JP2019070786A - Unmanned flying object - Google Patents

Abstract

To provide an unmanned flying object capable of suppressing increase of the whole size while having a constitution for reducing the noise.SOLUTION: An unmanned flying object 100 comprises: generators 111 to 114 which generate forces causing the unmanned flying object 100 to fly and generate air flows respectively; ducts 121 to 124; microphones 131 to 134; speakers 151 to 154; and a processor 170. Each of the ducts 121 to 124 covers each of the generators 111 to 114 respectively, and has a space between an inner side and an outer side of each of the ducts 121 to 124 respectively. Each of the microphones 131 to 134 is respectively located in the space of each of the ducts 121 to 124, and each of the speakers 151 to 154 is respectively located closer to each of the generators 111 to 114 than each of the microphones 131 to 134.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to unmanned air vehicles.

  Patent Document 1 proposes a blower that can obtain a muffling effect. The air blower of patent document 1 is equipped with an active muffling device, and the active muffling device is equipped with a microphone (microphone) and a speaker.

JP, 2017-129322, A

  However, in the invention disclosed in Patent Document 1, the overall size of a device including a microphone and a speaker used for noise reduction may increase. For example, if the unmanned air vehicle includes such microphones and speakers, the overall size of the unmanned air vehicle may increase.

  Therefore, the present disclosure aims to provide an unmanned aerial vehicle capable of suppressing an increase in overall size while having a configuration for reducing noise.

  An unmanned aerial vehicle according to an aspect of the present disclosure is one or more generators that generate a force to fly the unmanned aerial vehicle, the one or more generators each generating an air flow, and one or more generators. A processor that generates a second signal in accordance with a first signal that is output from the one or more microphones, one or more microphones, one or more speakers, and the one or more microphones; Each of the ducts covers a respective one of the one or more generators respectively corresponding to a respective one of the one or more ducts, in an air flow direction which is a direction in which each of the one or more generators discharges the air flow The air flow is respectively passed through, and an open space is opened between the inner and outer sides of each of the one or more ducts at the end of each of the one or more ducts in the air flow direction, Previous The shape of the inner side of each of the one or more ducts is tapered according to the air flow direction, and each of the one or more microphones corresponds to each of the one or more microphones. Each one of the one or more speakers, located in the space of each of the one or more ducts, each one of the one or more microphones corresponding to each one of the one or more speakers. Each of the above-mentioned speakers is located near each of the one or more generators respectively corresponding, and outputs a sound according to the second signal.

  Note that these general or specific aspects may be realized by a system, an apparatus, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer readable CD-ROM, and the system The present invention may be realized as any combination of an apparatus, a method, an integrated circuit, a computer program, and a storage medium.

  The unmanned air vehicle according to an aspect of the present disclosure can suppress an increase in overall size while having a configuration for reducing noise.

FIG. 1 is an external view of the unmanned air vehicle according to the embodiment. FIG. 2 is a configuration diagram partially showing the unmanned air vehicle according to the embodiment. FIG. 3 is a cross-sectional view of the unmanned air vehicle according to the embodiment. FIG. 4 is a configuration diagram showing the arrangement of the microphone, the speaker and the like in the embodiment in a cross section of the duct. FIG. 5 is a flowchart showing the operation of the unmanned air vehicle in the embodiment. FIG. 6 is a configuration diagram in which the unmanned air vehicle in the first modified example is partially transmitted. FIG. 7 is a configuration diagram showing a connection aspect of the duct and the microphone in the first modification in a cross section of the duct. FIG. 8 is a configuration diagram showing the connection aspect of the duct and the microphone in the first modification in another cross section of the duct. FIG. 9 is a block diagram showing an unmanned air vehicle according to a second modification.

(Findings that formed the basis of this disclosure)
In recent years, unmanned aerial vehicles, which are also expressed as drone, unmanned aerial vehicles or UAV (Unmanned Aerial Vehicle), are starting to be used in various fields. For example, unmanned aerial vehicles are assumed to be effective for photographing, delivery of packages, search for missing persons and the like, and spraying of medicines.

  On the other hand, the noise generated by the unmanned air vehicle at the time of flight is large. For example, noise is generated by rotation of a propeller mounted on an unmanned aerial vehicle. Specifically, as the propeller rotates, a tip vortex is generated from one blade constituting the propeller. The tip vortices hit the other blades constituting the propeller to generate noise.

  As such, the use of unmanned air vehicles that generate high noise may be limited. For example, the use of unmanned air vehicles may be limited in quiet environments such as hospitals and libraries, quiet time zones such as night, and in areas close to people.

  Therefore, for example, it is assumed that it is effective to suppress the noise of the unmanned aerial vehicle by active noise canceling. Active noise canceling is a technology that actively suppresses noise such as noise with antiphase sound. The antiphase sound of noise is a sound having an antiphase to the phase of noise, and is a sound having a waveform in which the waveform of noise is inverted.

  Specifically, noise is acquired by the microphone, and the antiphase noise of the noise is output by the speaker. The noise is canceled out by the anti-phase sound of the noise being output by the speaker. In order to apply such active noise canceling, microphones and speakers may be mounted on the unmanned air vehicle.

  However, when the wind generated by the propeller strikes the microphone, wind noise may enter the microphone. That is, noise different from the noise to be suppressed by active noise canceling may enter the microphone, and noise generated by the propeller may not be properly acquired. Therefore, noise to be suppressed may not be appropriately suppressed.

