Drone equipped with cargo delivery winch device

Abstract

A drone equipped with a cargo delivery ascender device according to one embodiment of the present invention may include a drone body, a fixing device installed inside the drone body, and an ascender device connected to the fixing device and moving up and down relative to the fixing device by means of an electronic driving device to perform a cargo unloading process to a target point.

Description

Technology Field

[0001] The present invention relates to a drone equipped with an ascending device for cargo delivery. Background Technology

[0002] Drones are unmanned aircraft used in various fields such as reconnaissance, photography, logistics, and delivery.

[0003] With the recent advancement of the logistics industry, the demand for cargo delivery drones is increasing, and these drones must be designed to safely and efficiently perform cargo loading and unloading at specific locations.

[0004] Existing cargo delivery drones face challenging issues such as cargo shaking and wire descent speed control during loading and unloading, which leads to increased battery consumption and makes accurate cargo delivery difficult.

[0005] Meanwhile, although high-speed motors were utilized to resolve the aforementioned issues, magnetic fields were generated during the cargo loading and unloading process, which negatively affected the operation of the drone's internal electronic equipment.

[0006] Therefore, there is a need for technology that not only protects the drone's internal equipment by minimizing the influence of magnetic fields but also enables fast and precise cargo delivery. The problem to be solved

[0007] The technical problem that the present invention aims to solve is to minimize the influence of magnetic fields during the aforementioned cargo unloading process by separately equipping an electronic drive device (or high-speed motor) outside the drone.

[0008] Furthermore, the technical problem that the present invention aims to solve is to enable real-time detection of the cargo unloading process by sensing sensors and to control electronic driving equipment and drones, thereby allowing the cargo unloading process to be performed stably, accurately, and rapidly in various environments. means of solving the problem

[0009] A drone equipped with a cargo delivery ascender device according to one embodiment of the present invention may include a drone body, a fixing device installed inside the drone body, and an ascender device connected to the fixing device and moving up and down relative to the fixing device by means of an electronic driving device to perform a cargo unloading process to a target point.

[0010] In addition, an ascender device according to one embodiment of the present invention is equipped with a detection sensor, and the detection sensor can detect the movement state of the ascender device in real time.

[0011] In addition, a drone equipped with a cargo delivery ascender device according to one embodiment of the present invention may further include a wire, one end of which is connected to a fixed device and the other end of which is wound or unwound by an electronic drive device to support the movement of the ascender device.

[0012] In addition, an electronic driving device according to one embodiment of the present invention is installed inside the main body of the ascender device, and the ascender device performs a cargo unloading process based on the detection result by a sensor, and the cargo unloading process may include the processes of lowering, decelerating, landing, releasing, raising, decelerating, and fixing.

[0013] In addition, an ascender device according to one embodiment of the present invention may further include a fixing device for fixing cargo and an Attitude and Heading Reference System (AHRS) for measuring the roll, pitch, and yaw orientations of the ascender device during the cargo handling process. Effects of the invention

[0014] A drone equipped with a cargo delivery ascender device according to one embodiment of the present invention can minimize the influence of magnetic fields during the cargo unloading process by separately equipping an electronic drive device (or a high-speed motor) on the outside of the drone.

[0015] In addition, a drone equipped with a cargo delivery ascender device according to one embodiment of the present invention can detect the cargo unloading process in real time using a detection sensor and control the electronic drive equipment and the drone, thereby enabling the cargo unloading process to be performed stably, accurately, and quickly in various environments. Brief explanation of the drawing

[0016] FIG. 1 is a drawing of a drone equipped with a cargo delivery ascender device according to one embodiment of the present invention. FIG. 2 is a diagram showing the influence of a magnetic field generated by the operation of an electronic driving device according to one embodiment of the present invention. FIG. 3 is a drawing relating to an ascender device according to one embodiment of the present invention. FIG. 4 is a flowchart relating to a control method of a drone equipped with a cargo delivery ascender device according to one embodiment of the present invention. Specific details for implementing the invention

[0017] Hereinafter, various embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein.

[0018] To clearly explain the present invention, parts unrelated to the explanation have been omitted, and the same reference numerals are assigned to identical or similar components throughout the specification. Accordingly, the reference numerals described above may also be used in other drawings.

