Flight transport system

Abstract

A flight transport system according to one embodiment of the present invention comprises: a drone unit of a multi-rotor type; a cargo loading unit disposed on an upper surface of the drone unit and loaded with cargo thereon; and a control unit that estimates an external force of a worker acting on the drone unit and the cargo loading unit to derive an estimated external force, sets a flight target trajectory of the drone unit in real time according to a physical human-robot interaction (pHRI) method using the estimated external force, and controls the drone unit to fly in a horizontal position according to the flight target trajectory.

Description

Flight transport system

[0001] The present invention relates to a drone-type cart system used for air cargo transportation, and more specifically, to a multi-rotor-based drone-based cargo transportation cart that can be used for cargo transportation in rough terrain and in the final stage of cargo transportation, and to a flight transportation system that can directly and physically receive a worker's force to change a flight target trajectory in real time.

[0002] In general, multirotor type unmanned aerial vehicles (mUAVs) are expanding their scope of use as multipurpose robotic platforms that carry cargo and mission equipment by utilizing three-dimensional motion capabilities.

[0003] In particular, multi-rotor drones inevitably change their attitude when moving in the translational direction, so they typically fly in an inclined position. Therefore, when transporting cargo using multi-rotor drones, there is a risk of the cargo tilting to one side.

[0004] Furthermore, because conventional multi-rotor drones are programmed to move along a fixed path with a set start and end point, it's extremely difficult to directly project user intent during operation. Furthermore, when carrying a larger load than a multi-rotor drone can handle, the load is positioned below the drone, hindering its thrust and preventing smooth cargo transport.

[0005] Physical human-robot interaction (pHRI) missions, which emphasize collaboration between robots and humans, have recently attracted significant attention. In particular, one of the key objectives of pHRI in multirotor drones is to achieve flight control through physical contact with a human operator. This concept relies on the operator directly applying force to the platform to manipulate its movements, thereby altering the flight path in real time as intended. This eliminates the need for complex autonomous path planning algorithms. To achieve this, the design and utilization of novel and intuitive cargo transport techniques are critical.

[0006] An embodiment of the present invention provides a flight transport system that can be used as a cargo transport cart with a multi-rotor-based drone unit applied, so that it can be smoothly utilized in cargo transport in rough terrain and in the final stage of cargo transport, and can change the flight target trajectory of the drone unit in real time by directly and physically receiving the force of a worker.

[0007] In addition, an embodiment of the present invention provides a flight transportation system that can estimate in real time an external force applied to a drone by a worker using a disturbance observer for robust control of a multi-rotor-based drone, and can change the flight target trajectory of the drone in real time according to physical human-robot interaction (pHRI) using a compliance controller that applies the estimated external force.

[0008] A flight transport system according to one embodiment of the present invention includes a multi-rotor type drone unit, a cargo loading unit disposed on one side of the drone unit and on which cargo is loaded, and a control unit that estimates an external force applied to the drone unit and the cargo loading unit to derive an estimated external force, sets a flight target trajectory of the drone unit in real time according to a physical human-robot interaction (PHRI) method using the estimated external force, and controls the drone unit to fly in a horizontal posture according to the flight target trajectory.

[0009] Preferably, the flight transport system according to one embodiment of the present invention may further include an external force input unit provided on at least one of the cargo loading unit and the drone unit, into which an external force of a worker for adjusting the flight direction of the drone unit is input.

[0010] Preferably, the control unit can prevent rotation of the drone unit in the roll direction and pitch direction to maintain the drone unit in a horizontal position. In addition, the control unit can move the drone unit in translation through translational forces in the forward, backward, left, right, and up and down directions among external forces from the operator, and can rotate the drone unit through rotational torque in the yaw direction among external forces from the operator.

[0011] Preferably, the control unit may include a disturbance observer that robustly controls the flight of the drone unit with respect to an external force of the worker and estimates the estimated external force, and a compliance controller that changes and sets the flight target trajectory of the drone unit using the estimated external force estimated by the disturbance observer using a pHRI method and controls the flight of the drone unit according to the flight target trajectory of the drone unit.

