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WO2017034359A1 - Objet volant sans pilote pouvant voler sans hélice - Google Patents

Objet volant sans pilote pouvant voler sans hélice Download PDF

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Publication number
WO2017034359A1
WO2017034359A1 PCT/KR2016/009474 KR2016009474W WO2017034359A1 WO 2017034359 A1 WO2017034359 A1 WO 2017034359A1 KR 2016009474 W KR2016009474 W KR 2016009474W WO 2017034359 A1 WO2017034359 A1 WO 2017034359A1
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WO
WIPO (PCT)
Prior art keywords
air
wall
frame
compression
main body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/009474
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English (en)
Korean (ko)
Inventor
강성모
안효성
최영철
이병훈
손지환
고귀한
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gwangju Institute of Science and Technology
Original Assignee
Gwangju Institute of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gwangju Institute of Science and Technology filed Critical Gwangju Institute of Science and Technology
Publication of WO2017034359A1 publication Critical patent/WO2017034359A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/18—Thrust vectoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors

Definitions

  • the present invention relates to an unmanned aerial vehicle, such as a quadrotor, and more particularly, to an unmanned aerial vehicle capable of removing a rotary driving means such as a propeller and flying with a driving force due to a pressure difference.
  • unmanned aerial vehicles can provide aerial image acquisition and power line inspections in difficult-to-access disaster / disaster areas, provide covert information in battlefield situations, or reconnaissance by drones. You can perform a mission, such as performing a surveillance mission.
  • unmanned remote controlled vertical take-off and landing vehicles include single-rotor helicopters, coaxial helicopters, and quadrotors.
  • the quadrotor controls the motors connected to the four rotors and can fly relatively stably using various sensors and signal processing.
  • quadrotor has been widely spread as one of hobby and leisure in recent years, but most of the quadrotor is driven by driving force by the rotation of a structure such as a propeller. Therefore, the quadrotor rotates due to inexperience or malfunction of the user when the quadrotor takes off or lands. There is a possibility that an accident that the propeller comes into contact with the user is likely to be fatal.
  • a safety frame surrounding the propeller and the quadrotor and a method of stopping the driving automatically when a contact is made to the propeller have been proposed, but the safety frame does not protect against the propeller's up and down directions.
  • the method of automatically stopping the drive there is a possibility of malfunction in the part of judging whether there is a contact, and the occurrence factor of the accident still exists.
  • the unmanned aerial vehicle which obtains the propulsion force by the rotation of the propeller, cuts the air and generates wind, and thus the wind is not uniform.
  • FIG. 1 is a view schematically showing a conventional quadrotor.
  • four propellers 5 provided in a frame extending around the main body 2 are connected to the BLDC motor 4, respectively, and the propellers are rotated by the motor 4.
  • the present invention is proposed to solve the above-mentioned problems, and is an unmanned vehicle capable of preventing physical injury or property damage that may occur to a user by excluding means such as a rotating propeller as a means for generating a driving force on an unmanned aerial vehicle.
  • the purpose is to provide a vehicle.
  • the present invention has the purpose of providing an unmanned aerial vehicle having improved stability by introducing a principle of a wingless fan to obtain a driving force without a propeller, thereby generating uniform wind and reducing vibration during flight.
  • Embodiment of the present invention is provided with a main body portion is provided in the center, extending in the horizontal direction from the side of the main body to generate a thrust in the downward direction and consists of a plurality of driving units coupled to form a constant angle around the main body portion, the control module An unmanned aerial vehicle flying in accordance with the command of the driving unit, the suction unit suctions the surrounding air to generate a flow of air, a compression unit connected to the suction unit and varying the speed of the flow of air, flowed through the compression unit And an air discharge part for discharging air, wherein the air discharge part is formed in a cylindrical frame coupled to a part of the compression part in a horizontal direction and having an opening in an up and down direction, and air flowing inside the frame on an inner circumferential surface of the frame. It can be produced with a discharge port exiting in the downward direction.
  • the propeller which is a means for generating a thrust in a conventional unmanned aerial vehicle, is manufactured in a form of inhaling and discharging air, a contact occurs due to immaturity of a user during takeoff or landing of the unmanned aerial vehicle. It can also reduce the damage caused by physical injury.
  • the unmanned aerial vehicle applying the driving method of inhaling and discharging air may generate uniform wind during the flight and reduce vibration of the gas to improve stability during the flight.
  • 1 is a view showing a simplified structure of a conventional quadrotor
  • Figure 2 is a perspective view of the quadrotor of the present invention
  • Figure 3 is a plan view showing a quadrotor of the present invention
  • Figure 4 is a side view showing a quadrotor of the present invention
  • FIG. 5 is a view showing the driving principle of the fanless fan applied to the quadrotor of the present invention.
  • Figure 6 is a view showing a frame of a fan without a fan applied to the quadrotor of the present invention
  • FIG. 7 is a cross-sectional view of the suction unit provided in the quadrotor of the present invention.
  • FIG. 8 is a cross-sectional view of a compression unit provided in the quadrotor of the present invention.
  • FIG. 9 is a view showing a cross-sectional view of the air discharge unit provided in the quadrotor of the present invention, a cross-sectional view taken along the line H 'in FIG.
  • This embodiment is an unmanned vehicle, for example, a quadrotor driving unit that can change the position of the motor and the propeller, which is the portion where the quadrotor gains thrust, in the direction of thrust in the vertical direction, such as a quadrotor.
  • the battery module and the control module may be mounted in the main body included in the unmanned aerial vehicle of the embodiment.
  • the control module controls the operation of the driving unit provided in the unmanned aerial vehicle according to a signal sent by the user from a long distance, and can control the flight state of the aircraft by controlling the position or rotational speed of each propeller.