[0019] Furthermore, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, and thus the present invention is not necessarily limited to what is illustrated. Thickness may be exaggerated in the drawings to clearly represent various layers and regions.

[0020] Furthermore, the expression "identical" in the explanation may mean "substantially identical." In other words, it may be an identicality to the extent that a person with ordinary knowledge would accept it as identical. Other expressions may also be those in which "substantially" has been omitted.

[0021] Furthermore, when a part in the description is described as 'including' a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. As used in this specification, 'part' refers to a unit that processes at least one function or operation, and may, for example, mean software, FPGA, or hardware components. The function provided by the 'part' may be performed separately by multiple components or integrated with other additional components. The 'part' in this specification is not necessarily limited to software or hardware, and may be configured to reside in an addressable storage medium or configured to run one or more processors. Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0023] FIG. 1 is a drawing of a drone equipped with a cargo delivery ascender device according to one embodiment of the present invention.

[0024] A drone (1) equipped with a cargo delivery ascending device according to one embodiment of the present invention may include a drone body (10), a fixing device (11), an ascending device (12), a wire (13), and a first controller (not shown).

[0025] However, the components for constructing the drone (1) equipped with a cargo delivery ascender device may be more or fewer than the components shown in FIG. 1.

[0026] Below, each component is described.

[0027] A fixing device (11), a first controller, and various internal electronic devices may be installed inside the drone body (10). The drone body (10) can fly in up, down, left, and right directions through the operation of the wing portion.

[0028] The above internal electronic device may be a separate communication module for wirelessly communicating with a communication module (123, see FIG. 4a, FIG. 4b, FIG. 4c).

[0029] The communication module can provide a wireless signal provided from the communication module (123) to the first controller, and the first controller can control the flight of the drone (1) during the cargo unloading process based on the wireless signal.

[0030] The fixing device (11) can be installed inside the drone body (10). Although the fixing device (11) is shown in the form of a box in FIG. 1, the present invention is not limited thereto. That is, the shape of the fixing device (11) can be varied.

[0031] The fixing device (11) can be connected to the ascending device (12) via a wire (13). Specifically, the wire (13) may be connected to and fixed at a point on the lower side of the fixing device (11).

[0032] The ascender device (12) can be connected to the fixed device (11) via a wire (13). The ascender device (12) can be moved up and down in the direction of the fixed device (11) by an electronic driving device (121, see FIG. 4b).

[0033] The ascender device (12) can secure the cargo (2) using a fixed wire (14). A separate bracket for securing the fixed wire (14) may be located on the lower side of the ascender device (12).

[0034] One end of the wire (13) can be connected to a fixed device (11). The other end of the wire (13) can be connected to an electronic drive device (121) to be wound or unwound.

[0035] Specifically, the wire (13) can be wound onto the electronic driving device (121) to shorten its length, or unwound from the electronic driving device (121) to lengthen its length.

[0036] That is, the wire (13) can support the up and down movement of the ascender device (12).

[0037] The fixed wire (14) may be made of various materials. The fixed wire (14) may be made of a material having a strength greater than that which prevents heavy cargo (2) from falling off the ascender device (12).

[0039] FIG. 2 is a diagram showing the influence of a magnetic field generated by the operation of an electronic driving device according to one embodiment of the present invention.

[0040] FIG. 2a is a drawing of a conventional product in which an electronic drive device (121) is installed inside a drone (1), and FIG. 2b is a drawing of the present invention in which an electronic drive device (121) is installed outside a drone (1).

[0041] A magnetic field can be generated around the electronic driving device (121) by the operation of the electronic driving device (121) corresponding to a high-speed motor.

[0042] Specifically, high-speed motors use more current and change the direction of the current more frequently to maintain high-speed rotation, which can generate a strong magnetic field.

[0043] In the case of the existing product shown in FIG. 2a, since the electronic drive device (121) is installed inside the drone body (10), the magnetic field generation area by the electronic drive device (121) may include the internal and external areas of the drone body (10).

[0044] The above magnetic field can have a negative effect on the internal electronic equipment of the drone body (10), and in particular, can cause malfunctions in precision sensors or sensitive electronic components.