[0012] Preferably, the compliance controller is configured to control the desired trajectory (Λ d ) and reference trajectory (Λr ) can be used an admittance controller that applies a virtual mass (M)-damper (D)-spring (K) (MDK, mass-damper-spring) dynamic system. Here, the admittance controller is expressed by the mathematical formula (Here, F: external force) can be provided.

[0013] The above admittance controller applies the estimated external force derived from the disturbance observer to the external force (F) of the above mathematical formula and then calculates the mass (M a ) and damping coefficient (D a ) can be used to set the flight target trajectory of the drone unit.

[0014] Preferably, the disturbance observer can estimate the estimated external force in real time from the external force of the worker. Here, the estimated external force may include an estimated translational force that estimates the translational force of the external force applied in the forward-backward, left-right, and up-down directions of the drone unit, and an estimated rotational torque that estimates the rotational torque of the external force applied in the yaw direction of the drone unit.

[0015] The above disturbance observer may include a first disturbance observer that robustly controls the translational flight of the drone and estimates the translational force applied in the forward / backward direction, left / right direction, and up / down direction of the drone among the external forces of the worker, and a second disturbance observer that robustly controls the rotational flight of the drone and estimates the rotational torque applied in the yaw direction of the drone among the external forces of the worker.

[0016] At this time, the compliance controller can change the flight target trajectory for the translational motion of the drone unit using the estimated translational force estimated by the first disturbance observer, and can change the flight target trajectory for the rotational motion of the drone unit using the estimated rotational torque estimated by the second disturbance observer.

[0017] Preferably, the disturbance observer can estimate the translational force of an external force applied in the vertical direction of the drone unit by utilizing the pitch torque of the drone unit. In addition, the compliance controller can reset the flight target trajectory for moving the drone unit in the vertical direction by utilizing the estimated translational force in the vertical direction estimated by the disturbance observer.

[0018] Preferably, the drone unit may be provided as a 6-degree-of-freedom multi-rotor system.

[0019] The flight transport system according to an embodiment of the present invention can be conveniently used as a cargo transport cart with a multi-rotor-based drone unit applied, can be smoothly utilized in cargo transport in rough terrain and in the final stage of cargo transport, and can directly and physically receive the force of a worker and change the flight target trajectory of the drone unit in real time accordingly.

[0020] In addition, since the multi-rotor type drone unit according to the embodiment of the present invention can hover without direct contact with the ground, the air transport system can transport cargo in difficult rough terrain environments such as stairs or unpaved terrain where existing wheeled carts have difficulty, and the operator can easily control the flight motion of the drone unit in real time by pushing and pulling the external force input unit, thereby easily controlling the flight target trajectory of the drone unit. By using the drone unit flight control method as described above, air cargo transport using the multi-rotor type drone unit can be performed very smoothly in an intuitive and real-time interactive manner through physical contact.

[0021] In addition, the flight transportation system according to an embodiment of the present invention can estimate in real time the external force applied to the drone by a worker using a disturbance observer for robust control of a multi-rotor-based drone, and can change the flight target trajectory of the drone corresponding to the estimated external force in real time according to a physical human-robot interaction (pHRI) technique using a compliance controller that applies the estimated external force.

[0022] In addition, the flight transportation system according to an embodiment of the present invention can easily estimate external force in real time without an additional algorithm (e.g., Extended Kalman Filter or Model Predictive Control) by using a disturbance observer used for the robustness of the attitude of the drone during flight, and can change and reset the flight target trajectory of the drone by appropriately adjusting the mass and damping coefficient based on the external force estimated by the disturbance observer while using an admittance controller as a compliance controller.

[0023] In addition, the flight transport system according to an embodiment of the present invention has a structure in which cargo is loaded onto a cargo loading portion placed on the upper surface of the drone portion, similar to operating a cart in a shopping mall. Therefore, even if the size of the cargo loaded onto the cargo loading portion is formed large, it has the advantage of not interfering with the generation of thrust in the drone portion.

[0024] In addition, the flight transport system according to an embodiment of the present invention can prevent the problem of the drone unit tilting rather than being horizontal during the flight process by providing a multi-rotor type drone unit with a six-degree-of-freedom multi-rotor system structure.

[0025] FIG. 1 is a drawing illustrating a flight transportation system according to one embodiment of the present invention.

