KR20170054836A - Unmanned Air Vehicle - Google Patents

Abstract

According to an embodiment of the present invention, an unmanned air vehicle is disclosed. According to an embodiment of the present invention, the unmanned air vehicle may comprise: a control unit controlling an air vehicle; a body having the control unit; at least one motor; at least one arm connecting the body and the motor; at least one rotor individually connected to the motor to be rotated; and an energy storage unit storing energy acquired from the motor by the rotor in a battery.

Description

Unmanned Air Vehicle

Embodiments of the present invention relate to an unmanned aerial vehicle that acquires energy using regenerative energy.

Today, unmanned aerial vehicles (UAVs) are used in a variety of fields, including surveillance and reconnaissance. However, due to battery performance limitations, it was possible to operate only within a limited time and space range, resulting in a shortage of operation.

In order to solve these problems, there is an attempt to reduce the vacancy of the operation by simultaneously operating a plurality of unmanned aerial vehicles, but there is an abnormal limit that the performance of the unmanned aerial vehicles is not accompanied by improvement of performance.

Korean Patent No. 10-1452473

Embodiments of the present invention provide a unmanned aerial vehicle capable of more efficiently operating an unmanned aerial vehicle by acquiring regenerative energy from a motor in which the unmanned aerial vehicle is temporarily not driven according to a flight path during flight.

According to an embodiment of the present invention, an unmanned aerial vehicle includes a control unit for controlling a flying object; A body including the control unit; One or more motors; At least one arm connecting the body and the at least one motor; At least one rotor blade connected to and rotated by each of the at least one motor; And an energy storage unit for storing energy obtained from the one or more motors by the one or more rotor blades in a battery.

Wherein the control unit calculates a correction speed that is a speed that should be added to the current speed of the airplane by comparing the moving speed according to the flight plan of the airplane and the current speed of the airplane; A regeneration motor detection unit that detects at least one regeneration motor that is not required to be driven among the at least one motor when the airplane moves according to a speed at which the correction speed is added to the current speed; And a motor control unit for controlling a rotation speed of at least one motor of the at least one motor when the flying object moves according to the speed at which the correction speed is added to the current speed.

The energy storage unit may acquire energy from the regenerative motor when the air vehicle moves according to the speed at which the correction speed is added to the current speed.

Wherein the regeneration motor detecting unit detects all of the at least one motor by the regeneration motor when the moving direction of the airplane is at an altitude descending according to the speed at which the correction speed is added to the current speed, Can be obtained.

Wherein the regenerative motor detection unit rotates in a second direction opposite to the first direction of the one or more motors when the moving direction of the air vehicle according to the speed at which the correction speed is added to the current speed is the first direction The motor is detected by the regenerative motor, and the energy storage unit can acquire energy from the regenerative motor.

The rotor blade may be provided to vary a blade area (blade area) under the control of the controller.

The control unit may further include a wick area changing unit for increasing an area of the rotor blade connected to the regenerative motor when the flying object moves according to the speed at which the correction speed is added to the current speed.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the embodiments of the present invention, an unmanned aerial vehicle can be implemented that can operate more efficiently by acquiring regenerative energy from a motor that is not temporarily driven according to a flight path during flight.

1 schematically illustrates an unmanned aerial vehicle according to an embodiment of the present invention.
2 schematically shows a control unit according to an embodiment of the present invention.
FIG. 3 shows a process of calculating a correction speed by the correction speed calculating unit according to an embodiment of the present invention.
Figs. 4A and 4B are examples of a case where the moving direction in accordance with the correction speed is the altitude descent.
Figs. 5A and 5B are examples of a case where the moving direction according to the correction speed is the rotation in the first direction.
6A and 6B are views illustrating an example in which the blade area changing unit according to an embodiment of the present invention changes the area of one of the plurality of rotor blades.
7 is a flowchart illustrating a method of controlling the unmanned aerial vehicle by the control unit.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

In the following embodiments, the terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