  In this regard, for example, it may be envisaged to cover the propeller with a duct and to arrange the microphone outside the duct so that the wind generated by the propeller does not hit the microphone. However, when the prior art is applied to the unmanned aerial vehicle, the unmanned aerial vehicle additionally has a microphone arrangement area outside the duct, and the overall size of the unmanned aerial vehicle increases. And, as the overall size of the unmanned air vehicle increases, the weight of the unmanned air vehicle increases. Also, providing the microphone placement area outside the duct increases air resistance.

  When the unmanned air vehicle is heavy, smooth flight is hindered and energy consumed at the time of flight is also large. Unmanned air vehicles have difficulty obtaining energy for flight from the outside during flight. Therefore, when the unmanned air vehicle is heavy, long flight is hindered. In addition, as the air resistance increases, the flight performance decreases.

  Thus, an unmanned aerial vehicle according to an aspect of the present disclosure is one or more generators that generate a force to fly the unmanned aerial vehicle, the one or more generators each generating an air flow; Said duct, one or more microphones, one or more speakers, and a processor for generating a second signal according to a respective first signal output from said one or more microphones, said one Each of the above ducts covers each of the one or more generators respectively corresponding to each of the one or more ducts, and an air flow in a direction in which each of the one or more generators discharges the air flow The air flow is directed in a direction, and an open space at the air flow direction end of each of the one or more ducts is respectively provided between the inner and outer side surfaces of each of the one or more ducts. And the shape of the inner side surface of each of the one or more ducts is a tapered shape according to the air flow direction, and each of the one or more microphones is a respective one of the one or more microphones. Each one of the one or more speakers is located in the space of each of the corresponding one or more ducts, and each of the one or more speakers is more than each of the one or more microphones respectively corresponding to the one or more speakers. Each of the one or more speakers is positioned near each of the one or more generators respectively corresponding to the one or more speakers, and outputs a sound according to the second signal.

  Thus, the microphone is disposed at a position where wind noise does not easily enter. Also, the arrangement area of the microphone may not be outside the duct. Therefore, the unmanned air vehicle can suppress an increase in overall size while having a configuration for reducing noise.

  For example, the position of each of the one or more microphones corresponds to the position of the end of the air flow direction in the space of each of the one or more ducts respectively corresponding to each of the one or more microphones It is also good.

  As a result, the microphone is disposed at a position where noise can easily reach and wind noise can not easily enter. Therefore, the unmanned air vehicle can obtain the noise to be suppressed more clearly by using active noise canceling.

  Also, for example, each of the one or more microphones is a distance to the outer side than a distance to the inner side in the space of each of the one or more ducts respectively corresponding to each of the one or more microphones May be located in short regions respectively.

  Thereby, the microphone is disposed at a position far from the inner side surface of the duct. The inner side of the duct is prone to vibration by the air flow. Therefore, when the microphone is disposed at a position close to the inner side surface of the duct, vibration noise may enter the microphone, and noise to be suppressed and vibration noise may be mixed. The unmanned aerial vehicle can suppress the above-mentioned vibration sound from being picked up by the microphone by arranging the microphone at a position far from the inner side surface of the duct, and acquires the noise to be suppressed more clearly be able to.

  Also, for example, each of the one or more microphones may be connected to at least one of the inner side and the outer side of each of the one or more ducts respectively corresponding to each of the one or more microphones. It may be fixed via.

  Thereby, the vibration of the duct is less likely to be transmitted to the microphone, and the vibration sound of the duct is suppressed from entering the microphone. Therefore, the unmanned air vehicle can obtain the noise to be suppressed more clearly by using active noise canceling.

  Also, for example, the connection may be an elastic body.

  Thus, the vibration of the duct is further suppressed from being transmitted to the microphone, and the vibration sound of the duct is further suppressed from entering the microphone. Therefore, the unmanned air vehicle can obtain the noise to be suppressed more clearly by using active noise canceling.

  Also, for example, each of the one or more microphones may be fixed to the outer side of the one or more ducts respectively corresponding to each of the one or more microphones.

  Thus, the microphone is fixed to the outer side surface that is less likely to vibrate than the inner side surface. Therefore, the unmanned air vehicle can suppress vibration noise from entering the microphone, and can obtain clearer noise to be suppressed using active noise canceling.

  Furthermore, these general or specific aspects may be realized by a system, an apparatus, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer readable CD-ROM, and the system The present invention may be realized as any combination of an apparatus, a method, an integrated circuit, a computer program, and a storage medium.

  Embodiments will be specifically described below with reference to the drawings. Note that all the embodiments described below show general or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the scope of the claims. Further, among the components in the following embodiments, components not described in the independent claim indicating the highest concept are described as arbitrary components.

  Further, each drawing used in the following description is a schematic view, and the arrangement, the size, and the like of the components are not strictly illustrated.

Embodiment
FIG. 1 is an external view of the unmanned air vehicle according to the present embodiment. In FIG. 1, the unmanned air vehicle 100 includes generators 111 to 114, ducts 121 to 124, speakers 151 to 154, and a housing 180.

  FIG. 2 is a configuration diagram showing the unmanned air vehicle 100 shown in FIG. 1 partially transparent. In FIG. 2, components not shown in FIG. 1 are shown. Specifically, the unmanned air vehicle 100 further includes microphones (microphones) 131 to 134 and 141 to 144, speakers 161 to 164, and a processor 170. The unmanned air vehicle 100 may further include an imaging device.