[0026] FIG. 2 is a schematic diagram of a first disturbance observer for translational movement among the disturbance observers used in the flight transport system illustrated in FIG. 1.

[0027] FIG. 3 is a schematic diagram of a second disturbance observer for rotation among the disturbance observers used in the flight transport system illustrated in FIG. 1.

[0028] Fig. 4 is a drawing showing the control configuration of a control unit including the disturbance observer illustrated in Figs. 2 and 3.

[0029] Figure 5 is a drawing showing the transport of cargo using the flight transport system illustrated in Figure 1.

[0030] FIGS. 6 to 9 are drawings for briefly explaining admittance control of a flight transport system according to one embodiment of the present invention.

[0031] Fig. 10 is a flowchart showing an admittance control method of the flight transport system illustrated in Fig. 9.

[0032] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. However, the present invention is not limited or restricted by these embodiments. The same reference numerals in each drawing represent the same components.

[0033]

[0034] FIG. 1 is a diagram illustrating a flight transport system (100) according to an embodiment of the present invention. FIG. 2 is a diagram schematically illustrating a first disturbance observer (152) for translational movement among the disturbance observers (150) used in the flight transport system (100) illustrated in FIG. 1, FIG. 3 is a diagram schematically illustrating a second disturbance observer (154) for rotation among the disturbance observers (150) used in the flight transport system (100) illustrated in FIG. 1, and FIG. 4 is a diagram illustrating a control configuration of a control unit (140) including the disturbance observers (150) illustrated in FIGS. 2 and 3. FIG. 5 is a diagram illustrating a state of transporting cargo (W) using the flight transport system (100) illustrated in FIG. 1.

[0035] Referring to FIGS. 1 to 4, a flight transport system (100) according to one embodiment of the present invention may include a drone unit (110), a cargo loading unit (120), an external force input unit (130), and a control unit (140).

[0036] The flight transport system (100) according to the present embodiment is a flight cart based on a multi-rotor type drone unit (110), and may correspond to a new air cargo transport solution that applies the physical human-robot interaction (hereinafter referred to as 'pHRI') technique. For reference, the present embodiment is also called 'palletrone', a compound word of 'pallet', a cargo, and 'drone', an mUAV platform specially manufactured for this application, for the purpose of designing a dedicated mUAV platform.

[0037] In addition, the flight transport system (100) according to the present embodiment can adjust the flight target trajectory of the drone unit (110) in real time according to the external force provided by the operator through the control unit (140), and for this purpose, it may be desirable to estimate the external force applied to the drone unit (110). For example, the control unit (140) of the present embodiment can be provided with a structure that integrates the robust control algorithm of the disturbance observer (150) (DOB, disturbance observer) into the compliance controller (160) (compliance control). Therefore, in the present embodiment, not only does it provide a robust motion control performance for the external force of the operator, but it is also possible to estimate the external force required for the pHRI technique through a single algorithm of the disturbance observer (150) without adding a separate estimation algorithm or sensor.

[0038] Hereinafter, in the present embodiment, for the convenience of explanation, it is described that the external force of the worker is input through the external force input unit (130). However, it is not limited thereto, and the external force of the worker may be input through the drone unit (110) and the cargo loading unit (120) together with the external force input unit (130). Alternatively, in the present embodiment, the external force input unit (130) may be omitted, and the external force of the worker may be input only through the drone unit (110) and the cargo loading unit (120).

[0039] Referring to FIGS. 1 and 5, the drone unit (110) of the present embodiment may be provided with a multi-rotor type drone structure, but is preferably provided with a 6-degree-of-freedom multi-rotor system so that the drone unit (110) does not have an inclined posture during flight. Accordingly, since the multi-rotor of the drone unit (110) can be inclined at a predetermined inclination angle (θ) during flight of the drone unit (110), the entire drone unit (110) may not have an inclined posture in the roll direction or pitch direction, and thus, the problem of the cargo loaded on the cargo loading unit (120) being tilted to one side or falling outward can be prevented in advance.

[0040] For example, the drone part (110) of the present embodiment may include a drone body (112) and a rotor (114).

[0041] The drone body (112) may be formed in a structure in which double X-shaped frames are overlapped vertically, but is not limited thereto, and may be formed in various frame structures in which multiple rotors (114) can be installed.

