably supported by the body portion with a y2-axis parallel to the y-axis as a center at the second position, and which supports the third rotor and the fourth rotor at both end portions based on respective support shafts parallel to the x-axis; a third frame shaft, which is arranged apart from the first frame shaft in the z-axis direction based on a plurality of first lever portions, and which moves based on a force parallel to the y-axis so that the first rotor and the second rotor tilt with respective axes parallel to the x-axis as centers; a fourth frame shaft, which is arranged apart from the second frame shaft in the z-axis direction based on a plurality of second lever portions, and which moves based on a force parallel to the y-axis so that the third rotor and the fourth rotor tilt with respective axes parallel to the x-axis as centers; a first drive motor portion, which is connected through a first conversion mechanism portion, and which provides a force parallel to the y-axis direction to the third frame shaft and the fourth frame shaft; a second drive motor portion, which is connected through a second conversion mechanism portion, and which provides a force to the first frame shaft and the second frame shaft so that they rotate with the y1-axis and the y2-axis as centers, respectively; a control portion, which controls the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor portion, and the second drive motor portion to realize a plurality of flight modes; and a wing portion, which is provided at an upper portion of the body portion, and which is formed in an airfoil shape to provide lift, the plurality of flight modes including: a first flight mode in which the first drive motor portion and the second drive motor portion are all stopped, and in which speeds of the first rotor to the fourth rotor are individually controlled; and a second flight mode in which the first drive motor portion and the second drive motor portion are activated by individual control, and in which speeds of the first rotor to the fourth rotor are individually controlled, the first flight mode including: a 1-1 flight mode in which the body portion is tilted in the x-axis direction or moved in the y-axis direction; a 1-2 flight mode in which the body portion is tilted in the y-axis direction or moved in the x-axis direction; a 1-3 flight mode in which the body portion is rotated with the z-axis as a center; and a 1-4 flight mode in which the body portion is moved in the z-axis direction, the second flight mode including: The 2-1 flight mode tilts the first to fourth rotors about respective axes parallel to the x-axis, with the body portion kept horizontal, and moves the body portion in the direction of the y-axis. The 2-2 flight mode tilts the first to fourth rotors about respective axes parallel to the y-axis, with the body portion kept horizontal, and moves the body portion in the direction of the y-axis. The 2-3 flight mode controls the speed of the first to fourth rotors individually, with the body portion kept horizontal, and rotates the body portion about the z-axis. The 2-4 flight mode controls the speed of the first to fourth rotors individually, with the body portion kept horizontal, and moves the body portion in the direction of the z-axis. The 2-5 flight mode rotates the first to fourth rotors about respective axes parallel to the x-axis, and rotates the body portion relative to the x-axis. The 2-6 flight mode rotates the first to fourth rotors about respective axes parallel to the y-axis, and rotates the body portion relative to the y-axis.

2. The unmanned aerial vehicle of claim 1, wherein the wing portion is unfolded or folded in the direction of the x-axis from the center axis.

3. The unmanned aerial vehicle of claim 1, wherein the wing portion is detachably formed in the body portion.

4. The unmanned aerial vehicle of claim 1, wherein the 2-5 flight mode includes rotating the first to fourth rotors about respective axes parallel to the z-axis, rotating the body portion relative to the x-axis, and maintaining the posture of the state of inclination relative to the ground.

5. The unmanned aerial vehicle of claim 1, wherein the 2-6 flight mode includes rotating the first to fourth rotors about respective axes parallel to the z-axis, rotating the body portion relative to the y-axis, and maintaining the posture of the state of inclination relative to the ground.

Images