Propeller guard having collision detection function

Abstract

The present invention relates to a plurality of propeller guards, wherein each of the propeller guards includes a drone arm extending from a main body, a proximal end of the drone arm is connected to the main body, a plurality of branched guard arms are coupled to distal ends of the drone arm, a wire is connected between the distal ends of the plurality of branched guard arms, tension is applied to the wire, the wire is configured to surround the outside of the rotation radius of the propeller, and a reel capable of selectively winding and unwinding the wire and applying tension to the wire is included. In addition, the present invention has the effect of increasing stability and flight efficiency of the drone by providing the propeller guard. In addition, the present invention has the effect of increasing storability and portability.

Description

Propeller guard with collision detection function

[0001] The present invention relates to a propeller guard having a collision detection function.

[0002] Drones are unmanned aerial vehicles (UAVs) equipped with multiple propellers. Their ease of transport and storage, coupled with their ease of operation, is steadily expanding their scope and user base. However, in the aviation field, such as drones, collisions with external objects can cause serious accidents, necessitating protective devices like propeller guards.

[0003] Propeller guards typically used in drones function by preventing external objects from contacting the propeller, thereby preventing propeller damage. However, conventional technology lacks adequate feedback after contact with the propeller guard. This makes it difficult for the pilot to recognize contact, hindering immediate response. Consequently, even when the guard initially prevents propeller damage, crashes can occur.

[0004] Furthermore, propeller guards increase in size as they become heavier, so larger drones are often reluctant to install them. Attachment weight is crucial for securing drone flight time, and heavier weight reduces flight time, making weight reduction a top priority for all drones. Consequently, most drones today do not install propeller guards, relying on other safety technologies like sensors and the pilot's skill to prevent collisions.

[0005] However, sensors are prone to malfunction, and pilots cannot be fully aware of everything surrounding the drone. Therefore, propeller guards are essential in the aviation industry, where safety is paramount. Sensors often malfunction in situations like rain, direct sunlight, or high-speed flight. In particular, drones can drift and lose their precise location in situations like GPS or sensor malfunctions. In such situations, physical propeller guards are the only safeguard against such situations.

[0006] Furthermore, since it's difficult for the pilot to intervene in unmanned drones, the likelihood of a crash increases if their sensors are disabled. Considering this situation, propeller guards with enhanced functionality are essential to ensure the safety of drones, especially unmanned drones. However, simply installing existing propeller guards makes it difficult to respond immediately to contact situations and reduces flight time, necessitating a new solution.

[0007] Furthermore, existing propeller guards have largely focused solely on propeller protection, extending far beyond the drone's body and propellers. However, this size has led to issues with storage and portability, particularly when the propeller guard is oversized, unlike during actual flight.

[0008] Moreover, indoor drones have a relatively higher risk of collision than outdoor drones due to the inability to receive external GPS corrections. Therefore, collision prevention technologies such as propeller guards and LiDAR sensors have been proposed for indoor drones. However, the protective effect of propeller guards remains limited due to the aforementioned issues, and LiDAR sensor technology is relatively expensive, heavy, and prone to malfunction.

[0009] [Prior Art Literature]

[0010] [Patent Document 1] Korean Intellectual Property Office Publication No. 20-2019-0002525 (Foldable Propeller Guard for Drone) (Published on October 10, 2019)

[0011] [Patent Document 2] Korean Intellectual Property Office Registered Patent Gazette (B1) No. 10-1866191 (Portable Foldable Drone) (Registered on June 4, 2018)

[0012] [Patent Document 3] Korean Intellectual Property Office Registered Patent Publication (B1) No. 10-2244959 (Anti-transmission propeller for drone and drone including the propeller) (Registered on April 21, 2021)

[0013] [Patent Document 4] Korean Intellectual Property Office Registered Patent Publication (B1) No. 10-2298107 (Drone propeller breakage detection and landing guidance control method, drone operation control device for drone propeller breakage detection and landing guidance, and drone including the device) (Registered on August 30, 2021)

[0014] The present invention aims to enable a drone to respond immediately when it comes into contact with an external object. It also aims to reduce the drone's weight, thereby increasing its flight time. Furthermore, unlike conventional, bulky propeller guards, it aims to increase storage and portability. Ultimately, the present invention aims to secure the drone's stability and improve its efficiency by addressing each of the aforementioned objectives.

