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WO2023101045A1 - Appareil monté sur équipement de mission - Google Patents

Appareil monté sur équipement de mission Download PDF

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Publication number
WO2023101045A1
WO2023101045A1 PCT/KR2021/018033 KR2021018033W WO2023101045A1 WO 2023101045 A1 WO2023101045 A1 WO 2023101045A1 KR 2021018033 W KR2021018033 W KR 2021018033W WO 2023101045 A1 WO2023101045 A1 WO 2023101045A1
Authority
WO
WIPO (PCT)
Prior art keywords
damper
mission equipment
drone
plate
mounting device
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/KR2021/018033
Other languages
English (en)
Korean (ko)
Inventor
정우영
김윤영
손병규
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.)
Nearthlab Inc
Original Assignee
Nearthlab Inc
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 Nearthlab Inc filed Critical Nearthlab Inc
Priority to PCT/KR2021/018033 priority Critical patent/WO2023101045A1/fr
Publication of WO2023101045A1 publication Critical patent/WO2023101045A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems

Definitions

  • the present invention relates to a mission equipment mounting device. Specifically, the present invention describes a mission equipment mounting device that enables the installation of mission equipment in a commercial drone.
  • drones equipped with a vision recognition system for detecting structure damage are very expensive, and mission equipment (e.g., imaging device or lidar sensor) is not standardized, so each manufacturer has different specifications and mission equipment is used, and since the drone and mission equipment are integrally manufactured, it is very difficult to use other mission equipment depending on the situation.
  • mission equipment e.g., imaging device or lidar sensor
  • mission equipment is mounted on the lower center of the drone so that the center of gravity does not shake.
  • the mission equipment is mounted on the lower center of the drone, it is possible to easily take pictures of the part lower than the flight altitude of the drone, but it is difficult to take pictures of the part higher than the flight altitude of the drone due to interference with the drone body. .
  • An object of the present invention is to provide a mission equipment mounting device for mounting desired mission equipment on a commercial drone.
  • another object of the present invention is to provide a mission equipment mounting device for mounting mission equipment on the front of a drone so as to freely capture parts higher and lower than the flight altitude of the drone.
  • Another object of the present invention is to provide a mission equipment mounting device that relatively well maintains the center of gravity of the drone while mounting the mission equipment in front of the drone.
  • Another object of the present invention is to provide a mission equipment mounting device that minimizes transmission of vibration from the drone body to the mission equipment.
  • Mission equipment mounting device for solving the above problem is a first damping assembly connected to the first surface of the drone body, a second surface connected to the second surface connected to the first surface of the drone body 2 includes a damping assembly, a mount plate connected to the first damping assembly and the second damping assembly, on which the mission equipment is seated, and a gimbal motor connected to the mount plate and adjusting the mount plate to keep it level.
  • the first damping assembly may include a first damper including a first elastic body, a first fixing bolt fixing the first damper to the first surface, a first washer between the first damper and the first fixing bolt, and It may include a first guide ring that separates the first damper and the first surface.
  • the first damping assembly may include a second damper including a second elastic body, a second fixing bolt fixing the second damper to the first surface, a second washer between the second damper and the second fixing bolt, and It includes a second guide ring separating the second damper and the first surface, and the first damper and the second damper may be spaced apart from each other in the first direction.
  • the first damper may be larger than the second damper.
  • the first elastic body and the second elastic body may have different elastic forces.
  • the second damping assembly may include a third damper including a third elastic body, a third fixing bolt fixing the third damper to the second surface, a third washer between the third damper and the third fixing bolt, and A third guide ring separating the third damper and the second surface may be included.
  • the gimbal motor includes a first gimbal motor that is level in a first rotational direction axial with the first direction and a second rotational direction axial with a second direction perpendicular to the first direction. It may include a second gimbal motor that maintains a level.
  • the L-shaped frame includes a first portion connected to the first plate and a second portion connected to the second plate, and the length of the first portion may be longer than that of the second portion.
  • the L-shaped frame may be streamlined.