The terms used in the following examples are used only to illustrate specific embodiments and are not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the following description, the terms "comprises" or "having ", and the like, specify that the presence of stated features, integers, steps, operations, elements, But do not preclude the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Embodiments of the present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in a wide variety of hardware and / or software configurations that perform particular functions. For example, embodiments of the invention may be embodied directly in hardware, such as memory, processing, logic, look-up tables, etc., that can perform various functions by control of one or more microprocessors or by other control devices Circuit configurations can be employed. Similar to the components of the embodiments of the present invention may be implemented with software programming or software components, embodiments of the present invention include various algorithms implemented with a combination of data structures, processes, routines, or other programming constructs , C, C ++, Java, assembler, and the like. Functional aspects may be implemented with algorithms running on one or more processors. Embodiments of the present invention may also employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as mechanisms, elements, means, and configurations are widely used and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

1 schematically illustrates an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 1, an unmanned aerial vehicle 1 according to an embodiment of the present invention includes a control unit 10 for controlling a flying object, a body 20 including a control unit 10, at least one motor 30, One or more motors 30 are connected to one or more motors 30 by one or more motors 30 by one or more motors 30 and one or more motors 30 by one or more motors 30, And an energy storage unit 60 for storing the regenerative energy obtained from the battery 30 in the battery.

Unmanned Aerial Vehicle (UAV) (1) means a non-human flight. In other words, the unmanned aerial vehicle (1) means a flying object which does not fly by a pilot, which is a flight object which follows a pre-input program, remote control of the management device, or a flight body which perceives and judges the surrounding environment by itself.

The propeller or rotor of the unmanned aerial vehicle 1 generates a thrust force in a vertical direction to lift the air vehicle and generate a thrust force in a horizontal direction to provide forward motion.

The unmanned aerial vehicle (1) can be used for military or reconnaissance purposes to collect information by scouting enemies or exploring the terrain. In addition, the unmanned aerial vehicle (1) can perform ground operations in a terrain difficult to infiltrate in parallel with a mobile robot.

Unmanned aerial vehicles (1) can be used for industrial purposes to survey land or to spray pesticides. In addition, the unmanned aerial vehicle (1) can be quickly put into an emergency situation based on the location tracking function and can rescue the victims and fallen persons in an emergency situation.

The unmanned aerial vehicle 1 may be connected to a unmanned aerial vehicle (not shown) through a wireless network, wherein the wireless network may be a variety of various frequency bands such as CDMA, WIFI, WIBRO, or LTE.

1, the unmanned aerial vehicle 1 is shown as a quad copter including four motors 30, four arms 40 and four rotor blades 50, but the present invention is not limited thereto. For example, the unmanned aerial vehicle 1 may be any one of a flywheel type aircraft such as a Dual Copter, a Tri Copter, a Hex Copter, and an Octo Copter. Also, the unmanned aerial vehicle 1 may be a fixed wing type air vehicle that does not rotate its wings like a normal airplane.

In the present invention, the regenerative energy may mean all the energy generated by the rotation of the rotor connected to the motor motor 30 and transmitted to the motor 30. Therefore, the regenerative energy may include energy generated by rotating the rotor blades 50 according to the air flow around the unmanned aerial vehicle 1. The regenerative energy may also include energy generated by rotating the motor 30 (or the rotor blades 50 connected to the motor 30) by rotational inertia.

The body 20 according to an embodiment of the present invention may include components of the unmanned aerial vehicle 1 including the control unit 10. For example, the body 20 includes a battery (not shown) for driving the unmanned air vehicle 1, an energy storage unit 60 for storing the energy obtained from the motor 30 in a battery (not shown) And a communication unit (not shown) for connection with a mobile terminal (not shown). The body 20 may further include a sensor unit (not shown) such as an image sensor (not shown), a GPS sensor (not shown) and a gyro sensor (not shown) have.

On the other hand, the body 20 can be made of a lightweight material having a high hardness. For example, the body 20 may be made of any one of a carbon material, an acrylonitrile butadiene styrene (ABS) material, and a polycarbonate (PC) material. However, the present invention is not limited thereto.

The motor 30 according to the embodiment of the present invention can generate a thrust of the unmanned air vehicle 1. The motor 30 may be, for example, any one of a brush motor, a step motor, and a brushless motor. The motor 30 may be directly connected to the rotor blade 50 to drive the rotor blade 50 or may be connected to the rotor blade 50 through one or more gears to drive the rotor blade 50. The type of the motor 30 and the connection manner between the motor 30 and the rotor blades 50 may vary depending on the use and type of the unmanned aerial vehicle 1.