[0045] Meanwhile, in the case of the present invention illustrated in FIG. 2b, the electronic driving device (121) is installed on an ascending device (12) located outside the drone (1), so the magnetic field effect caused by the operation of the electronic driving device (121) may be relatively smaller compared to FIG. 2a.

[0046] That is, as the ascending device (12) moves (descends) relative to the fixed device (11) by the operation of the electronic driving device (121), the magnetic field generation area can gradually move away from the drone body (10).

[0047] Through this, the internal electronic equipment of the drone body (10) can be protected compared to conventional equipment in the present invention, and in particular, the normal operation of precision sensors or sensitive electronic components can be ensured.

[0049] FIG. 2c is a graph showing how disturbance changes as the RPM (rotational speed) of the electronic drive equipment (121) increases.

[0050] The x-axis of the graph is labeled "Throttle %", representing the ratio of throttle (acceleration) as a percentage, and the y-axis is labeled "Interference %" on the left, representing the degree of interference as a percentage, and "AMPS" on the right, representing the current in amperes.

[0051] Referring to Fig. 2c, the green graph (AMPS) represents the current usage as the throttle (acceleration) ratio of the electronic drive equipment (121) increases.

[0052] As the throttle (acceleration) ratio of the electronic drive equipment (121) increases, the green graph (AMPS) rises, so it can be seen that the electronic drive equipment (121) uses more current and requires a higher output.

[0053] Meanwhile, the red graph (Interference %) represents the percentage of interference as the throttle (acceleration) ratio of the electronic drive equipment (121) increases. The above interference may refer to the effect of the magnetic field generated from the electronic drive equipment (121) on the compass sensor.

[0054] As the throttle (acceleration) ratio of the electronic drive equipment (121) increases, the red graph (Interference %) rises, so it can be seen that interference caused by the magnetic field increases.

[0055] That is, in order for the drone (1) to quickly unload heavy cargo (2), the throttle (acceleration) of the electronic drive equipment (121) must be increased, but at the same time, interference by the magnetic field may increase.

[0056] As a result, various negative effects such as damage and malfunction may occur to the internal electronic equipment of the existing drone body (10) of Fig. 2a.

[0057] Accordingly, as shown in FIG. 2b, an electronic drive device (121) can be installed on the outside of the drone body (10) to minimize the influence of the magnetic field, thereby protecting the internal electronic equipment of the drone body (10) and ensuring normal operation.

[0059] FIG. 3 is a drawing relating to an ascender device according to one embodiment of the present invention.

[0060] FIG. 3a is a drawing of the ascender device (12) viewed from the outside. FIG. 3b is a drawing showing the interior of the ascender device (12).

[0061] Referring to FIG. 3a and FIG. 3b together, the ascender device (12) is depicted in the shape of a rectangular parallelepiped, but the present invention is not limited thereto. That is, the shape of the ascender device (12) can be varied.

[0062] A through hole (not shown) through which a wire (13) passes may be formed on the upper surface of the ascender device (12). That is, the wire (13) passing through the through hole on the upper surface of the ascender device (12) may be connected to an electronic driving device (121) installed inside the ascender device (12).

[0063] Depending on the operation of the electronic drive device (121), the wire (13) may be wound onto the electronic drive device (121) to shorten its length, or unwound from the electronic drive device (121) to lengthen its length.

[0064] For example, when the flying drone (1) reaches the airspace above the target point, the electronic drive device (121) can rotate in a first direction, and the wire (13) is released from the electronic drive device (121), allowing the ascender device (12) to descend relative to the fixed device (11).

[0065] As the ascending device (12) descends, the cargo (2) connected to the fixed wire (14) can reach the target point. A worker located at the target point can release the fixed wire (14) to receive the cargo (2).

[0066] When cargo unloading is completed, the electronic drive equipment (121) can rotate in a second direction opposite to the first direction, and the wire (13) is wound from the electronic drive equipment (121) so that the ascender device (12) can rise relative to the fixed device (11).

[0067] The unloading process of cargo (2) by the drone (1) can be completed through the above process.

[0068] Meanwhile, a detection sensor (124) may be additionally installed inside the ascender device (12).

[0069] The detection sensor (124) can detect the movement status of the ascender device (12) in real time.

[0070] Specifically, the detection sensor (124) can detect the unloading process in real time, including the process of descending, decelerating, landing, releasing, ascending, decelerating, and fixing, and the detection target may include information on the movement speed of the ascender device (12).