  • the mission equipment mounting device enables a commercial drone to be equipped with desired mission equipment, allowing users to broaden the range of choices for drones and mission equipment.
  • the mission equipment mounting device can freely capture parts higher and lower than the flight altitude of the drone, thereby simplifying the flight path of the drone and reducing time/economic costs.
  • the mission equipment mounting device maintains the center of gravity of the drone relatively well, so that the drone can fly with a sense of stability.
  • the mission equipment mounting device minimizes transmission of vibration from the drone body to the mission equipment, so that the mission equipment performs its mission more stably and effectively.
  • FIG. 1 is a view for explaining a drone and mission equipment mounted thereon performing a safety diagnosis of a wind turbine structure.
  • Figure 2 is a perspective view for explaining a mission equipment mounting device according to some embodiments of the present invention.
  • FIG. 3 is an exploded perspective view of a mission equipment mounting device according to some embodiments of the present invention.
  • FIG. 4 is a view showing a state in which mission equipment is coupled to a mission equipment mounting device according to some embodiments of the present invention.
  • 5 is a diagram for explaining the operation of the first gimbal motor when the drone body is greatly shaken in the left and right directions.
  • FIG. 6 is a diagram for explaining the operation of the second gimbal motor when the drone body is greatly shaken in the vertical direction.
  • FIG. 7 is a side view of a mission equipment mounting device according to some embodiments of the present invention.
  • FIG 8 is a side view of a mission equipment mounting device according to some other embodiments of the present invention.
  • FIG. 9 is a side view of a mission equipment mounting device according to another embodiment of the present invention.
  • FIG. 10 is a side view of a mission equipment mounting device according to another embodiment of the present invention.
  • first, second, A, and B used in this specification and claims may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.
  • the term 'and/or' includes a combination of a plurality of related recited items or any one of a plurality of related recited items.
  • FIG. 1 is a view for explaining a drone and mission equipment mounted thereon performing a safety diagnosis of a wind turbine structure.
  • a wind turbine structure may include a tower (TW) and blades (BL).
  • the drones DR1 and DR2 performing the safety diagnosis of the wind turbine structure (WT) fly vertically upward with respect to the tower (TW), search for the blades (BL), and check whether there is any damage such as cracks on the blades (BL). can check whether The drones DR1 and DR2 scan all front/back/top/bottom surfaces of the blade BL to determine whether the blade BL is damaged.
  • mission equipment may be mounted in the lower center area of the first drone DR1.
  • the first drone DR1 can capture a desired area by appropriately changing the angle of the mission equipment.
  • the mission equipment of the first drone DR1 is mounted in the lower center area of the first drone DR1
  • only an area of the first angle ⁇ 1 can be captured due to interference with the drone body.
  • the mission equipment of the first drone DR1 can relatively freely capture an image in an area lower than the flight altitude of the first drone DR1 by adjusting the angle of the mission equipment.
  • imaging is possible only within a limited range.
  • mission equipment may be mounted on the front of the second drone DR2.
  • the second drone DR2 can capture a desired area by appropriately changing the angle of the mission equipment.
  • an area corresponding to a second angle ⁇ 2 greater than the first angle ⁇ 1 can be captured.
  • relatively free imaging is possible by adjusting the angle of the mission equipment of the second drone DR2 in an area higher or lower than the flight altitude of the second drone DR2.
  • the safety diagnosis of the wind turbine structure WT is performed using the first drone DR1.
  • the movement of the blades (BL) is stopped.
  • the first drone DR1 may capture images of the front, rear, and top surfaces of the blade BL while changing the flight altitude.
  • the images of the front, back, top, and bottom surfaces of the blade BL captured by the first drone DR1 it is inspected whether damage has occurred to the blade BL.
  • the safety diagnosis of the wind turbine structure WT is performed using the second drone DR2.
  • the movement of the blades (BL) is stopped.
  • images are taken of the front, rear, upper and lower surfaces of the blade BL using the second drone DR2.
  • the second drone DR2 can capture an image is relatively free, it can capture all of the front, back, top, and bottom surfaces of the blade BL without rotating the blade BL.