[0015] To solve the above-described problem, the present invention uses the following means as one means. However, the present invention is not limited thereto, and any means capable of expressing the technical idea of ​​the present invention is included within the scope of the present invention without being bound by its explicit expression.

[0016] The present invention provides a propeller guard having a plurality of propeller guards, each propeller guard being connected to a drone arm, a proximal end of the drone arm being connected to a main body, a plurality of branched guard arms being coupled to a distal end of the drone arm, a wire being connected between the distal ends of the plurality of branched guard arms, a tension being applied to the wire, and the wire being configured to surround the outside of the rotation radius of the propeller.

[0017] In addition, a propeller guard is provided, characterized in that it includes a tension member that can selectively wind and unwind the wire and add tension to the wire. (Tension control reel)

[0018] In addition, a propeller guard is provided, characterized in that the branched plurality of guard arms are three to six in number. (Number of guard arms)

[0019] In addition, a propeller guard is provided, characterized in that a plurality of guard arms branched from the drone arm can be converted into a folded state in which the plurality of guard arms are adjacent to each other and a deployed state in which the plurality of guard arms are separated from each other. (Deployment-contraction structure)

[0020] In addition, a propeller guard is provided, characterized in that switching between a folded state and a deployed state, or adjusting the deployed angle, which is the angle between guard arms in the deployed state, is performed manually or automatically by a command via a controller or computer. (Deployment-retraction structure)

[0021] In addition, a propeller guard is provided, characterized in that an elastic member is provided at the distal end of the drone arm, and a plurality of guard arms branched by the elastic force of the elastic member are positioned in a deployed state in a direction away from each other, and the deployed state is converted to a folded state by electronically operating a reel to wind a wire. (Deployment-contraction structure)

[0022] In addition, the guard arm includes a hollow first guard arm and a hollow second guard arm, and the second guard arm is slidably inserted into the hollow of the first guard arm, so that the length of the guard arm is adjusted by the slide of the first guard arm and the second guard arm, thereby adjusting the protection range of the propeller guard. (Protection range expansion structure)

[0023] In addition, a propeller guard is provided, characterized in that the distal end of the guard arm is provided with a ring structure through which a wire is passed and fixed, and a roller structure on which the wire is placed. (Wire structure)

[0024] In addition, a propeller guard is provided, characterized in that a buffer device is located at the distal end of the guard arm. (Buffer structure)

[0025] Additionally, a propeller guard is provided that includes one or more collision detection sensors that detect a collision applied to the wire or a collision applied to the guard arm. (Sensor Overview)

[0026] In addition, the propeller guard is provided, characterized in that the collision detection sensor is at least one of a pressure sensor, a tension sensor, and a torque sensor. (Sensor Overview)

[0027] In addition, a propeller guard is provided, characterized in that it includes an alarm device that visually or audibly notifies a collision situation when a collision is detected by the collision detection sensor. (SW)

[0028] In addition, a propeller guard is provided characterized in that, when a collision is detected by the collision detection sensor, the main body of the drone is moved or tilted in the opposite direction of the propeller guard where the collision is detected, or the output of the propeller adjacent to the propeller guard where the collision is detected is increased. (SW)

[0029] In addition, a propeller guard is provided, characterized in that each of the plurality of propeller guards is movable between a first position moved away from the center of the main body of the drone and a second position moved closer to the center of the main body of the drone. (Guard movement structure)

[0030] In addition, the drone arm includes a hollow first drone arm and a hollow second drone arm, and the second drone arm is slidably inserted into the hollow of the first drone arm, so that when the first drone arm and the second drone arm slide in a direction in which the length of the drone arm increases, the first position is set, and when the first drone arm and the second drone arm slide in a direction in which the length of the drone arm decreases, the second position is set, and a propeller guard is provided. (Guard movement structure)

[0031] In addition, the drone arm includes a hollow lumen, and a propeller guard is provided, characterized in that a plurality of branched guard arms in a folded state are slidably inserted into the hollow lumen of the drone arm to form a second position. (Guard movement structure)

[0032] In addition, the slide provides a propeller guard characterized by being driven by a rack and pinion method (deployment / retraction structure).