  The generators 111 to 114, the ducts 121 to 124, the housing 180, and the like included in the unmanned air vehicle 100 are connected via one or more support structures, and one or more of them are maintained so as to maintain their relative positions. It is physically supported by the support structure.

  The generators 111 to 114 generate a force that causes the unmanned air vehicle 100 to fly. For example, each of the generators 111 to 114 is a machine configured of an actuator, a structure, and the like, and is one or more rotors. In addition, each of the generators 111 to 114 may include a power source such as a motor.

  Specifically, each of the generators 111-114 individually generates a force. The forces causing the unmanned air vehicle 100 to fly include a plurality of forces generated individually by the generators 111-114. In addition, the force causing the unmanned air vehicle 100 to fly is also expressed as a force in which a plurality of forces individually generated by the generators 111 to 114 are combined in the whole of the generators 111 to 114. These forces can also be expressed, for example, as lifts for moving or raising the unmanned air vehicle 100 in the vertical direction, or as thrusts for moving the unmanned air vehicle 100 in the horizontal direction, that is, moving back and forth.

  Also, each of the generators 111-114 generates an air flow in the opposite direction to the direction of the individually generated force. The direction in which each of the generators 111 to 114 releases the air flow can also be expressed as the air flow direction.

  The directions of the forces generated individually by the generators 111-114 may be different among the generators 111-114. And thereby, the airflow direction may be different among the generators 111-114. The forces generated individually by the generators 111 to 114 can also be expressed as components of the forces that cause the unmanned air vehicle 100 to fly. That is, each of the generators 111 to 114 generates a component of the force that causes the unmanned air vehicle 100 to fly in the direction opposite to the air flow direction.

  Here, the air flow direction is one central direction of the air flow, and is a direction from the upstream side to the downstream side. For example, each of the generators 111 to 114 generates a force in the upper direction of the unmanned air vehicle 100 and an air flow in the lower direction of the unmanned air vehicle 100 when the unmanned air vehicle 100 flies. The upper direction does not necessarily have to be directly above. Also, the lower side may not necessarily be the direction directly below.

  More specifically, when each of the generators 111 to 114 includes one or more rotors, the unmanned air vehicle 100 generates lift on the upper side by rotation of each rotor, and the lower side Generate an air flow. Here, the direction of the air flow generated by the rotor and the direction of the force are opposite to each other along the axis of the rotor.

  Then, the unmanned air vehicle 100 is lifted to the upper side by the lift generated on the upper side. In addition, the unmanned air vehicle 100 generates thrust in any of front, rear, left, and right by rotating at least one rotor of the generators 111 to 114 at a rotational speed different from that of the rotors of other generators. At that time, in each rotor, noise accompanying rotation occurs.

  In addition, each of the generators 111-114 may be expressed also as a force generator, an air flow generator, or a propeller.

  Each of the ducts 121 to 124 is a structure having an air passage through which air passes. Each of the ducts 121 to 124 can also be expressed as a tube, a cylinder, an annular structure or a cylindrical structure. For example, each of the ducts 121 to 124 is a straight pipe, that is, a straight pipe. Further, each of the ducts 121 to 124 may be a circular pipe having a circular cross-sectional shape, or may be a square pipe having a rectangular cross-sectional shape. In addition, the cross-sectional shape may be triangular, hexagonal or any other shape.

  Moreover, although the ducts 121-124 have the same shape in FIG. 1 and FIG. 2, the ducts 121-124 may have mutually different shapes. In addition, any material may be used for each of the ducts 121 to 124. More specifically, metal may be used, resin may be used, wood may be used, or other materials may be used. In addition, a sound insulation material may be used, a sound absorption material may be used, or a combination thereof may be used.

  Further, each of the ducts 121 to 124 corresponds to each of the generators 111 to 114, respectively. That is, for each of the ducts 121-124, at least one of the generators 111-114 is defined. For example, the ducts 121-124 may correspond to the generators 111-114 one by one. Here, the duct 121 corresponds to the generator 111, the duct 122 corresponds to the generator 112, the duct 123 corresponds to the generator 113, and the duct 124 corresponds to the generator 114.

  Then, the duct 121 covers the generator 111 and passes the air flow along the air flow direction in which the generator 111 emits the air flow. That is, the duct 121 includes the generator 111 in the air duct of the duct 121, and the air duct of the duct 121 is along the air flow direction in which the generator 111 emits the air flow. Also, for efficient application of active noise canceling and weight reduction of the duct 121, the portion corresponding to the downstream side of the generator 111 is longer than the portion corresponding to the upstream side of the generator 111 for the duct 121 Configured to be

  Also, the duct 121 may have, for example, a length from 1/3 to 2 times the width of the duct 121. This range is an example, and the length of the duct 121 may not be limited to this range. Further, the length of the duct 121 is the length of the duct 121 in the air flow direction, and the width of the duct 121 is the width of the duct 121 in the direction perpendicular to the air flow direction.

  Further, the shape of the inner side surface of the duct 121 is a tapered shape according to the air flow direction. That is, the air passage covered by the inner side surface of the duct 121 is narrowed in the air flow direction. In other words, the cross section of the air duct covered by the inner side surface of the duct 121 is smaller as it is closer to the downstream end of the duct 121. In other words, the inner diameter of the duct 121 is smaller as it is closer to the downstream end of the duct 121.

  Also, the duct 121 has a space between the inner side surface and the outer side surface of the duct 121. This space is open at the end of the duct 121 in the air flow direction. In other words, this space is not closed and is open at the downstream end of the duct 121.