On the other hand, as opposed to the above, the motor 30 can generate regenerative energy when the rotor blades 50 are rotated by an external force. That is, the motor 30 can receive energy from a battery (not shown) to consume energy or generate energy from rotation of the rotor blades 50 by external force.

Referring to FIG. 1, the UAV 1 is a quad copter and may include four motors 30.

The arm (40) according to an embodiment of the present invention can connect the body (20) and the motor (30).

The arm (40) protrudes from one side of the body (20) and can support the motor (30). At this time, the arm 40 may be arranged radially from the body 20. [ For example, the arms 40 may be disposed in the directions of 0 degree, 90 degrees, 180 degrees, and 270 degrees with respect to the center of gravity of the body 20.

The arm 40 may include a connection portion (not shown) for electrically connecting the control portion 10 and the motor 30 to the inside and / or the outside of the arm. The connection unit (not shown) can transmit electric power for driving the motor 30 from the battery (not shown) to the motor 30. [ The connection unit (not shown) may transmit the regenerative energy generated from the motor 30 to the energy storage unit 60.

The arm 40 can be made of a lightweight material of high hardness. For example, the arm 40 may be made of any one of a carbon material, an ABS material, and a polycarbonate material, such as the body 20, but the present invention is not limited thereto.

Referring to FIG. 1, the unmanned aerial vehicle 1 is a quad copter, and may include four arms 40.

The rotary wing 50 according to an embodiment of the present invention may be connected to each of the at least one motor 30 and rotate to generate thrust.

The material, length, and pitch angle of the rotor blade 50 may vary depending on the use and type of the unmanned aerial vehicle 1.

The unmanned aerial vehicle 1 of FIG. 1 is a quad copter and may include four rotor blades 50 connected to four motors 30.

On the other hand, the rotor blade 50 can generate regenerative energy by causing the motor 30 to rotate by an external force. At this time, the blade area (blade area) of the rotor blade 50 can be changed under the control of the controller 10. When the motor 30 is rotated by the external force, the control unit 10 can increase the amount of the regenerative energy generated from the motor 30 by increasing the wing area of the rotor blades 50. An example in which the motor 30 is driven by an external force will be described later.

The wing area of the rotor blades 50 can be varied by various means. For example, the rotor blades 50 can change the blade area by means having the same structure as the flap of the aircraft blade. The maximum regenerative energy can be obtained from the rotor blades 50 when the flap of the rotor blades 50 is expanded by the control unit 10 so that the area of the rotor blades is maximized.

In addition, the rotor blade 50 can vary the blade area by expansion or return of the rotor blade 50 to the rotor blade 50. The energy storage unit 60 according to an embodiment of the present invention may include a plurality of motors 30 that are obtained from one or more motors 30 by one or more rotor blades 50, Energy can be stored in a battery (not shown).

In the unmanned air vehicle 1, there may be a motor 30 that is temporarily not driven by a battery in accordance with a flight path during flight. Such a motor 30 may be an external power source Lt; / RTI > The energy storage unit 60 may supplement the limited battery performance by acquiring the regenerative energy generated from the motor 30 driven by the external force and storing the regenerated energy in the battery.

Meanwhile, the energy storing unit 60 may include a DC-AC converting unit. Since the energy generated from the motor 30 by the external force may be an AC power source, the energy storage unit 60 may include a DC-AC converting unit that converts the generated AC power to DC power. The energy storage unit 60 may include a battery management unit that can control charging and / or discharging of the battery. The energy storage unit 60 can charge the battery using the converted DC power.

2 schematically shows a control unit 10 according to an embodiment of the present invention. As described above, the control unit 10 can be mounted together with the energy storing unit 60 in the body 20 of the unmanned air vehicle 1. On the other hand, the control unit 10 and the energy storage unit 60 are merely classifications for convenience, and their configurations are not physically divided clearly, the functions performed in the respective configurations may be performed in duplicate, Some configurations may be omitted and included in another configuration. For example, the control unit 10 and the energy storage unit 60 may be configured as one integrated control unit.

The control unit 10 according to an embodiment of the present invention may include a correction speed calculating unit 100, a regenerative motor detecting unit 200, a wake area changing unit 300, and a motor control unit 400.

