Apparatus and method for controlling stability of unmanned aerial vehicle
View Patent ↗The present invention provides an unmanned aerial vehicle that can maintain stability by changing positions of rotating rotors when one of the rotating rotors malfunctions, and a method for controlling stability of the unmanned aerial vehicle. The unmanned aerial vehicle includes: a main body; a plurality of support bars that are arranged while forming an angle with each other along a circumferential direction of the main body and extended to an outer side from the main body; a plurality of rotating rotors that are respectively provided to the support bars and generate thrust; motors that are respectively connected to the rotating rotors to drive the rotating rotors; drivers that change positions of the respective rotating rotors along the circumferential direction of the main body by moving the support bars with respect to the main body; and a controller that maintains horizontal stability of the main body by controlling the drivers.
1. An unmanned aerial vehicle comprising a main body, a plurality of support bars that are arranged while forming an angle with each other along a circumferential direction of the main body and extended to an outer side from the main body, a plurality of rotating rotors that are respectively provided to the support bars and generate thrust, and motors that are respectively connected to the rotating rotors to drive the rotating rotors,
wherein the unmanned aerial vehicle further comprises drivers that change positions of the respective rotating rotors along the circumferential direction of the main body by moving the support bars with respect to the main body and a controller that is disposed within the main body and maintains horizontal stability of the main body by controlling the drivers, and
wherein each driver comprises a shaft member that is disposed inside and outside the main body and is rotatably coupled to the main body by means of a shaft and a rotation device that is provided between the main body and the shaft member to rotate the shaft member with respect to the main body.
2. The unmanned aerial vehicle of claim 1 , wherein the rotation device comprises a driving cylinder that is connected between the shaft member and the main body and rotates the shaft member by being expanded according to a control signal of the controller.
3. The unmanned aerial vehicle of claim 1 , wherein the controller controls the driver to place the center of thrust generated from the rotating rotor at the center of mass of the unmanned aerial vehicle.
4. The unmanned aerial vehicle of claim 3 , wherein the controller further comprises a sensor that detects whether or not each rotating rotor rotates and applies a detection result to the controller.
5. The unmanned aerial vehicle of claim 3 , wherein the driver further comprises a rotation unit that changes an inclination of each rotating rotor by rotating the support bar with respect to the shaft direction.
6. The unmanned aerial vehicle of claim 5 , wherein the support bar is provided in the rotation unit to be rotatable with respect to the shaft member, a driven gear is provided in the support bar along a circumferential surface of the support bar, and a driving gear that is engaged with the driven gear and a forward motor that rotates the driving gear are provided in the shaft member.
7. The unmanned aerial vehicle of claim 6 , wherein the controller controls yawing movement of the main body by driving the forward motor.
8. A method for controlling stability of an unmanned aerial vehicle that includes a main body, a plurality of support bars that are arranged while forming an angle with each other along a circumferential direction of the main body and extended to an outer side from the main body, a plurality of rotating rotors that are respectively provided in the support bars and generate thrust, motors that are respectively connected to the rotating rotors to drive the rotating rotors, a driver comprising a shaft member that is disposed inside and outside the main body and is rotatably coupled to the main body by means of a shaft and a rotation device that is provided between the main body and the shaft member to rotate the shaft member with respect to the main body, wherein the driver changes positions of the respective rotating rotors along the circumferential direction of the main body by moving the support bars with respect to the main body, and a controller that is disposed within the main body and maintains horizontal stability of the main body by controlling the drivers, the method comprising
detecting whether or not each rotating rotor provided in the main body abnormally operates and controlling for rearranging the respective rotating rotors by moving positions of the rotating rotors along a circumference direction of the main body through the driver controlled by the controller when an abnormality is detected in the rotating rotors.
9. The method for controlling stability of the unmanned aerial vehicle of claim 8 , wherein, in the controlling, the positions of the rotating rotors are moved to locate the center of thrust of the unmanned aerial vehicle at the center of mass of the unmanned aerial vehicle.
10. The method for controlling stability of the unmanned aerial vehicle of claim 8 , wherein the controlling further comprises controlling yawing movement for changing an inclination of a rotating rotor by rotating the corresponding support in a shaft direction.