  • the embodiment mainly describes a quadrotor having four propellers, but may be applied to all driving means of an unmanned aerial vehicle regardless of the number of propellers.
  • the quadrotor 10 of the present invention forms four upstream portions 11a, 11b, 11c, and 11d for generating a propulsion force by forming an upward airflow in a downward direction, and the compression is coupled to the side surfaces of the respective outlet portions. It may be composed of a portion (12a, 12b, 12c, 12d) and the suction portion (13a, 13b, 13c, 13d) which is connected to one end of the compression portion and sucks ambient air. End portions of the respective suction portions are coupled to each other at 90 degrees to be fixed to the quadrotor including four drive means for generating a propulsion force.
  • FIG. 3 is a plan view showing a quadrotor of the present invention. A quadrotor structure of the present invention will be described with reference to FIG. 3.
  • the quadrotor of the present invention forms a flow of air downward and consists of four driving units 10 serving as wings, each driving unit having a cylindrical discharge portion 11 having an opening 14 at the center thereof, the discharge It may include a compression unit 12 coupled to the side of the unit and compresses the air moved to the discharge unit and the suction unit 13 for sucking the ambient air.
  • the discharge part 11 is provided with a space in which the air moved by the compression unit 12 can be rotated, the upper end is provided with a discharge port through which air can be discharged.
  • the air discharged through the outlet port generates a driving force in the quadrotor while moving downward through the circular opening 14, which will be described in detail later.
  • the discharge port may be continuously formed along the inner circumferential top surface of the discharge part 11, and the height of the discharge part may be appropriately changed according to the size of the quadrotor.
  • the diameter of the opening 14 formed at the center of the discharge portion 11 may also vary according to the driving force required for the quadrotor.
  • the compression unit 12 is coupled to the outlet 11 and supports it, and provides a passage through which the air sucked inside moves, and when the cross-sectional area is reduced, the speed of the air sucked using the principle that air flows quickly
  • the shape of the outer surface may be manufactured to be changed in the inflow direction of air so that is faster.
  • the plate having a predetermined length along the side of the discharge portion 11 and the moving passage is formed therein is coupled, the plate has a constant length in the center direction of the quadrotor and its length at the portion that is coupled to the inlet It can be manufactured in a shape that rapidly decreases.
  • the suction unit 13 is formed in a cylindrical shape connected to the end of the compression unit 12, the inlet can be provided on the lower surface of the compression unit 12, based on the horizontal plane of the quadrotor, the air entered through the inlet It can be provided with a motor for moving the, and the fan is formed in the motor by using the principle of the pump can suck up the ambient air from the downward direction upwards.
  • Figure 4 is a side view showing a quadrotor of the present invention. Referring to Figure 4, it shows a shape viewed from the side of one of the drive unit of the quadrotor of the present invention. As viewed from the side, the discharge portion 11 is cylindrical and the outer circumferential surface is formed to have a flat surface. The inner circumferential surface of the discharge portion is formed to have a concave curved shape as the upper portion is convex and downward, and a gap for discharging air may be provided at the convex portion, and a detailed structure will be described in the following drawings.
  • the compression part 12 connecting the discharge part 11 and the suction part 13 may be formed to have a smaller width and diameter from the suction part 13 to the discharge part 11. That is, the passage through which air flows in the compression unit 11 may be formed such that the contact area with air gradually decreases.
  • the suction part 13 is configured to pump air from the downward direction of the quadrotor to the compression part, and adjust the flow rate of the air injected from the discharge part by adjusting the flow rate of the air according to the rotational speed of the motor.
  • Figure 5 is a view showing the driving principle of the fanless fan applied to the quadrotor of the present invention.
  • the present invention implements a wingless quadrotor and uses the principle of a wingless fan.
  • the principle of a wingless fan is to use Bernoulli's theorem, which is the core principle of hydrodynamics. Bernoulli's Theorem, published by Bernoulli in 1738, is a law that defines the relationship between speed, pressure, and height for the regular flow of ideal fluid without viscosity and compressibility. It is a theory that showed.
  • the fanless fan sucks air through the suction unit 5 from the outside by the rotation of the motor 2 mounted at the lower end of the main body unit 1.
  • the sucked air enters and rotates inside the circular frame 3 coupled with the main body 1, and the air is discharged into the gap 4 formed in the frame.
  • Figure 6 shows a frame provided in the fanless fan applied to the quadrotor of the present invention. Referring to Figure 6, it shows a cross-sectional view of the frame provided on the top of the fan without wings to show the air discharge portion is discharged into the air is introduced into the frame is rotated.
  • the lower surface of the frame has a wing-shaped cross section is formed with a narrow opening (4) so that the air introduced into the frame (3) by the motor can escape out.
  • the air speed increases, and the air increases in speed as it leaves the plane wing-shaped frame surface. It is sucked in and forms a strong forward airflow.
  • the present invention uses a principle of a wingless fan as described above to move the air flow generated by moving inside the frame in the downward direction of the gas, lifting the gas in a vertical direction to manufacture a quadrotor manufactured The purpose is to provide.
  • FIG. 7 is a cross-sectional view of the suction unit provided in the quadrotor of the present invention.
  • the suction part 13 includes an upper fan 16 disposed in an upward direction, a lower fan 14 disposed in a downward direction so as to correspond to the upper fan, and a flow disposed between the upper fan and the lower fan. It may include a throttle (15).
  • the upper fan 16 is composed of a plurality of fans bent in a curved surface
  • the lower fan 14 may also be composed of a plurality of fans bent in a spiral direction.