The correction speed calculating unit 100 according to an embodiment of the present invention compares the moving speed according to the flight plan of the unmanned air vehicle 1 and the current speed of the unmanned air vehicle 1 to determine the current speed of the unmanned air vehicle 1, It is possible to calculate the correction speed, which is the speed at which it should be added. The regenerative motor detection unit 200 calculates the rotation speed of each motor for moving the unmanned air vehicle 1 according to the speed at which the correction speed is added to the current speed. The regenerative motor detecting section 200 can detect one or more regenerative motors that do not need to be driven among the at least one motor based on the calculated rotational speeds of the respective motors. For example, the regenerative motor detecting section 200 can detect a motor having a calculated rotational speed of 0 with a regenerative motor.

The wax area changing unit 300 can increase the area of the rotor blade connected to the regenerative motor when the unmanned air vehicle 1 moves according to the speed at which the correction speed is added to the current speed.

On the other hand, the motor control unit 400 can control the rotation speed of one or more motors required to be driven according to the rotation speed of each motor calculated by the regenerative motor detection unit 200.

The correction speed calculating unit 100 according to an embodiment of the present invention compares the moving speed according to the flight plan of the unmanned air vehicle 1 and the current speed of the unmanned air vehicle 1 to determine the current speed of the unmanned air vehicle 1, It is possible to calculate the correction speed, which is the speed at which it should be added.

In the present invention, 'speed' is used as a concept including both 'speed' and 'direction'. Therefore, the 'moving speed according to the flight plan' may include both the moving speed according to the flight plan and the moving direction according to the flight plan. Likewise, 'current speed' may include both the moving speed and the moving direction of the current unmanned aerial vehicle 1.

The flight plan of the unmanned aerial vehicle (1) may be a predetermined plan. For example, the user can preset the flight path of the unmanned air vehicle 1 using GPS coordinates and altitude information at the corresponding point. The flight path set at this time may be stored in the control unit 10 of the unmanned air vehicle 1 or in a unmanned aerial vehicle management apparatus (not shown) for controlling the unmanned air vehicle 1 at a remote place.

On the other hand, the flight plan of the unmanned aerial vehicle 1 may be a plan determined in real time by the user's input. For example, the user can determine the flight path of the unmanned aerial vehicle 1 in real time using the image acquired by the image sensor (not shown) included in the unmanned air vehicle 1. In this case, the user can determine the moving speed of the unmanned air vehicle 1, that is, the moving speed and the moving direction, using a control stick or the like.

The correction speed calculating unit 100 may calculate the correction speed based on the difference between the moving speed and the moving direction determined by the predetermined plan or the user and the moving speed and moving direction of the current unmanned air vehicle 1, respectively. For example, the correction speed calculating unit 100 can calculate the correction speed by the difference between the movement speed vector (Vector) based on the flight plan and the movement speed vector (Vector) of the current unmanned air vehicle 1.

Hereinafter, embodiments of the present invention will be described in more detail with reference to FIGS. 3 to 7. FIG.

FIG. 3 shows a process in which the correction rate calculation unit (100 in FIG. 2) calculates the correction rate according to an embodiment of the present invention.

The correction speed calculating unit 100 compares the moving speed 102 according to the flight plan 101 of the unmanned air vehicle 1 and the current moving speed 103 of the unmanned air vehicle 1 to obtain the current moving speed 103 The correction speed 104, which is a speed that should be added to the correction speed 104, can be calculated.

Further, the correction speed calculating unit 100 can calculate the speed (not shown) to which the corrected speed 104 calculated at the current moving speed 103 of the unmanned air vehicle is added. Since the correction speed 104 is calculated by the difference between the moving speed 102 according to the flight plan 101 and the current moving speed 103 of the unmanned air vehicle, the speed (not shown) to which the correction speed 104 is added May be the same size and the same direction as the travel speed 102 according to the flight plan 101.

The correction speed calculator 100 may calculate the correction speed 104 by performing a vector difference operation between the travel speed 102 and the current travel speed 103 according to the flight plan 101 , It is to be understood that the present invention is not limited thereto.

The regeneration motor detecting unit 200 according to the embodiment of the present invention may be configured such that when the unmanned object 1 moves according to the speed at which the correction speed calculated by the correction speed calculating unit 100 is added to the current speed, Can detect one or more regenerative motors that need not be driven.