[0071] Alternatively, the detection sensor (124) may be an Attitude and Heading Reference System (AHRS) that measures the roll, pitch, and yaw direction attitude information of the ascender device (12) in real time.

[0072] That is, the detection sensor (124) can detect the unloading process in real time, including the process of descending, decelerating, landing, releasing, ascending, decelerating, and fixing, and the detection target may include posture information of the ascender device (12).

[0073] In the present invention, the sensing sensor (124) is described as being implemented as an AHRS (Attitude and Heading Reference System), but is not limited thereto.

[0074] A sensing sensor (124) that detects the movement speed information of the ascender device (12) and an AHRS (Attitude and Heading Reference System) that measures the attitude information of the ascender device (12) can be implemented separately.

[0075] The detection sensor (124) can operate in conjunction with the second controller (122) and the communication module (123).

[0076] Specifically, the movement speed information of the ascender device (12) detected by the detection sensor (124) and the measured posture information of the ascender device (12) can be provided to the second controller (122), and the second controller (122) can control the electronic drive equipment (121) according to the movement speed information and posture information of the ascender device (12).

[0077] More specifically, the second controller (122) can control the rotational speed of the electronic drive equipment (121) according to the movement speed information and posture information of the ascender device (12) provided by the detection sensor (124) during each process of descending, decelerating, landing, releasing, ascending, decelerating, and fixing of the ascender device (12).

[0078] For example, if the descending speed of the ascender device (12) is faster than the preset descending speed, the second controller (122) can slow down the descending speed of the ascender device (12) by decelerating the rotation speed of the electronic drive equipment (121).

[0079] Alternatively, if the ascent speed of the ascending device (12) is slower than the preset ascent speed, the second controller (122) can increase the rotation speed of the electronic drive equipment (121) to increase the ascent speed of the ascending device (12).

[0080] Meanwhile, the movement speed information and attitude information of the ascender device (12) provided to the second controller (122) can be provided to the communication module (123). The communication module (123) can perform real-time wireless data transmission and reception with the communication module installed in the drone body (10).

[0081] The movement speed information and attitude information of the ascending device (12) provided to the drone body (10) can be provided to the first controller, and the first controller can control the wing portion of the drone (1) based thereon.

[0082] For example, if there is a difference between the attitude information of the pitch direction of the drone (1) and the pre-set attitude information of the pitch direction during the process of landing the cargo (2) on the ascender device (12), the first controller can correct the attitude of the drone (1) by the difference by controlling the speed of the wing portion.

[0083] Alternatively, if the attitude information of the roll direction of the drone (1) differs from the pre-set attitude information of the roll direction during the process of fixing the ascender device (12) to the fixing device (11), the first controller can correct the attitude of the drone (1) by the difference by controlling the speed of the wing part.

[0084] Through this, the drone (1) according to one embodiment of the present invention has the advantage of being able to unload cargo (2) accurately, safely, and quickly.

[0085] Meanwhile, the detection sensor (124) may also detect surrounding environment information.

[0086] For example, if a large amount of smoke is generated around the target point, the detection sensor (124) can detect the smoke.

[0087] Information regarding smoke (environmental information) detected by the detection sensor (124) can be provided to the second controller (122). The second controller (122) may have pre-set information on the movement speed of the ascender device (12) for safely unloading cargo (2) in the smoke environment.

[0088] The second controller (122) can compare and analyze the above-mentioned preset movement speed information and the movement speed (descent speed) of the ascender device (12) to appropriately control the rotation speed of the electronic drive equipment (121) in each unloading process.

[0089] In addition, information regarding smoke (environmental information) detected by the detection sensor (124) can be provided to the first controller through the communication module (123). The first controller may have rotational speed information pre-set to control the rotational speed of each wing section in order to safely unload cargo (2) in the smoke-prone environment.

[0090] The first controller can compare and analyze the pre-set rotational speed information and the rotational speed of each wing section to appropriately control the rotational speed of each wing section during each unloading process.

[0091] Alternatively, if there is an obstacle around the target point, the detection sensor (124) can detect the obstacle. That is, the detection sensor (124) may be a LiDAR or a camera that detects surrounding obstacles.