[0033] The present invention provides electronic and human feedback after contact with a propeller guard to prevent further collisions immediately upon contact and to notify human operators of the contact so that appropriate action can be taken promptly.

[0034] In addition, by minimizing the weight of the propeller guard components, the weight burden that the propeller guard places on the drone can be reduced.

[0035] Furthermore, the present invention can protect drones by addressing the limitations of various existing sensors. In situations where sensors malfunction or fail, the present invention effectively prevents drones from crashing by utilizing a more reliable physical signal extraction method.

[0036] Furthermore, for pilot-controlled drones, appropriate feedback can be provided to guide the pilot in the event of a collision, allowing the pilot to recognize the situation and take appropriate action. In addition to the pilot's awareness, the drone can proactively detect and proactively respond to collisions, preventing delays in response. Consequently, the burden of frequent or essential contact with the propeller guard can be reduced, thereby reducing the pilot's operational burden.

[0037] Furthermore, while typical piloted drones allow the operator to directly respond to sensor errors, unmanned drones face difficulties in immediate human intervention. In this context, the present invention provides a fail-safe method with a relatively low risk of malfunction, thereby enhancing the safety of unmanned drones. Consequently, the present invention functions as a final safety measure against malfunctions in other sensors and can be widely applied in areas requiring a high level of safety, such as urban flight, heavy-duty drones, and areas with numerous obstacles.

[0038] In addition, since the size or volume of the propeller guard can be reduced, a propeller guard and a drone including the same can be provided with increased storage and portability. In addition, as the weight of the guard is reduced, the mass of each component of the drone comes closer to the center of mass, thereby improving flight performance and fuel efficiency. Furthermore, each propeller guard can be moved to a first position, away from the center of the drone body, to protect the drone in situations with a high risk of collision, such as takeoff and landing, and can be moved to a second position, closer to the center of the drone body, to protect and improve flight performance in situations with a low risk of collision, such as high-altitude cruising.

[0039] In particular, moving the drone to the first position to protect it in high-risk situations such as takeoff and landing can address the aforementioned issues for indoor drones. In other words, unless the risk of collision can be mitigated through GPS or other corrections, physical measures are the only option. Moving the guard further reduces the risk of collision and enhances the protection effect.

[0040] In addition, by enabling information to be output upon contact, the contact itself can be digitized and used for future analysis.

[0041] Figure 1 is a diagram showing the appearance of a drone drifting.

[0042] Figure 2 is a diagram showing the appearance of a drone that has detected a collision.

[0043] Figure 3 is a diagram showing an avoidance process by increasing motor output through collision detection.

[0044] FIG. 4 illustrates an example of a propeller guard of the present invention. Specifically, FIG. 4(a) illustrates that the propeller guard includes a structure of a drone arm and a plurality of branched guard arms coupled to distal ends of the drone arms, and that a tensioned wire is connected between the distal ends of the plurality of guard arms so as to surround the outside of the rotational radius of the propeller indicated by a circle. In addition, FIG. 4(a) illustrates a deployed state in which the plurality of guard arms are spread apart from each other, and FIG. 4(b) illustrates a folded state in which the plurality of guard arms are adjacent to each other. In addition, FIG. 4(a) and FIG. 4(b) illustrate an example of a first position in which each of the propeller guards is moved away from the center of the main body of the drone, and FIG. 4(c) illustrates an example of a second position in which the propeller guard is moved closer to the center of the main body of the drone.

[0045] Figure 5 is a diagram showing an example of a buffer device (suspension) structure.

[0046] Figures 6 to 8 are rendered drawings representing an example of a propeller guard according to the present invention.

[0047] Before describing the present invention in detail, it should be understood that the terms or words used in this specification should not be interpreted as being unconditionally limited to their usual or dictionary meanings, and that the inventor of the present invention may appropriately define and use the concepts of various terms in order to explain his or her invention in the best possible manner, and further, that these terms or words should be interpreted as meanings and concepts that are consistent with the technical idea of ​​the present invention.

[0048] That is, it should be noted that the terms used in this specification are only used to describe preferred embodiments of the present invention, and are not intended to specifically limit the contents of the present invention, and that these terms are defined in consideration of various possibilities of the present invention.