As described above, the unmanned aerial vehicle 1 may include a motor 30 that is temporarily not driven by a battery (not shown) according to a flight path during flight. The motor 30 may be an external force or rotation And can be driven by the rotating blade 50 that is rotated by inertia. The regenerative motor detection unit 200 can detect energy of the motor 30 that is temporarily not required to be driven by the battery by the regenerative motor and acquire energy from the corresponding motor.

The regenerative motor detection unit 200 can detect the regenerative motor according to the determination result of the sensor such as a gyro sensor (not shown) and an acceleration sensor (not shown) mounted on the unmanned air vehicle 1. For example, it is assumed that the unmanned aerial vehicle 1 is tilted to the left (roll to the left) and the unmanned aerial vehicle 1 is to be horizontally controlled again. In this case, the gyro sensor and the acceleration sensor mounted on the unmanned air vehicle 1 sense a tilted state of the unmanned air vehicle 1, and the motor control unit 400 detects a tilted state of the unmanned air vehicle 1 on the left side of the unmanned air vehicle 1 The rotating speed of the motor 30 positioned can be increased. At this time, the regenerative motor detecting section 200 can detect the motor 30 located on the right side of the unmanned flight vehicle 1 with the regenerative motor. As described above, the regenerative-motor-detecting unit 200 can detect the motor at a position symmetrical to the position of the motor whose rotational speed is increased by the regenerative motor. At this time, the center of symmetry may be the center of gravity of the unmanned aerial vehicle (1).

On the other hand, the regenerative motor detection unit 200 can detect the regenerative motor according to a previously stored profile. The profile may be data in which the regenerative motor is stored according to the traveling speed of the unmanned aerial vehicle 1. For example, in the case where the profile is to be horizontally restored to the state in which the unmanned air vehicle 1 is slung to the left (roll to the left) as in the above-described example, the motor 30 located on the right side is detected by the regenerative motor Profile. ≪ / RTI >

FIGS. 4A and 5B show a process in which the regenerative motor detecting unit 200 detects the regenerative motor according to the speed at which the correction speed is added to the current speed, and the energy storage unit 60 acquires the energy from the detected regenerative motor .

Figs. 4A and 4B show an example in the case where the moving direction according to the speed at which the correction speed is added to the current speed is the altitude descent (-Z direction).

When the moving direction of the unmanned air vehicle 1 according to the speed at which the correction speed is added to the current speed is the descent altitude as shown in FIG. 4A (when the moving direction is the -Z direction), the regenerative motor detecting unit 200 detects , All the motors 30 of the unmanned air vehicle 1 can be detected by the regenerative motor. The energy storage unit 60 acquires energy from the regenerative motor detected by the regenerative motor detection unit 200 when the unmanned flight vehicle 1 moves according to the moving direction 105a corresponding to the speed at which the correction speed is added to the current speed .

4B, the regenerative motor detecting unit 200 detects all the motors 31 to 34 of the unmanned aerial vehicle 1 when the moving direction of the unmanned air vehicle 1 is the descent direction (-Z direction) And the energy storage unit 60 can acquire energy from the detected regenerative motor, that is, all of the motors 31 to 34. In this case,

More specifically, assuming that the directions in which the respective motors 31 to 34 are rotated when driven are respectively 11a, 12a, 13a and 14a, the rotor blades 51 to 54 connected to the motors 31 to 34 are rotated in the rotational direction 12a, 13a, and 14a. On the other hand, when the unmanned flight vehicle 1 moves in the direction of the altitude descent (-Z direction) in accordance with the correction speed, each of the rotor blades 51 to 54 is rotated in the rotational direction 12b, 13b and 14b in the direction opposite to the direction of the arrows 11a, 12a, 13a and 14a. The motor control unit 400 can control the driving speed of each of the motors 31 to 34 to be zero. Accordingly, each of the motors 31 to 34 connected to the respective rotor blades 51 to 54 can generate electric energy. The energy storage unit 60 may store the generated regenerative energy in a battery (not shown).

FIGS. 5A and 5B are examples of a case in which the moving direction according to the speed at which the correction speed is added to the current speed is the rotating direction 105b in the first direction.

The regeneration motor detection unit 200 detects the direction 105b in which the moving direction of the unmanned air vehicle 1 is rotated (clockwise) in the first direction as shown in FIG. 5A according to the speed at which the correction speed is added to the current speed, The motor rotating in the second direction (counterclockwise direction) opposite to the first direction 105b of the motor of the unmanned air vehicle 1 can be detected by the regenerative motor. The energy storing unit 60 can acquire energy from the regenerative motor detected by the regenerative motor detecting unit 200 when the unmanned flight vehicle 1 moves according to the moving direction according to the speed at which the correction speed is added to the current speed.