[0042] A plurality of rotors (114) can be independently arranged in the X-shaped frame located at the lower side among the double X-shaped frames. Hereinafter, in the present embodiment, it is described that the rotors (114) are independently arranged in each of the four frames constituting the X-shaped frame, but this is not limited thereto, and the number and position of the rotors (114) can be set in various ways depending on the design conditions and circumstances for the flight transport system (100).

[0043] Here, the rotor (114) may include a propeller (116) and a motor (118). The rotor (114) as described above may be rotatably connected to the drone body (112) to change the operating direction of the propeller (116) in various ways.

[0044] Referring to FIGS. 1 and 5, the cargo loading unit (120) of the present embodiment is arranged on the upper surface of the drone unit (110) so that cargo (W) can be loaded thereon. The cargo loading unit (120) may be provided in a shape placed on top of an X-shaped frame located at the upper side among the double X-shaped frames constituting the drone unit (110). At this time, the cargo loading unit (120) may be formed in a pallet shape with an open upper side like a cart, but may be formed with a larger area than the upper surface of the drone unit (110).

[0045] As described above, the weight of the cargo (W) loaded on the cargo loading unit (120) is applied to the drone unit (110) in the up-down direction ( Bz) corresponds to an external force. At this time, the weight of the cargo (W) may vary depending on whether the cargo (W) is additionally loaded onto the cargo loading unit (120) during the movement of the flight transport system (100) or the cargo (W) of the cargo loading unit (120) is unloaded to the delivery destination. However, it is preferable that the flight transport system (100) according to the present embodiment be operated so that the flight altitude does not change according to the change in the weight of the cargo (W) and continues to maintain the altitude desired by the operator.

[0046] Referring to FIGS. 1 and 5, the external force input unit (130) of the present embodiment may be provided in the shape of a handle on at least one of the cargo loading unit (120) and the drone unit (110), but will be described below as being connected to the drone unit (110). Accordingly, when transporting cargo using the flight transport system (100), the worker can adjust the flight direction of the drone unit (110) by holding the external force input unit (130). B E f , B E t ) can be entered in real time.

[0047] Here, the external force input by the worker ( B E f , B E t ) is the drone part (110) in the forward and backward direction ( B x) and left and right directions ( B y) and up-down direction ( B Translational force ( to translate z) B E f ), and a rotational torque ( ) for rotating the drone part (110) in this direction. B E t ) may include translational force ( B E f ) is the center point of the external force input unit (130) held by the worker. B P h ) based on the forward and backward direction ( B x) and left and right directions ( BPush and pull in the y) or up and down direction ( B It can correspond to the force to elevate the rotational torque ( B E t ) is the center point of the external force input unit (130) held by the worker. B P h ) may correspond to the torque for rotating the base.

[0048] Referring to FIGS. 1 to 4, the control unit (140) of the present embodiment inputs the external force of the worker ( B E f , B E t ) to estimate the external force ( , ) can be derived, and the estimated external force ( , ) can be used to change and reset the flight target trajectory of the drone unit (110) in real time according to the pHRI (physical Human-Robot Interaction) method. At this time, the drone unit (110) can change the existing flight path in real time along the flight target trajectory set by the control unit (140).

[0049] Here, the control unit (140) can control the drone unit (110) to fly in a horizontal position when flying the drone unit (110) according to the flight target trajectory. That is, the control unit (140) can prevent the drone unit (110) from rotating in the roll direction and pitch direction, thereby maintaining the horizontal position of the drone unit (110) at all times. As described above, if the horizontal position of the drone unit (110) is maintained at all times, the cargo (W) loaded on the cargo loading unit (120) can be stably stored.

[0050] And, the control unit (140) inputs the external force of the worker into the external force input unit (130) B E f , B E t ) in the forward and backward direction ( B x) and left and right directions (B y) and up-down direction ( B The translational force of z) B E f ) can be used to move the drone unit (110) in translation, and the external force of the worker input to the external force input unit (130) B E f , B E t ) among which the rotational torque in this direction ( B E t ) can be used to rotate the drone part (110).

[0051] For this purpose, the control unit (140) may include a disturbance observer (150) and a compliance controller (160).