[0049] Additionally, it should be noted that in this specification, singular expressions may include plural expressions unless the context clearly indicates a different meaning, and similarly, even if expressed in plural, may include a singular meaning.

[0050] Throughout this specification, whenever a component is described as "including" another component, it may mean that the component may further include any other component, rather than excluding any other component, unless specifically stated otherwise.

[0051] Furthermore, when a component is described as being "inside or connected to" another component, it should be understood that the component may be installed in direct connection with or in contact with the other component, may be installed spaced apart from the other component by a certain distance, and if installed spaced apart from the other component by a certain distance, there may be a third component or means for fixing or connecting the component to the other component, and the description of this third component or means may be omitted.

[0052] On the other hand, if a component is described as being "directly connected" or "directly connected" to another component, it should be understood that no third component or means exists.

[0053] Likewise, other expressions that describe the relationship between components, such as "between" and "directly between", or "adjacent to" and "directly adjacent to", should be interpreted as having the same meaning.

[0054] Additionally, it should be noted that the terms “one side,” “the other side,” “one side,” “the other side,” “first,” “second,” etc. in this specification, if used, are used to clearly distinguish one component from another component, and that the meaning of the component is not limited by such terms.

[0055] In addition, terms related to position, such as “upper,” “lower,” “left,” and “right,” etc., in this specification, if used, should be understood to indicate relative positions of the corresponding components in the corresponding drawings, and unless absolute positions are specified for these positions, these position-related terms should not be understood to refer to absolute positions.

[0056] In addition, in this specification, when specifying the drawing numbers for each component of each drawing, the same component has the same drawing number even if the component is shown in a different drawing, that is, the same reference number indicates the same component throughout the specification.

[0057] In the drawings attached to this specification, the size, position, connection relationship, etc. of each component constituting the present invention may be described with some exaggeration, reduction, or omission in order to sufficiently clearly convey the idea of ​​the present invention or for convenience of explanation, and therefore the proportions or scales may not be strict.

[0058] In addition, in the following description of the present invention, a detailed description of a configuration that is judged to unnecessarily obscure the gist of the present invention, for example, a known technology including a prior art, may be omitted.

[0059]

[0060] Hereinafter, embodiments of the present invention will be described in detail with reference to the relevant drawings.

[0061] One embodiment of the present invention is as follows.

[0062] The propeller guard (1) of the present invention comprises a plurality of propellers, each propeller guard (1) is connected to a drone arm (10), the proximal end of the drone arm (10) is connected to a main body, a plurality of branched guard arms (20) are coupled to the distal end of the drone arm (10), a wire (30) is connected between the distal ends of the plurality of branched guard arms (20), tension is applied to the wire (30), and the wire (30) is configured to surround the outside of the rotation radius (40) of the propeller.

[0063] In addition, the propeller guard (1) of the present invention includes a plurality of branched guard arms (20) that are integrally or detachably connected to the distal end of the drone arm (10). In the case of a detachable connection, the center of the plurality of branched guard arms (20) and the distal end of the drone arm (10) can be connected. Through this, the plurality of guard arms (20) can be separated from the drone arm (10) to reduce the volume when stored and / or carried, thereby improving storability / portability. In addition, when used in a detachable manner, if the plurality of guard arms (20) are broken, damaged, or malfunction, only the broken / damaged / functionally malfunctioned parts need to be replaced or repaired, thereby reducing unnecessary waste such as having to repair or replace the entire propeller guard (1).

[0064] In addition, in the propeller guard (1) of the present invention, when a wire (30) is connected between the distal ends of a plurality of branched guard arms (20), a groove may be formed inwardly at the distal ends of the plurality of guard arms (20) so that the wire (30) may be inserted inward so that the plurality of guard arms (20) can be more closely coupled. The wire (30) may be coupled in a form in which it is inserted into the groove so that the wire (30) does not come off from the distal end, and the wire may be in contact with the distal end so that tension can be applied well.