5B, when the moving direction according to the speed at which the correction speed is added to the current speed is the rotation in the first direction 105b, the regenerative motor detection unit 200 detects the rotation speed of the motor 31-34 of the unmanned flying vehicle 1 The motors 32 and 33 that rotate in the second directions 12c and 13c opposite to the first direction 105b are detected by the regenerative motor and the energy storage unit 60 detects the regenerative motors 32 and 33, The energy can be obtained.

More specifically, assuming that the directions in which the motors 31 to 34 are rotated when driven are 11c, 12c, 13c and 14c, the rotor blades 51 to 54 connected to the motors 31 to 34 are rotated in the rotational direction of the motor (11c, 12c, 13c, and 14c). On the other hand, in order for the unmanned flight vehicle 1 to rotate in the first direction 105b, which is a direction corresponding to the speed at which the correction speed is added to the current speed, the second direction 12c and 13c, which are opposite to the first direction 105b, The motor control unit 400 can cut off the power supply to the motors 32 and 33 that rotate the rotor blades 52 and 53 that rotate in the second direction. The regenerative motor detection unit 200 can detect the motors 32 and 33 whose power supply is cut off by the regenerative motor and the energy storage unit 60 can obtain the regenerative energy from the motors 32 and 33. [ Unlike the above-described example, the rotational directions of the rotor blades 52 and 53 connected to the motors 32 and 33 detected by the regenerative motor may not be unidirectional. That is, the regenerative motors 32 and 33 can generate electric energy by the rotation 12d and 13d in the first direction or the second direction. For example, since the rotor blades 52 and 53 are driven in the same direction (second direction) as the original driving direction by inertia from the time when the electric power is cut off by the control unit 10 to the time when the driving is completely stopped, (32, 33) can generate regenerative energy by rotation in the second direction. Regenerative energy can also be generated when the rotor blades (52, 53) connected to the regenerative motors (32, 33) rotate in the first direction due to an external force due to wind around the unmanned air vehicle (1). The energy storage unit 60 may store the generated regenerative energy in a battery (not shown).

The wick area changing unit 300 according to an embodiment of the present invention can increase the area of the rotor blade 50 connected to the regenerative motor when the unmanned air vehicle 1 moves according to the speed at which the correction speed is added to the current speed have.

As described above, since the rotor blade 50 includes a structure in which the blade area (blade area) can be changed, the blade area of the rotor blade 50 can be increased or decreased under the control of the blade area changing part 300 .

The wick area changing unit 300 increases the area of the rotor blade 50 connected to the regenerative motor only when the unmanned air vehicle 1 moves according to the speed at which the correction speed is added to the current speed, The amount can be increased.

6A and 6B are views illustrating an example in which the blade area changing portion 300 according to an embodiment of the present invention changes the area of the rotor blade (52 in FIG. 5B) among a plurality of rotor blades (51-54 in FIG. 5B).

Referring to Fig. 6A, the wick area changing section 300 controls the rotor blade 52 to have only the reduced area 52a when it is driven by the motor (32 in Fig. 5B). However, when the unmanned air vehicle 1 moves according to the speed at which the correction speed is added to the current speed, the blade area changing unit 300 may be configured such that the rotor blade 52 connected to the regenerative motor has a reduced area 52a, 52b. The wax area changing unit 300 can increase the amount of regenerative energy generated from the motor 30 by increasing the area of the rotor blades 52. [ For example, the wax area changing section 300 can increase the wing area by developing the flaps of the rotor blades 52. [ In addition, the wax area changing unit 300 can increase the wax area by developing the auxiliary wings of the rotor blades 52

The unmanned aerial vehicle control method shown in Fig. 7 can be performed by the control unit 10 of Fig. 2 described above. Hereinafter, a detailed description of contents overlapping with those described in Figs. 1 to 6 will be omitted.