  • the lower fan 14 sucks air located in the lower part of the suction part 13 and moves upwards, and the lower fan 14 moves upwards by a plurality of holes provided in the flow control plate 15 located above the lower fan. Flow rate can be adjusted.
  • the air passing through the holes may move upward again according to the rotation of the upper fan to move through the suction part 13 to the compression part.
  • a driving motor is connected to the upper fan and the lower fan to determine a rotational speed for determining the flow rate of air, and each of the different motors is connected to the upper fan and the lower fan to be individually set. It may be.
  • FIG. 8 is a cross-sectional view of the compression unit provided in the quadrotor of the present invention.
  • the compression unit 12 is configured to provide a passage through which the sucked air passes, and determines the shape by using the speed of the moving air according to the cross-sectional area of the compression unit.
  • the thickness of the compression unit 12 is differently formed as t1, t2, t3 according to the movement direction of air, and assuming that the width of the compression unit is constant in the horizontal direction, the height of t1 is higher than the point having the height of t2.
  • the branch point represents high pressure and the air flow is relatively slow. That is, a point having a height of t2 has a relatively low pressure than a point having a height of t1 and t3 and a flow of air can be formed faster.
  • the compression section of the present invention can be formed such that the cross-sectional area of the compression section is gradually reduced as the air proceeds toward the discharge section.
  • the height of the compression unit is gradually reduced in size, it is shown as an example, but this is only one example, it is possible to control the moving speed of the air by changing the cross-sectional area of the compression unit.
  • FIG. 9 is a cross-sectional view of the air discharge unit provided in the quadrotor of the present invention. Referring to FIG. 9, specifically, a cross-sectional view taken along the line H ′ of FIG. 3H is illustrated.
  • the air exhaust 11 of the present invention may be formed by one or more walls that form the inner passage 20 and the discharge 23.
  • the air discharge part 11 may include an inner wall 21 and an outer wall 27.
  • the upper portion of the outer wall 27 is formed so that its end is folded round to the inner wall 21, the side portion may be formed to have a flat surface.
  • the upper portion of the inner wall 21 is formed in a ring or folded shape so that the end thereof is closer to the outer wall 27, and is formed to have an inclined surface that is closer to the outer wall 27 toward the downward direction. Opposite surfaces of the inner wall 21 and the upper side of the outer wall 27 are formed to be spaced apart from each other by a predetermined distance to form a discharge portion 23 that becomes a flow passage of air.
  • An end portion of the upper portion of the inner wall 21 may have a surface inclined at an angle toward the outer wall 27, and the thickness of the inner wall corresponding to the portion facing the outer wall may be thickened by a predetermined value. That is, when the part facing the inner wall and the outer wall is the inlet part 22, the inlet part 22 may be formed to extend in the horizontal direction in which the outer wall is disposed.
  • the inlet part 22 is a passage through which air escapes, and the width thereof is formed to be gradually smaller toward the discharge part 23, and the discharge part 23 is formed by a gap formed between the inner wall 38 and the outer wall 40. gaps) or gaps.
  • the distance between the inner wall and the outer wall corresponding to the inlet portion 22 and the discharge portion 23 can be appropriately changed in preparation for the size of the quadrotor or the required driving force.
  • the surface of the inner wall formed beyond the inlet 22 and adjoining the discharge 23 may comprise a Coanda surface.
  • the Coanda surface is a known type of surface that represents a convex curved surface, such as an airplane wing.
  • the air exiting through the outlet 23 exhibits a Coanda effect over this Coanda surface, which exits the surface and tends to flow close to or close to the surface.
  • the inner wall is formed like the Coanda surface, a large amount of air can be introduced through the opening outside the discharge portion by the air exiting the discharge portion.
  • the lower portion of the inner wall may include a guide portion 25.
  • the guide portion 25 may include a guide surface 26 disposed to have a predetermined angle on the inner wall for efficient transmission of air flow in the inner passage 20.
  • the guide surface 26 may be disposed parallel to the outer wall 27 and may be formed to have a cylindrical shape.
  • the output and discharge of the primary air flow is performed by a motor drive provided in the intake portion that sucks air into the quadrotor.
  • the air sucked by the suction part flows through the low pressure region formed in the compression part and gradually flows into the space provided in the discharge part.
  • the air flowing through the movement passage 20 is compressed past the inlet 22 and more compressed when passing through the outlet 23.
  • the air flow generated thereby is discharged through the discharge portion 23 while overwhelming the pressure generated by the compression.
  • the air discharged through the discharge section 23 sucks additional external air into the opening between the discharge sections, and induces high air flow through the opening.
  • the air located on the upper surface of the air discharge portion is moved downward through the opening by the flow of air passing between the discharge portion, thereby generating a propulsion force in the quadrotor, which is possible to fly the quadrotor. If the speeds of the motors arranged in the suction part of each drive unit serving as the wing of the quadrotor are set equal, the quadrotor rises in the direction perpendicular to the ground, and the speed of the motor on the line in the direction to move By varying the direction of movement of the quadrotor during flight can be varied.
  • the present embodiment is manufactured in the form of inhaling and discharging air without the propeller, which is a means for generating thrust in the conventional unmanned aerial vehicle, even when the unmanned aerial vehicle takes off or lands, contact due to immature operation of the user occurs. Can reduce the damage caused.
  • the driving method of inhaling and discharging air is applied, uniform wind can be generated during the flight, and the vibration of the gas can be reduced to improve stability during the flight.
  • the present invention relates to an unmanned aerial vehicle having a driving unit that inhales and discharges air, and prevents contact due to immaturity of a user during takeoff or landing, and improves the stability of the aircraft, thereby providing industrial applicability. It seems to be enough.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Abstract