  • the second drone DR2 it is inspected whether damage occurs to the blade BL.
  • the wind turbine structure (WT) when the mission equipment uses the first drone (DR1) mounted in the lower center area of the drone, the wind turbine structure (WT) must be additionally operated, so economic/time costs may be additionally incurred. . Therefore, when imaging in all directions of a structure is required, such as a wind turbine structure (WT), it may be more economical/time effective to use a drone with mission equipment mounted on the front.
  • Drones equipped with integrated mission equipment have the disadvantage of being relatively expensive.
  • the user needs to use appropriate mission equipment depending on the situation, but in the case of a drone with integrated mission equipment, there is also a disadvantage that it is not easy to replace the mission equipment.
  • the mission equipment mounting device has the advantage of being able to mount the mission equipment desired by the user on a commercial drone desired by the user. That is, the mission equipment mounting device according to some embodiments of the present invention has the advantage of allowing the user to broaden the range of choices for drones and mission equipment.
  • the mission equipment mounting device capable of mounting mission equipment in front of a drone.
  • the mission equipment mounting device may perform a function of connecting the mission equipment and the drone to each other. It will be described in more detail with reference to FIGS. 2 to 10 .
  • Figure 2 is a perspective view for explaining a mission equipment mounting device according to some embodiments of the present invention.
  • 3 is an exploded perspective view of a mission equipment mounting device according to some embodiments of the present invention.
  • the mission equipment mounting device includes a first plate 100, a first fixing bolt 101, a first washer 102, a first damper 103 , first guide ring 104, L-shaped frame 105, second plate 106_a, third plate 106_b, second fixing bolt 107, second washer 108, second damper 109 ), second guide ring 110, first gimbal motor 111, U-shaped frame 112, rotation plate 114, second gimbal motor 115, mount plate 116, imaging device coupling part ( 117) and a sensing device coupler 118.
  • the first washer 102 may include a first upper washer 102_a and a first lower washer 102_b.
  • the first damper 103 may include a first upper damper 103_a and a first lower damper 103_b.
  • the second washer 108 may include a second upper washer 108_a and a second lower washer 108_b.
  • the second damper 109 may include a second upper damper 109_a and a second lower damper 109_b.
  • the first plate 100 may be spaced apart from the drone body BD in the first direction Z.
  • the first plate 100 may have a plate shape extending in the second direction (X) and the third direction (Y).
  • the second direction X may be perpendicular to the first direction Z
  • the third direction Y may be perpendicular to the first direction Z and the second direction X, respectively.
  • the first plate 100 may be connected to a vertical damping assembly used to damp vibration generated in the drone body BD in the first direction Z to be transmitted to the mission equipment.
  • the vertical damping assembly includes a first fixing bolt 101, a first upper washer 102_a, a first upper damper 103_a, a first lower washer 102_b, a first lower damper 103_b and a first guide ring 104 ) may be included.
  • the first fixing bolt 101 may be used to fasten the vertical damping assembly to the first plate 100 and the drone body BD.
  • the first upper washer 102_a may distribute pressure applied to the first upper damper 103_a due to the fastening of the first fixing bolt 101 .
  • the first lower washer 102_b may distribute pressure applied to the first lower damper 103_b due to the fastening of the first fixing bolt 101 .
  • the first upper damper 103_a may be disposed between the first plate 100 and the first upper washer 102_a.
  • the first upper damper 103_a may include an elastic body.
  • the first upper damper 103_a may dampen transmission of vibration generated in the drone body BD in the first direction Z to mission equipment through an elastic body.
  • first lower damper 103_b may be disposed between the first plate 100 and the first lower washer 102_b.
  • the first lower damper 103_b may include an elastic body.
  • the first lower damper 103_b may dampen transmission of vibration generated in the drone body BD in the first direction Z to mission equipment through an elastic body.
  • the first guide ring 104 may be mounted between the drone body BD and the first lower washer 102_b.
  • the first guide ring 104 may be used to separate the first plate 100 from the drone body BD.
  • the first plate 100 and the drone body BD may be spaced apart from each other by the first guide ring 104 .