[0065] Referring to FIG. 6, the propeller guard (1) of the present invention may include a support member that supports each of the plurality of branched guard arms (20) in the plurality of branched guard arms. For example, if the plurality of branched guard arms (20) are referred to as a first branched guard arm, a second branched guard arm, and a third branched guard arm, the first branched guard arm, the second branched guard arm, and the third branched guard arm may include a support member that can support each of the first branched guard arm, the second branched guard arm, and the third branched guard arm. In this case, a first-second branched guard arm support member is additionally included between the first branched guard arm and the second branched guard arm, and a second-third branched guard arm support member is additionally included between the second branched guard arm and the third branched guard arm. In some cases, a first-third branched guard arm support member that directly connects and supports the first branched guard arm and the third branched guard arm may be included. In this way, when a support member is added between the branched guard arms, when an external impact is applied to the first branched guard arm, the second branched guard arm, and the third branched guard arm, the impact is distributed to the other branched guard arms, thereby maintaining the branching state of the branched guard arms.

[0066] In addition, each of the supporting members supporting the first, second, and third branched guard arms may be formed below or above the propeller. In this way, the supporting members are formed while forming a predetermined height, and the height is adjustable - at this time, the adjustment may be by a slide fastening or a simple extension method, and in some cases, a predetermined buffering member such as a spring, hydraulic pressure, etc. may be provided to perform a buffering function. In addition, the supporting member may be an integral, fixed-length supporting member, or a variable-length supporting member by a slide type or screw turning method, and when the supporting member is connected to each of the first, second, and third branched guard arms, it may be fastened in various ways such as a hooking method, a sliding insertion method, or a screw fastening method. Alternatively, the supporting member may of course be automatically (electronically) adjusted according to a command input from a remote location.

[0067] For example, FIG. 6 shows a branched plurality of guard arms (20) according to the present invention, which may be composed of a first branched guard arm (left), a second branched guard arm (center), and a third branched guard arm (right), and a support member (A) that connects the distal ends of the first branched guard arm and the third branched guard arm in a straight line to support each other; and a support member (B) that protrudes from the middle of the support member to support the second branched guard arm. At this time, the support members (A, B) may be placed on the same line as each guard arm, or may be configured to have a predetermined space (height) at a higher or lower location by having different heights. In addition, Fig. 7 is an enlarged view of the support member (parts A and B) of Fig. 6, showing the specific configuration of the second branched guard arm and the support member (A, B), and Fig. 8 shows that a propeller is positioned in a predetermined space formed by the support member (A, B).

[0068] Meanwhile, although not shown in the drawing, in the propeller guard (1) according to the present invention, the angles at which the first branched guard arm, the second branched guard arm, and the third branched guard arm are spread out can be freely adjusted. However, there may be cases where the maximum angle formed by the first branched guard arm and the third branched guard arm is less than 180 degrees. In this case, the entire body may rotate at a predetermined angle while maintaining the angles of the first branched guard arm to the third branched guard arm. For example, if the angle between the first branched guard arm and the second branched guard arm is the first angle, and the angle between the second branched guard arm and the third branched guard arm is the second angle, the first angle and the second angle may be the same as or different from each other, and the entire body may rotate at a predetermined angle while maintaining the first angle or the second angle.

[0069] In addition, the propeller guard (1) of the present invention includes a tension member (not shown in the drawing, no identification number assigned) that can optionally wind and unwind the wire (30) and add tension to the wire (30).

[0070] The above tension member can optionally be anything that can wind and unwind the wire (30) and add tension to the wire (30), but a reel can be applied here.

[0071] A drone refers to an unmanned aerial vehicle that includes multiple propellers. A quadcopter with four propellers is a representative type of drone, but drones with six or eight propellers are also included. However, in addition to drones, objects to which the propeller guard of the present invention can be applied may also be included.

[0072] The propeller guard (1) of the present invention is a configuration that protects propellers, and it is preferable to provide a propeller guard to each propeller, but if necessary, propeller guards may be provided to only some of the multiple propellers.

[0073] Each of the above propeller guards (1) includes a drone arm (10) extended outward from the main body - here, the main body of the drone, but may include an object to which the propeller is directly or indirectly connected - and the proximal end of the drone arm (10) is connected to the main body, and a plurality of branched guard arms (20) are coupled to the distal end of the drone arm (10).

[0074] The number of guard arms (20) branched from the drone arm (10) is two or more, preferably three to six, and more preferably three or four.