Un mode de réalisation de la présente invention concerne un objet volant sans pilote selon l'instruction d'un module de commande, comportant un élément corps principal situé au centre de celui-ci, et comprenant une pluralité de parties d'entraînement qui sont formées pour s'étendre depuis le côté latéral de l'élément corps principal dans une direction horizontale de manière à produire une poussée dans une direction descendante, et accouplées pour former des angles prédéfinis par rapport à l'élément corps principal, la partie d'entraînement comprenant : un élément d'aspiration aspirant l'air ambiant de manière à produire un flux d'air; un élément de compression raccordé à l'élément d'aspiration, et faisant varier la vitesse d'air d'écoulement; et un élément d'évacuation d'air pour évacuer l'air s'étant écoulé dans l'élément de compression, et l'élément d'évacuation d'air est accouplé à une partie de l'élément de compression dans la direction horizontale, à la forme d'un cadre cylindrique ayant une ouverture dans une direction verticale, et a un orifice d'évacuation, par lequel l'air s'écoulant à l'intérieur du cadre est rejeté dans la direction descendante, formé sur la surface périphérique interne du cadre. Selon un mode de réalisation, l'objet volant est fabriqué selon une forme à l'exclusion d'une hélice, qui est un moyen pour produire une poussée, et aspirer et évacuer l'air, et ainsi les dommages causés par une blessure physique peuvent être réduits même si un contact est fait avec celui-ci en raison de la manœuvre non qualifiée d'un utilisateur pendant le décollage ou l'atterrissage de l'objet volant sans pilote.
PCT/KR2016/009474 2015-08-27 2016-08-26 Objet volant sans pilote pouvant voler sans hélice Ceased WO2017034359A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020150120665A KR20170024960A (ko) 2015-08-27 2015-08-27 프로펠러 없이 비행 가능한 무인 비행체
KR10-2015-0120665 2015-08-27