  In addition, this space may be entirely open or partially open at the downstream end of the duct 121. For example, at the downstream end of the duct 121, from the outside of the duct 121, there may be a hole or a slit or the like leading to this space. Also, this space may not exist entirely between the inner side surface and the outer side surface of the duct 121, or may exist in a part between them. For example, this space may exist near the downstream end of the duct 121 rather than the upstream end of the duct 121.

  Similarly, the duct 122 covers the generator 112 and allows air flow in the direction of air flow where the generator 112 emits air. Further, the shape of the inner side surface of the duct 122 is a tapered shape, and there is a space between the inner side surface and the outer side surface of the duct 122.

  Similarly, the duct 123 covers the generator 113 and allows air flow in the direction of air flow where the generator 113 emits air. Further, the shape of the inner side surface of the duct 123 is a tapered shape, and there is a space between the inner side surface and the outer side surface of the duct 123.

  Similarly, the duct 124 covers the generator 114 and allows air flow in the direction of air flow where the generator 114 emits air. Further, the shape of the inner side surface of the duct 124 is a tapered shape, and there is a space between the inner side surface and the outer side surface of the duct 124.

  Each of the microphones 131 to 134 and 141 to 144 is a device that acquires a sound, converts the acquired sound into a signal, and outputs the signal. That is, each of the microphones 131 to 134 and 141 to 144 acquires a sound and outputs a signal indicating the acquired sound.

  Also, each of the microphones 131 to 134 and 141 to 144 corresponds to each of the generators 111 to 114, respectively. That is, at least one of the generators 111 to 114 is defined for each of the microphones 131 to 134 and 141 to 144. Here, microphones 131 and 141 correspond to generator 111, microphones 132 and 142 correspond to generator 112, microphones 133 and 143 correspond to generator 113, and microphones 134 and 144 correspond to generator 114. ing.

  The microphones 131 and 141 are disposed corresponding to the generator 111. Similarly, microphones 132 and 142 are disposed corresponding to generator 112, microphones 133 and 143 are disposed corresponding to generator 113, and microphones 134 and 144 are disposed corresponding to generator 114. Ru.

  Specifically, the microphones 131 and 141 are disposed between the inner side surface and the outer side surface of the duct 121 corresponding to the generator 111. Similarly, the microphones 132 and 142 are disposed between the inner and outer sides of the duct 122 corresponding to the generator 112. Also, the microphones 133 and 143 are disposed between the inner side surface and the outer side surface of the duct 123 corresponding to the generator 113. Similarly, microphones 134 and 144 are disposed between the inner and outer sides of duct 124 corresponding to generator 114.

  Also, the microphones 131 and 141 acquire noise reduced by the sound output from the speakers 151 and 161 as sound. Therefore, each of the microphones 131 and 141 can also be expressed as an error microphone. The other microphones 132 to 134 and 142 to 144 are the same.

  Each of the speakers 151 to 154 and 161 to 164 is a device that acquires a signal, converts the acquired signal into a sound, and outputs a sound. That is, each of the speakers 151 to 154 and 161 to 164 acquires a signal and outputs a sound indicated by the acquired signal.

  Further, each of the speakers 151 to 154 and 161 to 164 corresponds to each of the generators 111 to 114, respectively. That is, at least one of the generators 111 to 114 is determined for each of the speakers 151 to 154 and 161 to 164. Here, the speakers 151 and 161 correspond to the generator 111, the speakers 152 and 162 correspond to the generator 112, the speakers 153 and 163 correspond to the generator 113, and the speakers 154 and 164 correspond to the generator 114. ing.

  The speakers 151 and 161 are arranged corresponding to the generator 111. Similarly, speakers 152 and 162 are arranged corresponding to generator 112, speakers 153 and 163 are arranged corresponding to generator 113, and speakers 154 and 164 are arranged corresponding to generator 114. Ru.

  Specifically, the speakers 151 and 161 are disposed closer to the generator 111 than the microphones 131 and 141 corresponding to the generator 111. That is, the distance from the generator 111 to the speakers 151 and 161 is shorter than the distance from the generator 111 to the microphones 131 and 141.

  Similarly, speakers 152 and 162 are located closer to generator 112 than microphones 132 and 142 corresponding to generator 112. Also, the speakers 153 and 163 are disposed closer to the generator 113 than the microphones 133 and 143 corresponding to the generator 113. Also, speakers 154 and 164 are located closer to generator 114 than microphones 134 and 144 corresponding to generator 114.

  Moreover, the speakers 151 and 161 may be arrange | positioned inside the wind path of the duct 121 corresponding to the generator 111, and may be arrange | positioned outside the wind path.

  Similarly, the speakers 152 and 162 may be disposed inside the duct of the duct 122 corresponding to the generator 112 or may be disposed outside the duct. The speakers 153 and 163 may be disposed inside the duct of the duct 123 corresponding to the generator 113 or may be disposed outside the duct. The speakers 154 and 164 may be disposed inside the duct of the duct 124 corresponding to the generator 114 or may be disposed outside the duct.

  Here, the speakers 151 and 161 are disposed inside the air passage of the duct 121 and fixed to the inner side surface of the duct 121. Similarly, the speakers 152 and 162 are disposed inside the air passage of the duct 122 and fixed to the inner side surface of the duct 122. The speakers 153 and 163 are disposed inside the air passage of the duct 123 and fixed to the inner side surface of the duct 123. The speakers 154 and 164 are disposed inside the air passage of the duct 124 and fixed to the inner side surface of the duct 124.

