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KR-102963533-B1 - AIRCRAFT APPARATUS(VARIANTS), SELF-PROPELLED MODULE, PAYLOAD, SYSTEM AND METHOD FOR MOVING PAYLOAD(VARIANTS)

KR102963533B1KR 102963533 B1KR102963533 B1KR 102963533B1KR-102963533-B1

Abstract

The present invention relates to an aircraft device and a method for moving a payload using the aircraft device. The aircraft device comprises: a housing of the aircraft device, wherein one or more air propulsion units capable of moving the aircraft device through the air and one or more docking modules each configured to detachably connect the housing to the housing of another aircraft device while the aircraft device is docked to each other; a control module configured to receive control commands to dock the aircraft device to at least one other aircraft device; further comprising one or more guides provided in the housing of the aircraft device, wherein each of the one or more guides is configured to detachably interact with the docking module of the payload so as to be movably mounted or suspended on the guide, and at least one of the guides is configured to detachably connect or dock to one or more guides of the connected housing of another aircraft device to form a cluster guide; and the control module may be further configured to move the payload along the cluster guide to the at least one other aircraft device and to undocking the aircraft device from the at least one other aircraft device while the aircraft device is in the air. A system and method for moving a payload, and embodiments of an aircraft device, a self-propulsion module, and a payload that can be used in said system and method are provided. As a result, the efficiency of payload redistribution is improved to optimize the flight characteristics of the means of transport, and the possibility of non-stop flight of the payload is improved.

Inventors

  • 안드리브, 파벨 러스라노비치

Dates

Publication Date
20260513
Application Date
20230908
Priority Date
20221228

Claims (20)

  1. In a system for moving a payload, The aircraft comprises two or more aircraft devices, each of the two or more aircraft devices having a housing provided with one or more air propulsion units configured to enable the aircraft device to move in air space, and the housing is provided with at least one guide, each of the guides being configured to movably mount or suspend a payload. At least one of the guides of the aircraft device is further configured to be detachably connected or docked to one or more guides of another aircraft device by one or more docking modules to form a cluster guide, and The above system further includes a control module configured such that the aircraft devices are detachably connected or docked to each other by the docked guides to form a cluster of aircraft devices. The above system further comprises a payload movement module, wherein the payload movement module is under the control of the control module and is configured to engage with the mounted or suspended payload, thereby enabling the payload to be controlledly moved along the formed cluster guide to a required position for at least one of the docked aircraft devices. System.
  2. In Article 1, At least some of the guides of the aircraft device are arranged parallel to each other, perpendicular to each other, and/or at predetermined angles relative to each other. System.
  3. In Article 1, At least one of the guides of the aircraft device is mounted on a rotating device mounted on the housing of the aircraft device, so that the at least one guide can rotate at a predetermined rotation angle. System.
  4. In Article 1, At least one of the guides of the aircraft device is rotatably mounted on the housing of the aircraft device, and the housing of the aircraft device is controlled by the control module and configured to be operablely coupled to or interact with the at least one guide, thereby further including a driving device that enables the at least one guide to be rotated by a predetermined rotation angle. System.
  5. In Article 1, At least one of the above guides is configured to be telescopic, and the housing of the aircraft device is under the control of the control module and further comprises a driving device configured to be operably coupled to or interact with the at least one guide to enable at least partial extension of the at least one guide. System.
  6. In Article 5, The above control module is further configured to present control commands to the driving device, enabling at least partial retraction of the extended guide. System.
  7. In Article 1, The above housing is configured to be tilted or rotated at a predetermined angle with respect to at least one of the guides, System.
  8. In Article 1, The above housing is configured to change the shape and/or dimensions of the housing. System.
  9. In Article 1, At least one of the above guides is configured to be at least partially bendable or flexible, System.
  10. In Article 1, At least one of the above guides is composed of a straight line or a curve, System.
  11. In Article 1, At least one of the above guides is configured as a T-shape, Z-shape, X-shape, Y-shape, inverted U-shape, E-shape, U-shape, N-shape, L-shape, F-shape, O-shape, H-shape, V-shape, inverted L-shape, C-shape, or W-shape. System.
  12. In Article 1, At least one of the above guides is configured to enable movement of the payload along at least one of the three coordinate axes or to move relative to the housing of the aircraft device, thereby enabling movement of the payload mounted or suspended on the at least one guide relative to the housing of the aircraft device. System.
  13. In Article 1, The housing further comprises one or more controllable work members configured to interact with the payload upon operation, thereby enabling the payload to be mounted or suspended on at least one of the guides and enabling the movement of the payload along the at least one guide during the operation of the work members, and further comprises a drive device controlled by the control module and operably coupled to the controllable work members to enable the operation of at least one of the controllable work members in response to control commands of the control module. System.
  14. In Article 1, The guides of the aircraft device include two or more parallel guides configured such that the payload is mounted or suspended therefrom and moves the payload substantially in a straight line along the guides. System.
  15. In Article 1, At least one of the above guides is composed of two or more parts, at least one of the parts is configured to be movable, and the housing is controlled by the control module and further comprises a driving device operably coupled to at least one movable part of the guide to enable the movement of the at least one movable part of the guide relative to the remaining parts of the guide to change the shape of the at least one guide. System.
  16. In Article 1, The guides of the aircraft device include two separate guides and a movable connecting guide, each of the guides is configured to mount or suspend the payload and move along the mounted payload, and the housing of the aircraft device further includes a drive device controlled by the control module and operably coupled to the movable connecting guide to move the movable connecting guide to connect the guides to each other. System.
  17. In Article 1, The above payload movement module is a robot manipulator or gripper configured to grasp and move the payload along the formed cluster guide. System.
  18. In Article 1, The above-mentioned payload movement module is a pusher, and the pusher is configured to instantaneously apply force to the payload while the pusher acts to move the payload along the cluster guide, and the housing of the aircraft device further includes a drive device that is controlled by the control module and operably coupled to the pusher in a manner that acts the pusher. System.
  19. In Article 1, One or more weight sensors are provided in the housing of the aircraft device, each of the weight sensors is configured to measure the weight of the payload at one of the points of a load-bearing structure for receiving the payload, the weight sensors are configured to present the measurements of the one or more weight sensors to the control module, and the control module is capable of providing control instructions to the payload movement module for moving the payload along the cluster guide according to the measurements of the weight sensors. System.
  20. In Article 1, The payload moving module is movably mounted on at least one additional guide for moving the payload, System.