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10336452B1 (en) * 2018-04-16 2019-07-02 Muye Jia Drone with no external propeller blades
US10472061B2 (en) * 2015-10-26 2019-11-12 Keun-Young Kim Propeller-less drone using flow of wind
WO2025043345A1 (fr) * 2023-08-30 2025-03-06 Hugues Wanlin Système et procédés de distribution de charges utiles avec des véhicules aériens sans pilote à décollage horizontal et atterrissage vertical

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190127065A1 (en) * 2017-11-01 2019-05-02 Innerco Llc Bladeless unmanned aerial vehicle
KR102064135B1 (ko) * 2019-09-18 2020-01-08 이윤성 카메라의 이물질차단용 렌즈보호장치 및 그것이 설치된 비행체

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KR20060030187A (ko) * 2004-10-05 2006-04-10 김이섭 접시형 비행체
KR100812755B1 (ko) * 2006-11-13 2008-03-12 한국생산기술연구원 단동력 제어 쿼드로콥터
KR20090049884A (ko) * 2007-11-14 2009-05-19 허일행 접시형 비행체
KR20120019650A (ko) * 2010-08-26 2012-03-07 육심관 공기(유체)의 증폭과 회전을 통하여 발전하는 회오리 자가발전시스템 및 이를 탑재한 이동수단
KR20150090539A (ko) * 2014-01-29 2015-08-06 (주)지이에스 소방 관제용 수직이착륙기

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060030187A (ko) * 2004-10-05 2006-04-10 김이섭 접시형 비행체
KR100812755B1 (ko) * 2006-11-13 2008-03-12 한국생산기술연구원 단동력 제어 쿼드로콥터
KR20090049884A (ko) * 2007-11-14 2009-05-19 허일행 접시형 비행체
KR20120019650A (ko) * 2010-08-26 2012-03-07 육심관 공기(유체)의 증폭과 회전을 통하여 발전하는 회오리 자가발전시스템 및 이를 탑재한 이동수단
KR20150090539A (ko) * 2014-01-29 2015-08-06 (주)지이에스 소방 관제용 수직이착륙기

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10472061B2 (en) * 2015-10-26 2019-11-12 Keun-Young Kim Propeller-less drone using flow of wind
US10336452B1 (en) * 2018-04-16 2019-07-02 Muye Jia Drone with no external propeller blades
WO2025043345A1 (fr) * 2023-08-30 2025-03-06 Hugues Wanlin Système et procédés de distribution de charges utiles avec des véhicules aériens sans pilote à décollage horizontal et atterrissage vertical

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