[0052] As shown in FIGS. 2 to 4, the disturbance observer (150) of the present embodiment detects the external force of the worker ( B E f , B E t ) can robustly control the flight of the drone unit (110), and the external force of the worker ( B E f , B E t ) to be used in the compliance controller (160). , ) can be derived.

[0053] The external force observer (150) inputs the external force of the worker into the external force input unit (130). B E f , B E t ) corresponding to the estimated external force ( , ) can be estimated in real time. Here, the estimated external force ( , ) is the forward and backward direction of the drone part (110). B x) and left and right directions ( B y) and up-down direction ( B The translational force acting as z)B E f ) estimated translational force ( ), and the rotational torque applied in the direction of the drone part (110) B E t ) estimated rotational torque ( ) may be included.

[0054] For example, the disturbance observer (150) may include a first disturbance observer (152) and a second disturbance observer (154).

[0055] Here, the first disturbance observer (152) can robustly control the translational flight of the drone unit (110) and the external force of the worker input to the external force input unit (130) B E f , B E t ) in the front and rear directions of the drone part (110) B x) and left and right directions ( B y) and up-down direction ( B The translational force acting as z) B E f ) can be estimated. As described above, the translational force estimated by the first disturbance observer (152) is the estimated translational force ( ) is defined as follows.

[0056] And, the second disturbance observer (154) can robustly control the rotational flight of the drone unit (110) and the external force of the worker input to the external force input unit (130) B E f , B E t ) among which the rotational torque ( ) applied in the direction of the drone part (110) B E t ) can be estimated. As described above, the rotational torque estimated by the second disturbance observer (154) is the estimated rotational torque ( ) is defined as follows.

[0057] As shown in FIGS. 2 to 4, the compliance controller (160) of the present embodiment calculates the estimated external force ( , ) can be used to change and reset the flight target trajectory of the drone unit (110) using the pHRI method. Thereafter, the compliance controller (160) can control the flight of the drone unit (110) along the changed flight target trajectory.

[0058] For example, the compliance controller (160) may be configured to control the desired trajectory (Λ d ) and reference trajectory (Λ r ) can be used an admittance controller (162) that applies a virtual mass (M)-damper (D)-spring (K) (MDK, mass-damper-spring) dynamic system. Here, the admittance controller (162) can be provided in the form of [Mathematical Formula 1] below.

[0059]

[0060]

[0061] (Here, Λ d : Hope Trajectory, Λ r : reference trajectory, F: external force)

[0062]

[0063] That is, the admittance controller (162) estimates the external force derived from the disturbance observer (150). , ) can be applied to the external force (F) of [Mathematical Formula 1], and then the mass (M a ) and damping coefficient (D a ) can be appropriately adjusted to change and reset the flight target trajectory of the drone unit (110).

[0064] At this time, the admittance controller (162) estimates the translational force derived by the first disturbance observer (152). ) can be used to change the flight target trajectory for the translational motion of the drone unit (110) in real time. In addition, the admittance controller (162) uses the estimated rotational torque ( ) can be used to change the flight target trajectory for the rotational movement of the drone part in real time.

[0065] Meanwhile, the flight transport system (100) of the present invention is such that the weight of the cargo (W) loaded on the cargo loading unit (120) moves up and down along the direction of gravity. B Since the structure is operated by (z), the altitude cannot help but gradually decrease as the cargo (W) is added. Therefore, in this embodiment, in order to prevent the altitude of the drone unit (110) from continuously decreasing due to the gravity of the loaded cargo (W), the admittance altitude control of the flight transport system (110) can be performed according to the external force of the operator.

[0066] Specifically, when an operator provides an external force in the up-and-down direction to raise or lower the external force input unit (130), a pitch torque may be generated to rotate the drone unit (110) in the pitch direction according to the external force of the external force input unit (130), but the disturbance observer (150) can robustly control the rotational movement of the drone unit (110) in the pitch direction to stably maintain the horizontal posture of the drone unit (110).