  • the first plate 100 and the drone body BD can be connected only through the first guide ring 104 .
  • vibration generated in the drone body BD can be transmitted to the first plate 100 only through the first guide ring 104 .
  • the first guide ring 104 may serve to primarily reduce transmission of vibration from the drone body BD.
  • the first fixing bolt 101 may pass through a hole inside the first guide ring 104 and be connected to the drone body BD. That is, the first upper damper 103_a and the first upper washer 102_a are disposed on the upper surface of the first plate 100, and the first lower damper 103_b and the first upper damper 103_b are disposed on the lower surface of the first plate 100. 1 lower washer 102_b and the first guide ring 104 may be disposed.
  • the first fixing bolt 101 includes a first upper damper 103_a, a first upper washer 102_a, a first plate 100, a first lower damper 103_b, a first lower washer 102_b and a first guide Through the ring 104, it can be fastened to the drone body (BD).
  • At least a portion of the first plate 100, the first fixing bolt 101, the first upper washer 102_a, the first lower washer 102_b, and the first guide ring 104 are made of carbon material. It may include, but embodiments are not limited thereto.
  • the second plate 106_a may be spaced apart from the drone body BD in the second direction (X).
  • the second plate 106_a may have a plate shape extending in the first direction (Z) and the third direction (Y).
  • the second plate 106_a may be connected to a horizontal damping assembly used to damp vibration generated in the drone body BD in the second direction X being transmitted to the mission equipment.
  • the horizontal damping assembly includes a second fixing bolt 107, a second upper washer 108_a, a second upper damper 109_a, a second lower washer 108_b, a second lower damper 109_b, and a second guide ring 110 ) may be included.
  • the second fixing bolt 107, the second upper washer 108_a, the second upper damper 109_a, the second lower washer 108_b, the second lower damper 109_b and the second guide ring 110 are described above Each similar to the first fixing bolt 101, the first upper washer 102_a, the first upper damper 103_a, the first lower washer 102_b, the first lower damper 103_b and the first guide ring 104 Bar, detailed description is omitted for convenience of explanation.
  • the third plate 106_b may be spaced apart from the second plate 106_a in the second direction (X).
  • the third plate 106_b may include a carbon material, but embodiments are not limited thereto.
  • the L-shaped frame 105 may be connected to the first plate 100, the second plate 106_a, and the third plate 106_b.
  • one side of the L-shaped frame 105 may be connected to the first plate 100 and the other side may be connected between the second plate 106_a and the third plate 106_b.
  • the L-shaped frame 105 is shown as integrally formed in this specification, the embodiments are not limited thereto.
  • the L-shaped frame 105 may connect the first plate 100 to the third plate 106_b.
  • the first plate 100 to the third plate 106_b may be connected through the L-shaped frame 105 .
  • both the vertical damping assembly connected to the first plate 100 and the horizontal damping assembly connected to the second plate 106_a may be connected. That is, the L-shaped frame 105 connects the vertical damping assembly and the horizontal damping assembly into one, so that an assembly having both a vibration damping effect in the first direction (Z) and a vibration damping effect in the second direction (X) can form
  • the first gimbal motor 111 may be connected to the third plate 106_b.
  • the first gimbal motor 111 may perform a function of maintaining a level in the first rotational direction R1 with the second direction X as an axis. For example, when acceleration in the first rotational direction R1 is generated in the first gimbal motor 111, the first gimbal motor 111 detects this and operates the motor in the opposite direction to the first rotational direction R1. can make it work. Similarly, when acceleration in the direction opposite to the first rotation direction R1 is generated in the first gimbal motor 111, the first gimbal motor 111 detects this and operates the motor in the first rotation direction R1. can make it As a result, the first gimbal motor 111 may be maintained horizontally in the first rotation direction R1.
  • the first gimbal motor 111 may be connected to the U-shaped frame 112 .
  • the U-shaped frame 112 may extend in the second direction (X) and the third direction (Y).
  • a second gimbal motor 115 may be connected to one side of the U-shaped frame 112 and a rotation plate 114 may be connected to the other side.