7, the controller 10 compares the moving speed of the unmanned object 1 with the moving speed of the unmanned object 1 according to the flight plan of the unmanned air vehicle 1, (S10) At this time, the flight plan of the unmanned air vehicle 1 may be a predetermined plan or a plan determined in real time by the user's input. Also, the correction speed can be calculated as the difference between the traveling speed and the traveling direction determined by the predetermined plan or the user and the traveling speed and traveling direction of the current unmanned air vehicle 1, respectively.

The control unit 10 can detect one or more regenerative motors that do not need to be driven among one or more motors 30 when the unmanned air vehicle 1 moves according to the speed at which the correction speed calculated at the current speed is added. As described above, the unmanned aerial vehicle 1 may include a motor 30 that is not required to be temporarily driven by the battery according to the flight path during flight. The motor 30 may be driven by an external force such as wind power have. The control unit 10 can detect the motor 30 that is not required to be driven by the regenerative motor so that the regenerative energy can be obtained from the motor.

At this time, when the direction of movement of the unmanned air vehicle 1 is in the descending direction according to the speed at which the correction speed calculated at the current speed is added, all the motors 30 of the unmanned air vehicle 1 are detected by the regenerative motor . When the moving direction of the unmanned air vehicle 1 according to the correction speed is the rotation in the first direction, the control unit 10 controls the rotation of the unmanned object 1 in the second direction opposite to the first direction, The motor 30 can be detected by the regenerative motor. On the other hand, the motor control unit 40 can control the rotation speed of the remaining motors except the regenerative motor.

The energy storage unit 60 can acquire energy from the regeneration regeneration when the unmanned aerial vehicle 1 moves according to the correction speed. (S30) Meanwhile, the wake area changing unit 300 determines whether the correction speed is added to the current speed When the unmanned aerial vehicle 1 moves along the speed, the area of the rotor blade connected to the regenerative motor can be increased. By increasing the area of the rotor blade connected to the regenerative motor, the amount of energy obtained from the regenerative motor can be increased.

The method for controlling the unmanned aerial vehicle of the control unit 10 according to the embodiment of the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like. In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers of the technical field to which the present invention belongs.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand.

1: unmanned aerial vehicle
10:
100: correction speed calculating unit
200: Regenerative motor detecting section
300: wick area changing part
20: Body
30: Motor
31 to 34:
40: Cancer
50: Rotor blade
51 to 54: Rotor blade
52a: reduced area
52b: Increased area
60: Energy storage unit
101: Flight Plan
102: Travel speed according to flight plan
103: Current movement speed
104: correction speed
105a: direction of movement
105b: direction of movement
11a to 14a: Driving direction
11b to 14b: rotation direction by external force
11c to 14c: driving direction
12d, 13d: rotation direction by external force

Claims (5)

A control unit for controlling the flying object;
A body including the control unit;
One or more motors;
At least one arm connecting the body and the at least one motor;
At least one rotor blade connected to and rotated by each of the at least one motor; And
And an energy storage unit for storing energy obtained from the at least one motor by the at least one rotor blade in a battery. The method according to claim 1,
The control unit
A correction speed calculation unit for calculating a correction speed, which is a speed at which the current speed of the airplane should be added to the current speed of the airplane, by comparing the moving speed according to the flight plan of the airplane and the current speed of the airplane;
A regeneration motor detection unit that detects at least one regeneration motor that is not required to be driven among the at least one motor when the airplane moves according to a speed at which the correction speed is added to the current speed; And
And a motor control unit for controlling a rotation speed of at least one motor of the at least one motor when the flying object moves according to a speed at which the correction speed is added to the current speed,
The energy storage unit
And acquires energy from the regenerative motor when the flying object moves according to the speed at which the correction speed is added to the current speed. The method according to claim 2, wherein
The regeneration motor detecting section
If the moving direction of the air vehicle is the altitude descent according to the speed at which the correction speed is added to the current speed
Detecting all of the at least one motor by the regenerative motor,
The energy storage unit
And acquires energy from the regenerative motor. The method according to claim 2, wherein
The regeneration motor detecting section
And a motor that rotates in a second direction opposite to the first direction of the one or more motors when the moving direction of the air vehicle is rotated in the first direction according to the speed at which the correction speed is added to the current speed, Respectively,
The energy storage unit
And acquires energy from the regenerative motor. The method according to claim 2, wherein
The blade has a wing area (blade area) that varies according to the control of the controller,
The control unit
And a wick area changing unit for increasing an area of a rotor blade connected to the regenerative motor.

Images