[0067] At this time, the disturbance observer (150) utilizes the pitch torque of the drone unit (110) to estimate the translational force (which is distinct from the weight of the cargo (W). ) can be estimated. The estimated translational force ( ) is an external force applied in the vertical direction to the drone part (110). B E f ), it can be used to prevent the altitude of the drone unit (110) from decreasing due to the weight of the cargo (W), or it can be used to move the drone unit (110) up and down to a desired altitude.

[0068] In addition, the admittance controller (162) can reset the flight target trajectory for moving the drone unit (110) in the up-and-down direction using the estimated translational force estimated from the pitch torque by the disturbance observer (150), and can raise and lower the drone unit (110) to a desired altitude according to the flight target trajectory.

[0069] As described above, the disturbance observer (150) utilizes the pitch torque of the drone unit (110) generated according to the external force of the worker input to the external force input unit (130) to estimate the translational force () applied in the up-and-down direction of the drone unit (110). ) can be estimated, and the admittance controller (162) estimates the translational force ( ) can smoothly control the altitude of the drone unit (110) according to the operator's intention.

[0070]

[0071] FIGS. 6 to 9 are drawings for briefly explaining the admittance control of a flight transportation system (100) according to one embodiment of the present invention, and FIG. 10 is a flowchart showing an admittance control method of the flight transportation system (100) illustrated in FIG. 9.

[0072] For reference, FIG. 6 illustrates a control configuration for general admittance control, FIG. 7 illustrates a state in which the general admittance control illustrated in FIG. 6 is applied to a flying drone, and FIG. 8 illustrates a state in which a disturbance observer (162) is further added to the general admittance control illustrated in FIG. 7. In addition, FIG. 9 illustrates a control configuration for admittance control of the present embodiment.

[0073] As illustrated in FIG. 6, a general admittance control can estimate the external force of a worker through a separate external force estimator (Force / Torque Estimator) (12) when an external force (Actual Force / Torque) of a worker is given, and an admittance controller (162) can reset a desired flight target trajectory (Desired Trajectory) according to the estimated external force estimated by the external force estimator (12), and a motion controller (14) can operate an actuator (16) of a platform according to the reset flight target trajectory.

[0074] As illustrated in FIG. 7, when the general admittance control illustrated in FIG. 6 is applied to the platform of a flying drone, the external force of the operator can be transmitted to the external force estimator (12) in the same manner as in FIG. 6, and can also be directly transmitted to the drone platform as indicated by "B" in FIG. 7. Therefore, since the drone platform is a structure directly affected by the external force of the operator, the external force of the operator can interfere with the flight of the drone platform in the form of generating motion acceleration.

[0075] As illustrated in FIG. 8, FIG. 8 illustrates an example in which a disturbance observer (150) is added to the admittance control of the drone platform illustrated in FIG. 7. That is, although the disturbance caused by the external force of the worker (see "B") being directly transmitted to the drone platform causes acceleration control disturbance of the drone platform, such acceleration control disturbance can be suppressed by robust control of the disturbance observer (150).

[0076] As illustrated in FIGS. 9 and 10, FIG. 9 illustrates a control configuration for admittance control of a flight transport system (100) according to an embodiment of the present invention, and FIG. 10 is a flowchart schematically illustrating an admittance control method of the flight transport system (100) illustrated in FIG. 9.

[0077] Here, in the control configuration for the admittance control of Fig. 9, the external force estimator (12) included in Figs. 6 to 8 may be omitted, and instead, the disturbance observer (150) may estimate the external force of the worker transmitted to the drone platform to obtain the estimated external force. As described above, the admittance controller (162) may reset the desired flight target trajectory using the estimated external force estimated by the disturbance observer (150). At this time, the control unit (140) may include the disturbance observer (150), the admittance controller (162), and the motion controller (14), and the actuator (16) of the platform may include the rotor (114), the propeller (116), and the motor (118) of the drone unit (110).

[0078] As illustrated in FIG. 10, the admittance control method of the flight transport system (100) illustrated in FIG. 9 may include a step in which an external force of a worker is input to an external force input unit (see S1 of FIG. 10), a step in which a disturbance observer (150) estimates the external force of the worker (see S2 of FIG. 10), a step in which robust control of the drone unit (110) is performed by the disturbance observer (150) (see S3 of FIG. 10), a step in which the estimated external force estimated by the disturbance observer (150) is transmitted to an admittance controller (162) for analysis (see S4 of FIG. 10), a step in which the admittance controller (162) resets the flight target trajectory according to the estimated external force (see S5 of FIG. 10), and a step in which the motion controller (14) controls the flight motion of the drone unit (110) according to the reset flight target trajectory (see S6 of FIG. 10).