  • the U-shaped frame 112 may be integrally formed or may be formed by assembling a plurality of parts. According to some embodiments, the U-shaped frame 112 may include a carbon material, but the embodiments are not limited thereto.
  • the rotation plate 114 can freely rotate in the second rotation direction R2 with the third direction Y as an axis.
  • the rotating plate 114 may include a carbon material, but the embodiments are not limited thereto.
  • the second gimbal motor 115 may perform a function of maintaining a level in the second rotation direction R2. For example, when acceleration in the second rotation direction R2 is generated in the second gimbal motor 115, the second gimbal motor 115 detects this and operates the motor in the opposite direction to the second rotation direction R2. can make it work.
  • the mount plate 116 may include an imaging device coupling portion 117 to which an imaging device is coupled and a sensing device coupling portion 118 to which a sensing device is coupled.
  • the imaging device may include a camera
  • the sensing device may include a lidar sensor, but embodiments are not limited thereto.
  • the mount plate 116 has been described as including both the imaging device coupling portion 117 and the sensing device coupling portion 118, but embodiments are not limited thereto.
  • the mount plate 116 may include only one of the imaging device coupling part 117 and the sensing device coupling part 118 .
  • the mount plate 116 may include a carbon material, but the embodiments are not limited thereto.
  • One side and the other side of the mount plate 116 may be connected to the rotation plate 114 and the second gimbal motor 115, respectively.
  • the first gimbal motor 111, the U-shaped frame 112, the rotation plate 114, the second gimbal motor 115, and the mount plate 116 may all be connected. That is, when the mission equipment is coupled to the mount plate 116, the mission equipment can be maintained horizontally in the first rotational direction R1 through the first gimbal motor 111, and the second gimbal motor 115 Through this, horizontality in the second rotation direction R2 may be maintained.
  • the mission equipment coupled to the mount plate 116 is transferred from the drone body BD due to the vertical damping assembly and the horizontal damping assembly. Vibration in the first direction (Z) and vibration in the second direction (X) can be minimized.
  • FIG. 4 is a view showing a state in which mission equipment is coupled to a mission equipment mounting device according to some embodiments of the present invention.
  • mission equipment may include an imaging device (IM) and a sensing device (SS).
  • the imaging device IM may be coupled to the upper surface of the mount plate 116 .
  • the imaging device IM may be a camera.
  • the imaging device IM may detect damage such as a crack in a structure through vision recognition.
  • the sensing device SS may be coupled to the lower surface of the mount plate 116 .
  • the sensing device SS may be a lidar sensor.
  • the sensing device SS may detect the position of the structure and the distance from the structure so that the drone on which the mission equipment is seated does not collide with the structure.
  • the elastic bodies included in the first upper damper 103_a and the first lower damper 103_b may dampen the vibration in the vertical direction. Therefore, vibration in the vertical direction transmitted from the drone body BD to the mission equipment can be minimized.
  • the elastic bodies included in the second upper damper 109_a and the second lower damper 109_b may dampen the vibration in the horizontal direction. Therefore, vibration in the horizontal direction transmitted from the drone main body (BD) to the mission equipment can be minimized.
  • the first gimbal motor 111 and the second gimbal motor 115 greatly affect the mission performance of the mission equipment. may not affect Further reference is made to FIGS. 5 and 6 for illustrative explanation.
  • 5 is a diagram for explaining the operation of the first gimbal motor when the drone body is greatly shaken in the left and right directions.
  • 6 is a diagram for explaining the operation of the second gimbal motor when the drone body is greatly shaken in the vertical direction.
  • the first gimbal motor 111 senses acceleration in the right direction. . At this time, the first gimbal motor 111 operates the motor in the left direction opposite to the direction in which the acceleration is sensed, so that the mission equipment (imaging device (IM) and sensing device (SS)) can be kept level. . Therefore, even when the drone main body is greatly shaken in the left and right directions (eg, in the first rotation direction R1) due to internal factors or external environmental factors, the mission equipment can stably perform the mission.