  The processor 170 is an electric circuit that performs information processing. Specifically, the processor 170 generates a second signal in accordance with the first signal output from each of the microphones 131 to 134 and 141 to 144. For example, the processor 170 obtains the first signal output from each of the microphones 131 to 134 and 141 to 144 by wired or wireless communication. Communication lines for wired communication may be included in the side walls of the ducts 121 to 124, the support structure, and the like.

  Also, the processor 170 generates a second signal indicating a sound for suppressing the sound indicated by the first signal according to the first signal acquired from each of the microphones 131 to 134 and 141 to 144. For example, the processor 170 generates a second signal indicative of the antiphase noise of the noise according to the first signal. For example, the antiphase sound of noise is a sound having a phase opposite to the phase of noise, and is a sound having a waveform in which the waveform of noise is inverted.

  The processor 170 also outputs a second signal to each of the speakers 151 to 154 and 161 to 164. For example, the processor 170 outputs a second signal by transmitting a second signal to each of the speakers 151 to 154 and 161 to 164 by wired or wireless communication.

  For example, the processor 170 outputs the second signal generated according to the first signal acquired from the microphone 131 to the speaker 151, and outputs the second signal generated according to the first signal acquired from the microphone 141 to the speaker 161 Do. Then, the speaker 151 outputs a sound according to the second signal generated according to the first signal acquired from the microphone 131, and the speaker 161 sounds according to the second signal generated according to the first signal acquired from the microphone 141 Output

  More specifically, for example, the processor 170 predicts the noise generated by the generator 111 according to the first signal acquired from the microphone 131. Specifically, processor 170 predicts the magnitude, frequency, phase, etc. of the noise. In addition, when the generator 111 is a rotary wing, the processor 170 may use the rotational speed of the rotary wing or the like to predict noise.

  Then, the processor 170 outputs, to the speaker 151, a second signal indicating an antiphase sound of the predicted noise. Then, the synthetic sound of the noise generated by the generator 111 and the sound output by the speaker 151 is acquired by the microphone 131.

  Then, the processor 170 obtains a first signal indicating the above synthesized sound from the microphone 131, and predicts the noise generated by the generator 111 according to the first signal. This synthetic sound corresponds to the prediction error. Processor 170 predicts noise such that the prediction error is reduced. For example, the processor 170 may change a parameter for predicting noise from information such as the rotational speed of a rotor according to a prediction error, and predict the noise according to the changed parameter.

  Then, the processor 170 outputs, to the speaker 151, a second signal indicating an antiphase sound of the predicted noise. The processor 170 repeatedly performs such processing.

  In addition, the processor 170 may reflect the first signal acquired from the microphone 131 in the generation of the second signal output to the speaker 161, or may generate the second signal output to the speaker 151. The first signal acquired from 141 may be reflected. For example, averaging processing of two first signals acquired from the microphone 131 and the microphone 141 may be performed.

  Then, the speakers 151 and 161 may output the sound according to the first signal acquired from the microphone 131 and the second signal generated according to the first signal acquired from the microphone 141.

  Similar processing is performed for the other microphones 132-134 and 142-144 and the other speakers 152-154 and 162-164. Thereby, each of the speakers 151 to 154 and 161 to 164 obtains the second signal output from the processor 170, and outputs the sound indicated by the second signal. Therefore, the noise generated by the generators 111 to 114 is suppressed.

  As described above, a technique for actively suppressing noise with antiphase noise is also called active noise canceling (ANC). The first signal may be expressed as an error signal, and the second signal may be expressed as a control signal.

  Also, noise microphones for acquiring noise used in active noise canceling may be arranged separately from the microphones 131 to 134 and 141 to 144. For example, the noise microphones are arranged closer to the generators 111 to 114 than the speakers 151 to 154 and 161 to 164. Then, the processor 170 may predict noise by referring to a signal obtained from the noise microphone as a reference signal. Alternatively, the processor 170 may predict the noise using the rotation speed or the like as described above regardless of the noise microphone.

  Also, the processor 170 may generate one second signal using two or more of the plurality of first signals acquired from the microphones 131 to 134 and 141 to 144. Two or more averaging processes may be performed among the plurality of first signals. Then, each of the speakers 151 to 154 and 161 to 164 may output a sound in accordance with one second signal generated using two or more of the plurality of first signals.

  Further, the unmanned air vehicle 100 may include a communication device, and the processor 170 may wirelessly communicate with an external device located outside the unmanned air vehicle 100 via the communication device. Then, the processor 170 may receive an operation signal for the unmanned air vehicle 100 via the communication device. Then, the processor 170 may operate the generators 111 to 114 according to the operation signal to fly the unmanned air vehicle 100.

  The housing 180 is a structure for physically accommodating the processor 170. A memory or the like may be physically accommodated in the housing 180. The processor 170 may be housed in a component different from the housing 180. For example, the ducts 121 to 124, the microphones 131 to 134 and 141 to 144, and the speakers 151 to 154 and 161 to 164 may be accommodated. The unmanned air vehicle 100 may not have the housing 180.

  FIG. 3 is a cross-sectional view of the unmanned air vehicle 100 shown in FIG. Specifically, FIG. 3 conceptually illustrates the cross section of the vertical plane for the generators 111 and 114 of the unmanned air vehicle 100 shown in FIG. Since the cross sections for the generators 112 and 113 are basically the same as the cross sections for the generators 111 and 114, the illustration of the cross sections for the generators 112 and 113 is omitted.