[0075] The plurality of guard arms (20) branched from the drone arm (10) can be freely converted into a folded state in which the plurality of guard arms (20) are adjacent to each other and a deployed state in which the plurality of guard arms (20) are spread apart from each other. When the drone is not flying, it can be converted into a folded state to increase the ease of transportation or storage, and when the drone is flying, it can be converted into a deployed state so that the wire (30) located between the distal ends of the plurality of guard arms (20) can surround the outside of the rotation radius (40) of the propeller. In addition, the deployed angle, which is the angle between the guard arms (20) in the deployed state, can be freely adjusted as needed.

[0076] The above-mentioned transition between the folded and unfolded states, or the adjustment of the unfolding angle, can be performed manually or automatically (electronically). In the case of manual adjustment, the adjustment can be performed by applying force by hand, by friction fixation, by changing the fixed and free states via a lever, or by adjusting using a ratchet structure, but is not limited thereto. In the case of automatic (electronically) adjustment, commands are given via a controller or computer, and the adjustment can be performed via structures such as belts and gears.

[0077] In order to switch to the folded state, an elastic member (not shown in the drawing, no identification number assigned) may be provided at the distal end of the drone arm (10). The elastic member may be, but is not limited to, a spring, a plate spring, or the like, and the elastic member applies an elastic force in a direction in which the multiple guard arms (20) are separated from each other so that the multiple guard arms (20) are automatically deployed. In this case, the deployed state can be switched to the folded state manually or automatically. For example, in the manual case, the deployed state can be switched to the folded state by an external force and then fixed so as to be maintained. In the automatic case, the reel to which the wire (30) is connected can be electronically operated to switch to the folded state.

[0078] In order to adjust the protection range of the propeller guard, the present invention can adjust the length of the guard arm (20) by extending or contracting. As an example, the guard arm (20) can include a hollow first guard arm and a hollow second guard arm, in which case the second guard arm is slidably inserted into the hollow of the first guard arm, and the length of the guard arm (20) can be adjusted by the slide of the first guard arm and the second guard arm, and the slide can be driven in a rack and pinion manner and can be electronically operated.

[0079] The distal end of the guard arm (20) may be equipped with a shock absorber (suspension), which may absorb shock applied to a drone or propeller guard, etc. The shock absorber may be configured to be contractible to absorb external shock, or may include an elastic material.

[0080] A wire (30) is connected between the distal ends of the plurality of branched guard arms (20), tension is applied to the wire (30), and the wire (30) is configured to surround the outside of the rotation radius (40) of the propeller. Since the wire (30) has a smaller mass than a conventional propeller guard, it is advantageous for weight reduction, and the angle of the propeller guard can be adjusted by adjusting the length of the wire (30), thereby enabling the guard to be used in a customized manner according to the intended use. In addition, a ring structure through which the wire (30) is passed and fixed and / or a roller structure on which the wire (30) is placed may be provided at the distal end of each guard arm (20).

[0081] The above wire (30) can be wound or unwound by a reel to an appropriate length considering the length or deployment angle of the guard arm (20), and tension can be added to the wire (30) by constantly applying a force to wind the wire (30). In addition, the reel can be rotated in the direction in which the wire (30) is wound so that the guard arms (20) are folded.

[0082] The above reel may be located at the distal end of the drone arm (10) or on the main body. When the reel is located at the distal end of the drone arm (10), the wire (30) extended from the reel may pass through the distal end of each guard arm (20) and then be connected to the reel again. When the reel is located on the main body, the wire (30) extended from the reel may pass through the hollow of the drone arm (10), through the distal end of each guard arm (20), and then be connected to the reel again through the hollow of the drone arm (10). In this case, the reel is located closer to the center of gravity of the drone, so that the flight characteristics of the drone may be improved. In addition, using one reel for one propeller guard has the advantage of allowing for more accurate identification of the impact detection location. However, if the drone is to be made lighter, the wire (30) extended from one reel may be configured to cover multiple propeller guards, in which case the weight of the drone may be further reduced. The above reel can be equipped with a reverse prevention device such as a ratchet and a pawl, in which case the reel normally rotates only in the direction in which the wire (30) is wound, but when necessary, the reverse prevention device can be released to allow the reel to rotate in the direction in which the wire (30) is released.

[0083] The wire (30) can be manufactured from a material such as a polymer or metal, but must have sufficient strength to avoid damage from impact, and it is preferable to use an elastic material that can undergo slight tension / contraction to absorb impact in the event of a collision.