Description

Aircraft apparatus (variants), self-propeled module, payload, system and method for moving payload (variants) The present invention relates to means and methods for moving transport equipment, particularly a payload, and more particularly to a system and method for moving a payload based on the use of an aircraft device, a self-propulsion module, and a payload, and to each aircraft device, self-propulsion module, and payload that can be used individually or in combination with each other. To date, various scalable automated transport systems have been developed for the transportation or delivery of payloads. Despite the permissible speeds and load capacities of these automated transport systems, existing systems have a significant drawback in that they are unable to automatically redistribute the payload during the process of transporting or delivering it to its destination. Therefore, it is necessary to develop methods and systems for moving payloads. In particular, various transportation systems using expandable automated aircraft units or other types of self-propelled devices, which feature diverse housing designs and provide propulsion units capable of movement and exploration in aerial space, are becoming widespread. For example, U.S. Patent Application No. 20220144431, disclosed on May 12, 2022 (hereinafter referred to as “US 20220144431”) provides a system for moving a payload in the form of a cluster transport means, the system comprises aircraft units that are detachably docked to each other, each aircraft unit having a housing provided with an air propulsion unit that moves the cluster transport means through the air and a docking module that detachably connects the housing of said aircraft unit to the housing of another aircraft unit while the aircraft units are docked to each other, and said housing further provided with a control module configured to receive a control command to detachably dock the housing of said aircraft unit to the housing of at least one other aircraft unit. In a system for moving a payload in the form of a cluster transport means disclosed in US 20220144431, it should be noted that the payload may be in a fixed position relative to a specific housing of one of the aircraft devices forming the cluster aircraft device, and this fact also makes it impossible to redistribute the payload in the transport means. Therefore, the main disadvantage of the known system for moving a payload in the form of a cluster transport means disclosed in US 20220144431 is that it is impossible to redistribute the payload in said transport means. Therefore, there is a clear need to further improve known systems, methods, aircraft devices, and/or self-propulsion modules for moving payloads, particularly to enable payload redistribution. Accordingly, the technical problem that the present invention aims to solve is to create a system, method, aircraft device, and self-propulsion module for payload movement, each of which at least partially improves upon the impossibility of payload redistribution, which is the aforementioned disadvantage of known systems for moving payloads. The accompanying drawings, included to further aid in understanding the principles of the present invention, constitute part of the present invention and are incorporated herein to describe the following embodiments and aspects of the present invention. The accompanying drawings are provided to explain the principles of the present invention together with the description below. FIG. 1 is a first exemplary embodiment of a system for moving a payload according to the present invention. FIG. 2 is a second exemplary embodiment of a system for moving a payload according to the present invention. FIG. 3a is one exemplary embodiment of a self-propelled module according to the present invention. FIG. 3b is another exemplary embodiment of a self-propelled module according to the present invention. FIG. 3c is another exemplary embodiment of a self-propulsion module according to the present invention and a cluster self-propulsion module according to the present invention. Figure 4 is a schematic diagram of one of the examples of the process of docking a payload to an aircraft device and a self-propulsion module. Figure 5 is a schematic diagram of one of the examples of the process of docking a cluster aircraft device to an aircraft device provided to a payload mounted on a self-propulsion module. FIG. 6 is a schematic diagram of one exemplary embodiment of the process of replacing an aircraft unit with another aircraft unit in a cluster aircraft unit provided to a payload mounted on a self-propulsion module, and also a diagram illustrating the process of replacing a self-propulsion module provided to a payload with a cluster self-propulsion module; FIGS. 7a and 7b are schematic diagrams of an example of a system comprising a cluster guide and a cluster aircraft device having a number of payloads configured to move along the cluster guide.