  As shown in FIG. 3, the shape of the inner side surface of the duct 121 is a tapered shape. That is, the inner diameter of the duct 121 is smaller as it is closer to the downstream end of the duct 121.

  For example, the inner diameter of the duct 121 is narrowed to such an extent that the component of the force for flying the unmanned air vehicle 100 can be appropriately obtained. Specifically, it is assumed that even when the inner diameter of the duct 121 is narrowed to about 90% of the width of the air flow emitted by the generator 111, a force equal to or higher than that obtained when the inner diameter of the duct 121 is not narrowed can be obtained. Be done. Therefore, the inner diameter of the duct 121 may be narrowed to about 90% to 95% of the width of the air flow emitted by the generator 111.

  On the other hand, the outer side surface of the duct 121 is basically kept constant. That is, the outer diameter of the duct 121 is maintained basically constant regardless of the proximity to the downstream end of the duct 121.

  The duct 121 may have a space between the inner side surface and the outer side surface of the duct 121 according to the shape as described above. This space is open at the downstream end of the duct 121. The ducts 122 to 124 also have the same shape as the duct 121.

  FIG. 4 is a block diagram showing the arrangement of the microphone 131, the speaker 151 and the like in the unmanned air vehicle 100 shown in FIG. Specifically, FIG. 4 is a cross-sectional view of the vertical plane with respect to the duct 121 of the unmanned air vehicle 100 shown in FIG. 2, and conceptually shows a cross-section including the microphones 131 and 141 and the speakers 151 and 161. . As shown in FIG. 4, the microphones 131 and 141 are disposed in the space between the inner side surface and the outer side surface of the duct 121.

  The inner side is vibrated by the air flow striking the inner side. Vibration noise associated with such vibration may enter the microphones 131 and 141. When vibration noise enters microphones 131 and 141, the noise of generator 111 is not properly acquired. Therefore, the microphones 131 and 141 are disposed near the outer side surface that vibrates less than the inner side surface. Specifically, the microphones 131 and 141 are disposed in an area where the distance to the outer side surface is shorter than the distance to the inner side surface.

  In the example of FIG. 4, the microphones 131 and 141 are fixed to the outer side surface. That is, the microphones 131 and 141 are physically connected to the side wall of the outer side surface of the duct 121. The microphones 131 and 141 may be fixed to the external side through a connection.

  On the other hand, the microphones 131 and 141 may be disposed closer to the inner side surface than the outer side surface so that the sound that gets into the space between the inner side surface and the outer side surface of the duct 121 is acquired more appropriately. Specifically, the microphones 131 and 141 may be arranged in an area where the distance to the inner side surface is shorter than the distance to the outer side surface. For example, the microphones 131 and 141 may be fixed to the inner side surface. The microphones 131 and 141 may be fixed to the inner side via a connection.

  In addition, the microphones 131 and 141 are provided with the inner side surface and the outer side surface of the duct 121 in order to suppress the influence of the air flow passing through the air duct of the duct 121 and the wind relatively received as the unmanned air vehicle 100 moves. Placed in the space between

  For example, when the microphones 131 and 141 are disposed in the air passage of the duct 121 or outside the outer side surface of the duct 121, the air flow passing through the air passage of the duct 121 or the relative movement along with the movement of the unmanned air vehicle 100. Affected by wind and so on. As a result, wind noise may enter the microphones 131 and 141. When wind noise enters the microphones 131 and 141, the noise generated by the generator 111 is not properly acquired.

  Therefore, the microphones 131 and 141 are disposed in the space between the inner side surface and the outer side surface of the duct 121 as described above.

  Also, for example, the microphones 131 and 141 are disposed at positions corresponding to the downstream end in this space so that the sound that gets into the space between the inner side surface and the outer side surface of the duct 121 is more appropriately acquired. Ru. Specifically, the microphones 131 and 141 may be disposed in a predetermined range from the downstream end of the duct 121. The predetermined range may be, for example, about 10% of the length of the duct 121.

  Also, the speakers 151 and 161 are disposed closer to the generator 111 than the microphones 131 and 141. Also, for example, the speakers 151 and 161 are fixedly disposed on the inner side surface of the duct 121. The speakers 151 and 161 may be fixed to the inner side surface of the duct 121 via a connection. The speakers 151 and 161 may also be fixed to a support structure connected to the generator 111. Also, the speakers 151 and 161 may be fixed to the support structure connected to the generator 111 via the connection.

  The noise generated by the generator 111 is gathered in the air flow direction by the duct 121 on the downstream side of the air flow. Then, the speakers 151 and 161 can appropriately cancel the noise by outputting the antiphase sound of the noise grouped in the air flow direction. Further, since the inner diameter of the duct 121 is reduced in the air flow direction, noise can be brought close to the point sound source. Therefore, the noise can be appropriately canceled by the antiphase noise of the noise.

  In addition, the speakers 151 and 161 may output sound in the air flow direction. For example, the speakers 151 and 161 have directivity, and have a direction in which the intensity of the sound is large as the output direction of the sound when outputting the sound. The speakers 151 and 161 may be arranged such that the output direction matches the air flow direction. As a result, the speakers 151 and 161 can more appropriately cancel the noise collected in the air flow direction.