[0092] Information (environmental information) regarding obstacles detected by the detection sensor (124) may be provided to the second controller (122). The second controller (122) may have pre-set movement speed information and posture information of the ascender device (12) for safely unloading cargo (2) in the obstacle environment.

[0093] The second controller (122) can appropriately control the rotation speed of the electronic drive equipment (121) by comparing and analyzing the movement speed (descent speed) of the ascender device (12) with the preset movement speed information in each unloading process.

[0094] In addition, information (environmental information) regarding obstacles detected by the detection sensor (124) can be provided to the first controller through the communication module (123). The first controller may have rotational speed information pre-set to control the rotational speed of each wing section in order to safely unload cargo (2) in the obstacle environment.

[0095] The first controller can appropriately control the rotation speed of each wing section during each unloading process by comparing and analyzing the above-mentioned preset rotation speed information and the rotation speed of each wing section.

[0096] In the present invention, the cargo (2) is described as being fixed to the ascending device (12) by a fixed wire (14), but it is not limited thereto. That is, a separate robot arm (not shown) may be installed on the ascending device (12), and the cargo (2) may be fixed to the ascending device (12) using the robot arm.

[0097] As described above, surrounding environment information can be detected by the detection sensor (124). That is, when the wire (13) is released from the electronic drive equipment (121), the detection sensor (124) can measure the altitude information of the ascender device (12) or the cargo (2).

[0098] Altitude information detected by the detection sensor (124) can be provided to the second controller (122). The second controller can determine that the altitude of the ascender device (12) or the cargo (2) has reached a preset altitude.

[0099] At this time, the second controller (122) can control the robot arm so that the cargo (2) can be separated from the robot arm. Alternatively, the second controller (122) can control the robot arm so that the cargo (2) can be fixed to the robot arm.

[0100] The ascender device (12) of the present invention may additionally be equipped with a separate alarm device (not shown). In this case, the alarm device may be a speaker or an LED.

[0101] Specifically, in each unloading process such as lowering, decelerating, landing, releasing, raising, decelerating, and fixing of the ascender device (12), the detection sensor (124) can provide different detection signals to the second controller (122), and the alarm device can emit the same or different alarm signals to the outside by the second controller in each unloading process.

[0103] FIG. 4 is a flowchart relating to a control method of a drone equipped with a cargo delivery ascender device according to one embodiment of the present invention.

[0104] In step (S10), the wire (13) is released from the electronic drive device (121), allowing the ascender device (12) to descend.

[0105] Specifically, when the drone (1) reaches the airspace above the target point, the second controller (122) can operate the electronic drive equipment (121).

[0106] The electronic drive device (121) can be rotated at a predetermined rotational speed by the second controller (122), and the wire (13) is released from the electronic drive device (121), so that the ascender device (12) can descend relative to the fixed device (11).

[0107] In step (S12), the detection sensor (124) can measure the movement speed information and posture information of the ascender device (12).

[0108] Specifically, the detection sensor (124) can measure the descent speed of the ascender device (12) in real time. The movement speed information of the ascender device (12) measured by the detection sensor (124) can be provided to the second controller (122).

[0109] The second controller (122) can control the rotational speed of the electronic drive equipment (121) by comparing and analyzing the pre-set movement speed information and the movement speed provided from the detection sensor (124).

[0110] In step (S14), the second controller (122) controls the movement speed of the ascender device (12), and the first controller can control the rotation speed of each wing section.

[0111] Specifically, the sensing sensor (124) can detect posture information of the ascender device (12) in real time. The posture information of the ascender device (12) detected by the sensing sensor (124) can be provided to the communication module (123) through the second controller (122).

[0112] The communication module (123) can wirelessly communicate with communication equipment provided inside the drone body (10), and said communication equipment can provide attitude information of the ascender device (12) to the first controller.

[0113] The first controller can control the rotation speed of each rotating part by comparing and analyzing pre-set posture information and posture information provided from the communication equipment. Through this, the posture of the ascender device (12) can be stabilized during the cargo (2) unloading process.

[0114] In step (S16), cargo (2) can be unloaded at the target point.

[0115] Specifically, the detection sensor (124) can detect the altitude of the ascender device (12) or the cargo (2) in real time. The altitude of the ascender device (12) or the cargo (2) detected by the detection sensor (124) can be provided to the second controller ((122).