[0079]

[0080] As described above, the embodiments of the present invention have been described with specific details such as specific components and limited examples and drawings, but these are provided only to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments, and those with ordinary skill in the art to which the present invention pertains can make various modifications and variations based on this description. Therefore, the spirit of the present invention should not be limited to the described embodiments, and all things that are equivalent or equivalent to the claims below as well as the claims are considered to fall within the scope of the spirit of the present invention.

Claims

1. Multi-rotor type drone section; A cargo loading section arranged on one side of the drone section and on which cargo is loaded; and A control unit that estimates an external force applied to the drone unit and the cargo loading unit to derive an estimated external force, sets a flight target trajectory of the drone unit in real time according to the pHRI (physical Human-Robot Interaction) method using the estimated external force, and controls the drone unit to fly in a horizontal posture according to the flight target trajectory; A flight transport system including:

2. In paragraph 1, An external force input unit provided in at least one of the cargo loading unit and the drone unit, and into which an external force of a worker for adjusting the flight direction of the drone unit is input; A flight transport system including:

3. In paragraph 1, The above control unit, By preventing the roll and pitch directions of the drone part from rotating, the drone part is always maintained in a horizontal position. The drone part is moved in translation through the translational force in the forward, backward, left, right, and up and down directions among the external forces of the worker. A flying transport system characterized in that the drone part is rotated through a rotational torque in the direction of the external force of the worker.

4. In paragraph 3, The above control unit, A disturbance observer that robustly controls the flight of the drone unit against the external force of the worker and estimates the estimated external force; and A compliance controller that changes and sets the flight target trajectory of the drone unit using the pHRI method using the estimated external force estimated from the disturbance observer, and controls the flight of the drone unit according to the flight target trajectory of the drone unit; A flight transport system including:

5. In paragraph 4, The above compliance controller, Hope Trajectory (Λ d ) and reference trajectory (Λ r ) using an admittance controller that applies a virtual mass (M)-damper (D)-spring (K) (MDK, mass-damper-spring) dynamic system, The above admittance controller is a mathematical formula An air transport system characterized in that it is provided by (wherein, F: external force).

6. In paragraph 5, The above admittance controller, After applying the estimated external force derived from the above disturbance observer to the external force (F) of the above mathematical formula, the mass (M a ) and damping coefficient (D a ) is set to set the flight target trajectory of the drone unit in a manner of controlling the flight transport system.

7. In paragraph 4, The above disturbance observer estimates the estimated external force in real time from the external force of the worker, The above estimated external force is an air transport system including an estimated translational force that estimates the translational force of an external force applied in the front-back, left-right, and up-down directions of the drone unit, and an estimated rotational torque that estimates the rotational torque of an external force applied in the yaw direction of the drone unit.

8. In paragraph 7, The above disturbance observer is, A first disturbance observer that robustly controls the translational flight of the drone unit and estimates the translational force applied to the drone unit in the forward-backward, left-right, and up-down directions among the external forces of the worker; and A second disturbance observer that robustly controls the rotational flight of the drone unit and estimates the rotational torque applied in the yaw direction of the drone unit among the external forces of the worker; A flight transport system including:

9. In paragraph 8, The above compliance controller, A flight transportation system characterized in that the flight target trajectory for the translational motion of the drone part is changed using the estimated translational force estimated by the first disturbance observer, and the flight target trajectory for the rotational motion of the drone part is changed using the estimated rotational torque estimated by the second disturbance observer.

10. In paragraph 7, The above disturbance observer estimates the translational force of the external force applied in the up-down direction of the drone section by utilizing the pitch torque of the drone section, A flight transport system characterized in that the above compliance controller sets a flight target trajectory for moving the drone unit in the vertical direction by using the estimated vertical translational force estimated by the disturbance observer.

11. In paragraph 1, A flight transport system characterized in that the above drone section is provided as a 6-degree-of-freedom multi-rotor system.

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