  Also, basically, to cause the unmanned air vehicle 100 to fly, the generator 111 generates a force in the upper direction of the unmanned air vehicle 100 and generates an air flow in the lower direction of the unmanned air vehicle 100. Then, when the unmanned air vehicle 100 flies, it is assumed that the influence of the noise is greater on the lower side than the upper side of the unmanned air vehicle 100. That is, it is assumed that the influence of noise is greater on the downstream side than on the upstream side of the unmanned air vehicle 100.

  The speakers 151 and 161 can cancel out the noise assumed to have a large effect by canceling the noise collected in the air flow direction by the duct 121 on the downstream side of the air flow.

  Furthermore, in this example, the duct 121 is configured such that the portion corresponding to the downstream side of the generator 111 is longer than the portion corresponding to the upstream side of the generator 111. Conversely, the duct 121 is configured such that the portion corresponding to the upstream side of the generator 111 is shorter than the portion corresponding to the downstream side of the generator 111. Therefore, the increase in weight is suppressed.

  The speakers 151 and 161 may be unified to one speaker. For example, when the generator 111 is a rotary wing, one speaker may be disposed on an extension of the rotary shaft of the rotary wing in the air passage of the duct 121. Such a position is assumed to be weak air flow. Therefore, the adverse effect caused by the air flow hitting the speaker is reduced.

  Also, the microphones 131 and 141 may be unified into one microphone. For example, processor 170 may generate a second signal according to a first signal obtained from one microphone, and speakers 151 and 161 may output sound according to the generated second signal.

  In the above, the configurations of the generator 111, the duct 121, the microphones 131 and 141, and the speakers 151 and 161 are described. The configurations of generators 112-114, ducts 122-124, microphones 132-134 and 142-144, and speakers 152-154 and 162-164 are similar to those described above.

  FIG. 5 is a flow chart showing the operation of the unmanned air vehicle 100 shown in FIG. The components of the unmanned air vehicle 100 perform the operations shown in FIG.

  First, each of the microphones 131 to 134 and 141 to 144 of the unmanned air vehicle 100 acquires a sound, and outputs a first signal indicating the acquired sound (S101). For example, each of the microphones 131 to 134 and 141 to 144 outputs a first signal by transmitting the first signal to the processor 170.

  Next, the processor 170 of the unmanned aerial vehicle 100 obtains a first signal from each of the microphones 131 to 134 and 141 to 144 (S102). For example, the processor 170 obtains the first signal by receiving the first signal from each of the microphones 131 to 134 and 141 to 144.

  Next, the processor 170 generates a second signal according to the first signal acquired from each of the microphones 131 to 134 and 141 to 144 (S103).

  For example, the processor 170 generates a second signal indicating a sound for suppressing the sound acquired by the microphone 131 in accordance with the first signal acquired from the microphone 131. Specifically, the processor 170 predicts the noise generated by the generator 111 in accordance with the first signal acquired from the microphone 131. Then, the processor 170 generates a second signal representing the antiphase sound of the predicted noise as a sound for suppressing the sound acquired by the microphone 131.

  The processor 170 also performs such processing on each of the microphones 132 to 134 and 141 to 144.

  Next, the processor 170 outputs a second signal to each of the speakers 151 to 154 and 161 to 164 (S104). For example, the processor 170 outputs a second signal by transmitting the second signal to each of the speakers 151 to 154 and 161 to 164.

  Specifically, the processor 170 outputs the second signal generated according to the first signal acquired from the microphone 131 to the speaker 151 corresponding to the microphone 131. The processor 170 also performs such processing on each of the speakers 152-154 and 161-164 corresponding to the microphones 132-134 and 141-144, respectively.

  Next, each of the speakers 151 to 154 and 161 to 164 of the unmanned air vehicle 100 acquires a second signal from the processor 170, and outputs a sound indicated by the second signal (S105). For example, each of the speakers 151 to 154 and 161 to 164 obtains the second signal by receiving the second signal from the processor 170, and outputs the sound indicated by the second signal.

  Specifically, the speaker 151 acquires the second signal output from the processor 170 to the speaker 151, and outputs the sound indicated by the second signal. Each of the speakers 152-154 and 161-164 also performs such processing.

  The unmanned air vehicle 100 repeats the above process (S101 to S105). For example, the processor 170 of the unmanned aerial vehicle 100 obtains a prediction error of noise according to the first signal. The processor 170 then predicts the noise such that the prediction error is reduced. Then, the processor 170 outputs a second signal indicating an anti-phase noise of noise predicted to reduce the prediction error. Thereby, the unmanned air vehicle 100 can reduce noise.

  In addition, in FIG. 1 etc., one rotary blade which has one rotation surface and one rotation axis is shown as each of four generator 111-114. However, one generator may be composed of a plurality of rotors. The plurality of rotary wings may have a plurality of rotational surfaces different from one another, or may have a plurality of rotational axes different from one another.

  Here, the rotor has one or more wings, and by rotating, generates a force in the direction along the rotation axis, and generates an air flow in the direction opposite to the direction in which the force is generated. Each of the one or more wings may be interpreted as a rotor. Rotor blades are also called blades, rotors or propellers. Also, one or more rotors may be referred to as a rotor set.

  In addition, each of the generators 111 to 114 may not be a rotor, and may be a jet engine, a rocket engine, or the like.

  Moreover, although the unmanned air vehicle 100 is equipped with four generators 111-114 in the above-mentioned example, it may be equipped with three or less generators, and may be equipped with five or more generators. Good. Similarly, although the unmanned air vehicle 100 includes four ducts 121 to 124 in the above-described example, it may have three or less ducts, or may have five or more ducts.

