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1. WO2022004966 - METHOD FOR CONTROLLING DRONE HAVING MULTI-DEGREE-OF-FREEDOM FLIGHT MODE

Publication Number WO/2022/004966
Publication Date 06.01.2022
International Application No. PCT/KR2020/016852
International Filing Date 25.11.2020
IPC
G05D 1/08 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
08Control of attitude, i.e. control of roll, pitch, or yaw
B64C 39/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
39Aircraft not otherwise provided for
02characterised by special use
B64C 15/12 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
15Attitude, flight direction, or altitude control by jet reaction
02the jets being propulsion jets
12the power plant being tiltable
B64C 27/08 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
27Rotorcraft; Rotors peculiar thereto
04Helicopters
08with two or more rotors
B64C 27/52 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
27Rotorcraft; Rotors peculiar thereto
52Tilting of rotor bodily relative to fuselage
B64D 27/24 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
27Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
02Aircraft characterised by the type or position of power plant
24using steam, electricity, or spring force
CPC
B64C 15/12
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
15Attitude, flight direction, or altitude control by jet reaction
02the jets being propulsion jets
12the power plant being tiltable
B64C 27/08
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
27Rotorcraft; Rotors peculiar thereto
04Helicopters
08with two or more rotors
B64C 27/52
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
27Rotorcraft; Rotors peculiar thereto
52Tilting of rotor bodily relative to fuselage
B64C 39/02
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
CAEROPLANES; HELICOPTERS
39Aircraft not otherwise provided for
02characterised by special use
B64D 27/24
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
27Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
02Aircraft characterised by the type or position of power plant
24using steam, electricity, or spring force
G05D 1/08
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
08Control of attitude, i.e. control of roll, pitch, or yaw
Applicants
  • 이상현 LEE, Sang Hyun [KR]/[KR]
Inventors
  • 이상현 LEE, Sang Hyun
Agents
  • 특허법인태하 JYK IP LAW FIRM
Priority Data
10-2020-007938029.06.2020KR
Publication Language Korean (ko)
Filing Language Korean (KO)
Designated States
Title
(EN) METHOD FOR CONTROLLING DRONE HAVING MULTI-DEGREE-OF-FREEDOM FLIGHT MODE
(FR) PROCÉDÉ DE COMMANDE D'UN DRONE DOTÉ D'UN MODE DE VOL À DEGRÉS DE LIBERTÉ MULTIPLES
(KO) 다자유도 비행모드를 갖는 드론의 제어방법
Abstract
(EN) The present invention relates to a method for controlling a drone having a multi-degree-of-freedom flight mode, wherein the drone may comprise: a fuselage unit in which a battery is mounted and of which the forward direction is set in the x-axis; a plurality of rotors of which four or more are around the fuselage unit and which are arranged such that respective rotation axes are aligned in the z-axis direction; an x-axis tilting mechanism unit configured to tilt the plurality of rotors about respective axes parallel to the x-axis; a y-axis tilting mechanism unit configured to tilt the plurality of rotors about respective axes parallel to the y-axis; a first driving motor unit for driving the y-axis tilting mechanism unit; a second driving motor unit for driving the x-axis tilting mechanism unit; and a control unit configured to implement a plurality of flight modes by controlling the first rotor, the second rotor, the third rotor, the fourth rotor, the first driving motor unit, and the second driving motor unit.
(FR) La présente invention concerne un procédé de commande d'un drone doté d'un mode de vol à degrés de liberté multiples, le drone pouvant comprendre : une unité de fuselage dans laquelle une batterie est montée et dont la direction avant est définie dans l'axe x ; une pluralité de rotors dont au moins quatre sont situés autour de l'unité de fuselage et qui sont agencés de telle sorte que des axes de rotation respectifs sont alignés dans la direction de l'axe z ; une unité de mécanisme d'inclinaison d'axe x configurée pour incliner la pluralité de rotors autour d'axes respectifs parallèles à l'axe x ; une unité de mécanisme d'inclinaison d'axe y configurée pour incliner la pluralité de rotors autour d'axes respectifs parallèles à l'axe y ; une première unité de moteur d'entraînement pour entraîner l'unité de mécanisme d'inclinaison d'axe y ; une seconde unité de moteur d'entraînement pour entraîner l'unité de mécanisme d'inclinaison d'axe x ; et une unité de commande configurée pour mettre en œuvre une pluralité de modes de vol par commande du premier rotor, du deuxième rotor, du troisième rotor, du quatrième rotor, de la première unité de moteur d'entraînement et de la seconde unité de moteur d'entraînement.
(KO) 본 발명과 관련된 다자유도 비행모드를 갖는 드론의 제어방법은, 배터리가 장착되며, x축으로 전진방향이 설정되는 동체부; 상기 동체부의 주위에 4개 이상으로 배치되고, 각각의 회전축이 z축 방향으로 정렬되게 배치되는 복수의 로터; 상기 복수의 로터를 상기 x축과 평행한 각각의 축을 중심으로 틸팅시킬 수 있게 형성된 x축 틸팅기구부; 상기 복수의 로터를 y축과 평행한 각각의 축을 중심으로 틸팅시킬 수 있게 형성된 y축 틸팅기구부; 및 상기 y축 틸팅기구부를 구동시키기 위한 제1 구동모터부; 상기 x축 틸팅기구부를 구공시키기 위한 제2 구동모터부; 및 상기 제1 로터, 상기 제2 로터, 상기 제3 로터, 상기 제4 로터, 상기 제1 구동모터부 및 상기 제2구동모터부를 제어하여 복수의 비행모드를 구현할 수 있게 형성된 제어부를 포함할 수 있다.
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