[0116] The second controller can determine whether the altitude of the ascender device (12) or the cargo (2) has reached a preset altitude, and can control the alarm device to emit an alarm sound when the altitude has reached the preset altitude.

[0117] A worker located at the target point can unwind the fixed wire (14) to detach the cargo (2) from the ascender device (12) or wrap the cargo (2) around the fixed wire (14) to secure it to the ascender device (12).

[0118] In step (S18), the wire (13) is wound around the electronic drive device (121) so that the ascender device (12) can rise.

[0119] Specifically, the electronic drive device (121) can be rotated at a predetermined rotational speed by the second controller (122), and the wire (13) is wound around the electronic drive device (121) so that the ascender device (12) can rise in the direction of the fixed device (11).

[0120] In step (S20), the detection sensor (124) can measure the movement speed information and posture information of the ascender device (12).

[0121] Specifically, the detection sensor (124) can measure the ascent speed of the ascender device (12) in real time. The movement speed of the ascender device (12) measured by the detection sensor (124) can be provided to the second controller (122).

[0122] The second controller (122) can control the rotational speed of the electronic drive equipment (121) by comparing and analyzing the pre-set movement speed information and the movement speed provided from the detection sensor (124).

[0123] At this time, attitude correction of the ascender device (12) by controlling the rotational speed of each wing part of the drone (1) described above in step (S14) can also be performed.

[0124] As described above, a drone (1) equipped with a cargo delivery ascender device according to one embodiment of the present invention can minimize the influence of magnetic fields during the cargo unloading process by separately equipping an electronic driving device outside the drone, and can detect the cargo unloading process in real time by a detection sensor and control the electronic driving device and the drone, thereby enabling the cargo unloading process to be performed stably, accurately, and quickly in various environments.

[0126] The drawings and detailed description of the invention referenced so far are merely exemplary of the invention and are used only for the purpose of explaining the invention, not to limit the meaning or the scope of the invention as defined in the claims. Therefore, those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the invention should be determined by the technical spirit of the appended claims.

[0127] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an Arithmetic Logic Unit (ALU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a Programmable Logic Unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions.

[0128] The processing unit may execute an operating system and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For convenience of understanding, the processing unit may be described as being used as a single unit, but a person of ordinary skill in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements.

[0129] For example, the processing unit may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as a parallel processor, are also possible. Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure the processing unit to operate as desired or command the processing unit independently or collectively.

[0130] Software and / or data may be embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by a processing device or to provide instructions or data to a processing device. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0131] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art of computer software.

[0132] Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operation of the embodiments, and vice versa.

[0133] Although the embodiments have been described above with reference to limited examples and drawings, those skilled in the art can make various modifications and variations from the description above. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents. Therefore, other implementations, other embodiments, and equivalents to the claims are also included within the scope of the claims set forth below. Explanation of the symbols

[0134] 1: Drone 10: Drone body 11: Fixing device 12: Ascending device 13: Wire

Claims

Claim 1 A drone equipped with a cargo delivery ascender device, comprising: a drone body; a fixing device installed inside the drone body; and an ascender device connected to the fixing device and moving up and down relative to the fixing device by means of an electronic drive device to perform a cargo unloading process to a target point. Claim 2 A drone equipped with a cargo delivery ascender device, wherein, in claim 1, the ascender device is equipped with a detection sensor, and the detection sensor detects the movement state of the ascender device in real time. Claim 3 A drone equipped with a cargo delivery ascender device according to claim 1, further comprising: a wire having one end connected to the fixed device and the other end wound or unwound by the electronic drive device to support the up and down movement of the ascender device. Claim 4 A drone equipped with a cargo delivery ascender device, wherein, in claim 2, the electronic driving device is installed inside the main body of the ascender device, and the ascender device performs the cargo unloading process according to the detection result by the detection sensor, and the cargo unloading process includes the processes of descending, decelerating, landing, releasing, ascending, decelerating, and fixing. Claim 5 A drone equipped with a cargo delivery ascender device according to claim 4, further comprising: a fixing device for securing cargo; and an Attitude and Heading Reference System (AHRS) for measuring the roll, pitch, and yaw attitude of the ascender device during the cargo unloading process.

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