[0084] The drone of the present application includes at least one collision detection sensor that detects a collision applied to a wire (30) or a collision applied to a guard arm (20). The collision detection sensor refers to a sensor that can detect a physical collision occurring on a propeller guard and output the result, and a pressure sensor, a tension sensor that can detect the pulling of a wire (30), a torque sensor, etc. can be used. Specifically, the pressure sensor can be attached to each of a plurality of guard arms (20), or can be attached to the end of a wire (30) to detect the pulling of the wire (30). The tension sensor is a sensor that can detect the pulling of a wire (30). The torque sensor refers to a sensor that detects the rotation of a reel as a wire (30) connected to the reel is pulled. The above sensors can generate a signal for each guard arm (20) or for each propeller shaft, and the signal can be output by digitizing the strength of the signal in a T / F type or an analog type.

[0085] Additionally, the sensor may be located in a buffer device that may be provided at the distal end of each guard arm (20). As illustrated in FIG. 5, the shield (50) of the buffer device may include a pin structure (60), in which case, an impact applied to the shield (50) causes the pin structure (60) to press against the wire (30) located therein, thereby generating tension in the wire (30), which may be detected by the sensor.

[0086] If a collision is detected by the collision detection sensor, the drone may include an alarm device that provides visual or audible notification of the collision. Furthermore, the controller controlling the drone may also include an alarm device that provides visual, audible, or vibration notification of the collision. Furthermore, the alarm may indicate the location of the propeller guard that received the collision signal.

[0087] In addition, when a collision is detected by the collision detection sensor, software (SW) can be programmed to automatically perform a safety maneuver based on the detected electronic signal. Specifically, the program can be programmed to tilt the drone's body in the opposite direction of the propeller guard where the collision is detected (including only tilting in the SW), move the drone's body in the opposite direction of the propeller guard where the collision is detected (only commanding movement in the SW), or increase the output of the propeller adjacent to the propeller guard where the collision is detected. In addition, for a multi-window pressure detection device, when a pressure detection output occurs on the left and right of the window rather than the center, the output of the directional motor in addition to the motor in question can also be increased.

[0088] In addition, the present invention can enable each of a plurality of propeller guards to move between a first position moved away from the center of the drone's main body and a second position moved closer to the center of the drone's main body. The flight characteristics of a multicopter drone improve as the mass of its components gets closer to the center of gravity. From this perspective, since the flight characteristics of the drone are impaired as the propeller guards are positioned at the outermost ends of the drone, the flight characteristics can be improved by adjusting the distance between the propeller guards and the main body.

[0089] As an example for this, the drone arm (10) includes a first hollow drone arm and a second hollow drone arm, and the second drone arm is slidably inserted into the hollow of the first drone arm, so that when the first drone arm and the second drone arm slide in a direction in which the length of the drone arm (10) increases, it becomes a first position, and when the first drone arm and the second drone arm slide in a direction in which the length of the drone arm (10) decreases, it becomes a second position. As another example, the drone arm includes a hollow lumen, and a plurality of branched guard arms in a folded state can be slidably inserted into the hollow lumen of the drone arm to become a second position. The slide can be driven by a rack and pinion method and can be electronically operated.

[0090] In addition, by applying the above configuration, the propeller guard can be deployed only in situations of takeoff / landing and collision risk, and can be retracted in other situations. Basically, the propeller guard adds mass to a part of the drone body away from the center of gravity, increases the overall air resistance of the body, and reduces the flight performance of the body. Therefore, by manufacturing the propeller guard to be deployable / retractable by utilizing the characteristics of the wire (30), it is possible to develop technology that complements the weaknesses of the propeller guard and emphasizes only its strengths.

[0091] Furthermore, while the above propeller guard is designed to protect the propeller, it can be installed on the upper and lower parts of the drone body, as well as any other necessary areas, to protect the drone body, if necessary. This allows the sensor to offer the reliable safety performance of a physical detection method, rather than the uncertain safety performance of previous sensors.

[0092] Above, although some examples have been given and various preferred embodiments of the present invention have been described, the description of the various embodiments described in the “Specific Details for Carrying Out the Invention” section is merely exemplary, and those skilled in the art to which the present invention pertains will readily understand that they can carry out various modifications of the present invention or carry out equivalent implementations of the present invention based on the above description.