  • IM imaging device
  • SS sensing device
  • the second gimbal motor 115 senses downward acceleration. do. At this time, the second gimbal motor 115 operates the motor in an upward direction opposite to the direction in which the acceleration is sensed, so that the mission equipment (imaging device (IM) and sensing device (SS)) can be kept level. . Therefore, even when the drone main body is greatly shaken in the vertical direction (eg, the second rotation direction R2) due to internal factors or external environmental factors, the mission equipment can stably perform the mission.
  • the mission equipment imaging device (IM) and sensing device (SS)
  • the mission equipment mounting device may include a plurality of vertical damping assemblies and a plurality of horizontal damping assemblies.
  • Each of the plurality of vertical damping assemblies and the plurality of horizontal damping assemblies may include dampers (upper dampers and lower dampers) including elastic bodies.
  • each of the elastic bodies may be all the same, or at least some of them may be different.
  • the elastic bodies included in the vertical damping assembly and the horizontal damping assembly may have the same size or elastic force or at least partially different from each other.
  • FIG. 7 is a side view of a mission equipment mounting device according to some embodiments of the present invention.
  • the vertical damping assembly may include a first damping assembly DA1 and a second damping assembly DA2. Also, the horizontal damping assembly may include a third damping assembly DA3.
  • the first damping assembly DA1 includes a 1-1 fixing bolt 101_a_1, a 1-1 upper washer 102_a_1, a 1-1 upper damper 103_a_1, a 1-1 lower washer 102_b_1, a first -1 may include a lower damper 103_b_1 and a 1-1 guide ring 104_1.
  • the second damping assembly DA2 includes a 1-2 fixing bolt 101_a_2, a 1-2 upper washer 102_a_2, a 1-2 upper damper 103_a_2, and a 1-2 lower washer 102_b_2. ), a 1-2 lower damper 103_b_2 and a 1-2 guide ring 104_2.
  • the third damping assembly DA3 includes a second fixing bolt 107, a second upper washer 108_a, a second upper damper 109_a, a second lower washer 108_b, a second lower damper 109_b, and A second guide ring 110 may be included.
  • the 1-1 upper damper 103_a_1 and the 1-1 lower damper 103_b_1 may include a first elastic body.
  • the 1-2nd upper damper 103_a_2 and the 1-2nd lower damper 103_b_2 may include a second elastic body.
  • the second upper damper 109_a and the second lower damper 109_b may include a third elastic body.
  • the first to third elastic bodies may be identical to each other.
  • the first to third elastic bodies may have the same elastic force as each other.
  • the first to third elastic bodies may be at least partially different.
  • the elastic force of the first elastic body and the elastic force of the second elastic body may be different from each other.
  • the first elastic body and the second elastic body may have the same elastic force, and the first elastic body and the third elastic body may have different elastic forces.
  • the 1-1 upper damper (103_a_1), the 1-1 lower damper (103_b_1), and the 1-2 upper damper (103_a_2), the 1-2 lower damper (103_b_2), the second upper damper (109_a) and the second lower damper (109_b) according to standards such as the mounting position and vibration generation size, the 1-1 upper damper ( Included in 103_a_1), 1-1st lower damper (103_b_1), 1-2nd upper damper (103_a_2), 1-2nd lower damper (103_b_2), 2nd upper damper (109_a) and 2nd lower damper (109_b) It will be possible to appropriately select the type of elastic body to be.
  • FIG. 8 is a side view of a mission equipment mounting device according to some other embodiments of the present invention.
  • the same or similar content as the above description will be omitted or briefly described.
  • the sizes of the (109_a) and the second lower damper 109_b may be all the same, or at least some of them may be different in size.
  • the size of the 1-1 upper damper 103_a_1 and the 1-1 lower damper 103_b_1 may be smaller than the sizes of the 1-2 upper damper 103_a_2 and the 1-2 lower damper 103_b_2 there is.
  • the size of the 1-2 upper damper 103_a_2 and the 1-2 lower damper 103_b_2 connected to the part where more vibration occurs of the drone body BD is the 1-1 upper damper ( 103_a_1) and the 1-1st lower damper 103_b_1.