[0093] In addition, since the present invention can be implemented in various other forms, the present invention is not limited by the above description, and the above description is provided only to make the disclosure of the present invention complete and to fully inform a person having ordinary skill in the art to which the present invention belongs of the scope of the present invention, and it should be understood that the present invention is defined only by each claim of the claims.

[0094] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. In this application, terms such as "comprise" or "have" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood to not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0095] [Explanation of symbols]

[0096] 10: Drone Arm

[0097] 20: Guard Arm

[0098] 30: Wire

[0099] 40: Radius of rotation of the propeller

[0100] 50: Shield

[0101] 60: Pin structure

Claims

1. In multiple propeller guards, Each propeller guard is connected to a drone arm, The proximal end of the above drone arm is connected to the main body, and a plurality of branched guard arms are connected to the distal end of the drone arm. A propeller guard in which a wire is connected between the distal ends of the plurality of branched guard arms, tension is applied to the wire, and the wire is configured to surround the outside of the rotation radius of the propeller.

2. A propeller guard characterized in that it includes a tension member capable of optionally winding and unwinding the wire and applying tension to the wire in the first paragraph.

3. A propeller guard according to claim 2, characterized in that the number of branched guard arms is 3 to 6.

4. A propeller guard characterized in that, in the second paragraph, the plurality of guard arms branched from the drone arm can be converted into a folded state in which the plurality of guard arms are adjacent to each other and a deployed state in which the plurality of guard arms are separated from each other.

5. A propeller guard characterized in that, in paragraph 4, switching between a folded state and a deployed state or adjusting the deployed angle, which is the angle between guard arms in the deployed state, is performed manually or automatically by a command via a controller or a computer.

6. A propeller guard characterized in that, in the fourth paragraph, an elastic member is provided at the distal end of the drone arm, and a plurality of guard arms branched by the elastic force of the elastic member are positioned in a deployed state moving away from each other, and the deployed state is converted to a folded state by electronically operating the reel to wind the wire.

7. In the second paragraph, the guard arm includes a hollow first guard arm and a hollow second guard arm, and the second guard arm is slidably inserted into the hollow of the first guard arm, so that the length of the guard arm is adjusted by the slide of the first guard arm and the second guard arm, thereby adjusting the protection range of the propeller guard. A propeller guard.

8. A propeller guard characterized in that, in the second paragraph, the distal end of the guard arm is provided with a ring structure through which a wire is passed and fixed and a roller structure on which the wire is placed.

9. A drone characterized in that, in the second paragraph, a buffer device is located at the distal end of the guard arm.

10. A propeller guard according to any one of paragraphs 1 and 2, comprising at least one collision detection sensor for detecting a collision applied to a wire or a collision applied to a guard arm.

11. A propeller guard according to claim 10, wherein the collision detection sensor is at least one of a pressure sensor, a tension sensor, and a torque sensor.

12. A propeller guard according to claim 11, characterized in that it includes a notification device that visually or audibly notifies a collision situation when a collision is detected by the collision detection sensor.

13. A propeller guard characterized in that, in the 11th paragraph, when a collision is detected by the collision detection sensor, the drone body is moved or tilted in the opposite direction of the propeller guard where the collision is detected, or the output of the propeller adjacent to the propeller guard where the collision is detected is programmed to increase.

14. A propeller guard according to claim 2, characterized in that each of the plurality of propeller guards is movable between a first position moved away from the center of the main body of the drone and a second position moved closer to the center of the main body of the drone.

15. A propeller guard according to claim 14, wherein the drone arm comprises a hollow first drone arm and a hollow second drone arm, and the second drone arm is slidably inserted into the hollow of the first drone arm, such that when the first drone arm and the second drone arm slide in a direction in which the length of the drone arm increases, the first position is reached, and when the first drone arm and the second drone arm slide in a direction in which the length of the drone arm decreases, the second position is reached.

16. A propeller guard according to claim 14, wherein the drone arm includes a hollow lumen, and a plurality of branched guard arms in a folded state are slidably inserted into the hollow lumen of the drone arm to form a second position.

17. A propeller guard according to claim 7, claim 15 or claim 16, characterized in that the slide is driven by a rack and pinion method.

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