  • FIG. 9 is a side view of a mission equipment mounting device according to another embodiment of the present invention.
  • the same or similar content as the above description will be omitted or briefly described.
  • the L-shaped frame 105 may have a streamlined curved shape.
  • vibration may occur due to air resistance with the drone main body (BD) and external environmental factors such as wind.
  • the mission equipment mounting device includes a streamlined L-shaped frame 105, so that vibration caused by external environmental factors such as air resistance and wind can be minimized. Accordingly, the mission equipment has the advantage of being able to perform missions more stably.
  • the L-shaped frame 105 may modify the L-shaped frame 105 in various ways in order to minimize external environmental factors such as air resistance and wind.
  • the L-shaped frame 105 may have grooves through which air may pass.
  • FIG. 10 is a side view of a mission equipment mounting device according to another embodiment of the present invention.
  • the same or similar content as the above description will be omitted or briefly described.
  • the L-shaped frame 105 may include a first portion 105_p1 extending in a first direction (Z) and a second portion 105_p2 extending in a second direction (X).
  • the length of the first portion 105_p1 may be shorter than the length of the second portion 105_p2.
  • the center of gravity of the drone equipped with the mission equipment may be concentrated in the front due to structural limitations.
  • the length of the second portion 105_p2 extending in the second direction X is longer than that of the first portion 105_p1, so that the center of gravity is relatively rearward. can be dispersed.
  • control of the drone can be more precise, and vibrations generated in the drone body BD can be reduced due to the dispersed center of gravity.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

La présente invention concerne un appareil monté sur équipement de mission. L'appareil monté sur équipement de mission comprend : un premier ensemble d'amortissement relié à une première surface d'un corps de drone ; un second ensemble d'amortissement relié à une seconde surface du corps de drone, la seconde surface étant reliée à la première surface ; une plaque de montage qui est reliée au premier ensemble d'amortissement et au second ensemble d'amortissement et sur laquelle est monté un équipement de mission ; et un moteur à cardan qui est relié à la plaque de montage et règle la plaque de montage pour maintenir son niveau.
PCT/KR2021/018033 2021-12-01 2021-12-01 Appareil monté sur équipement de mission Ceased WO2023101045A1 (fr)

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PCT/KR2021/018033 WO2023101045A1 (fr) 2021-12-01 2021-12-01 Appareil monté sur équipement de mission

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PCT/KR2021/018033 WO2023101045A1 (fr) 2021-12-01 2021-12-01 Appareil monté sur équipement de mission

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170307961A1 (en) * 2016-04-22 2017-10-26 Yuneec International (China) Co, Ltd Pan-tilt and an aerial camera which contains the pan-tilt
KR20180062866A (ko) * 2016-12-01 2018-06-11 삼성전자주식회사 무인 비행 전자 장치
KR101976671B1 (ko) * 2019-02-01 2019-05-09 주식회사 고산자 무인비행장치용 다각도 멀티 카메라 장착구
JP2020111326A (ja) * 2020-03-24 2020-07-27 株式会社ザクティ 空撮カメラ及び電子機器並びにそれを備えた無人飛行体
KR20210013813A (ko) * 2019-07-29 2021-02-08 주식회사 아소아 멀티 어댑터를 구비하는 드론

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170307961A1 (en) * 2016-04-22 2017-10-26 Yuneec International (China) Co, Ltd Pan-tilt and an aerial camera which contains the pan-tilt
KR20180062866A (ko) * 2016-12-01 2018-06-11 삼성전자주식회사 무인 비행 전자 장치
KR101976671B1 (ko) * 2019-02-01 2019-05-09 주식회사 고산자 무인비행장치용 다각도 멀티 카메라 장착구
KR20210013813A (ko) * 2019-07-29 2021-02-08 주식회사 아소아 멀티 어댑터를 구비하는 드론
JP2020111326A (ja) * 2020-03-24 2020-07-27 株式会社ザクティ 空撮カメラ及び電子機器並びにそれを備えた無人飛行体

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