  Similarly, the unmanned air vehicle 100 includes eight microphones 131 to 134 and 141 to 144 in the above-described example, but may have seven or less microphones, or nine or more microphones. May be Similarly, although the unmanned air vehicle 100 includes eight speakers 151 to 154 and 161 to 164 in the above-described example, it may have seven or less speakers, or nine or more speakers. May be

  Also, the processor 170 may be configured with a plurality of sub-processors. That is, a plurality of processors may be used as the processor 170. Also, processor 170 may be a multiprocessor.

  In addition, the unmanned air vehicle 100 may include an antenna for wireless communication, and may include a wireless communication circuit. The processor 170 may play a role of a wireless communication circuit for wireless communication. In addition, the unmanned air vehicle 100 may include an energy source such as a power source for operating each component, and may be connected to an external power source. For example, even when the unmanned air vehicle 100 flies, the unmanned air vehicle 100 and the ground power source may be connected via a cable. And power may be supplied via a cable.

  Further, with regard to each of the speakers 151 to 154 and 161 to 164, the output direction of the sound may not coincide with the air flow direction. Each of the speakers 151 to 154 and 161 to 164 may output sound in a direction different from the air flow direction. Thereby, noise can be suppressed in the sound output direction. Moreover, noise can be suppressed also in the air flow direction by the output sound being diffused.

  Also, for example, omnidirectional speakers, also referred to as non-directional, may be arranged as each of the speakers 151-154 and 161-164.

  Moreover, although the unmanned aerial vehicle 100 is provided with four ducts 121 to 124 corresponding to the four generators 111 to 114 in the above-mentioned example, one duct corresponding to a plurality of generators is provided. May be Also, the unmanned air vehicle 100 may be provided with one duct, one microphone, and one speaker corresponding to a plurality of generators.

  The unmanned air vehicle 100 may also be equipped with one microphone and one speaker corresponding to each generator or each duct. Alternatively, the unmanned air vehicle 100 may include three or more microphones and three or more speakers corresponding to each generator or each duct. For example, three or more microphones and three or more speakers may be arranged to surround the air flow.

  Also, in the example described above, the generator 111, the duct 121, the microphones 131 and 141, and the speakers 151 and 161 may be considered to be related to each other and to correspond to each other.

  Similarly, generator 112, duct 122, microphones 132 and 142, and speakers 152 and 162 may be considered to correspond to one another. Also, the generator 113, the duct 123, the microphones 133 and 143, and the speakers 153 and 163 may be considered to correspond to each other. Also, the generator 114, the duct 124, the microphones 134 and 144, and the speakers 154 and 164 may be considered to correspond to one another.

  A plurality of components that can be considered to correspond to each other as described above may be expressed as one set.

  In addition, the unmanned air vehicle 100 may output a sound that makes noise inconspicuous, not only according to noise but also according to noise. For example, the unmanned air vehicle 100 may output sounds such as music at a volume similar to that of noise.

  In each of the ducts 121 to 124 described above, the air passage narrows concentrically in the air flow direction. However, the air passage may not be narrowed concentrically. For example, the air passage may be partially narrowed in portions where the microphones 131 to 134 and 141 to 144 are disposed.

  Moreover, the unmanned air vehicle 100 may not have symmetry. For example, in the unmanned air vehicle 100, forward and backward may be defined. And in order to control the influence of the vibration etc. accompanying the wind received from the front, the unmanned aerial vehicle 100 may be equipped with the microphones 131-134 or 141-144 only at the back.

  Hereinafter, a plurality of modifications of the above embodiment will be shown. In each modification, the description of the configuration substantially the same as the above embodiment may be omitted.

(First modification)
In the unmanned air vehicle of this modification, a microphone located between the inner side surface and the outer side surface of the duct is fixed to the duct via a connection.

  FIG. 6 is a configuration diagram in which the unmanned air vehicle in the present modification is partially transmitted. The unmanned air vehicle 200 in this modification includes the same components as the unmanned air vehicle 100 in the above embodiment. That is, the unmanned air vehicle 200 includes generators 111 to 114, ducts 121 to 124, microphones 131 to 134 and 141 to 144, speakers 151 to 154 and 161 to 164, a processor 170, and a housing 180.

  FIG. 7 is a configuration diagram showing a connection mode of the microphone 131 and the like in the unmanned air vehicle 200 shown in FIG. Specifically, FIG. 7 is a cross section of a vertical plane with respect to duct 121 of unmanned air vehicle 200 shown in FIG. 6, and conceptually shows a cross section including microphones 131 and 141 and speakers 151 and 161. . As shown in FIG. 7, the microphones 131 and 141 are disposed in the space between the inner side surface and the outer side surface of the duct 121.

  It is assumed that the duct 121 vibrates due to the airflow of the wind path, the external wind, and the like. Vibration noise associated with such vibration may enter the microphones 131 and 141. When vibration noise enters the microphones 131 and 141, the noise generated by the generator 111 is not properly acquired. Therefore, in the present modification, the microphones 131 and 141 are not directly fixed to the outer side surface or the inner side surface of the duct 121 so as to suppress the influence of the vibration of the duct 121, and are connected to the outer side surface or the inner side surface of the duct 121. It is fixed through the object.

  Thus, the microphones 131 and 141 are arranged to float in the space between the outer side surface and the inner side surface of the duct 121. Therefore, the influence of the vibration of the duct 121 on the microphones 131 and 141 is suppressed.

  The microphones 131 and 141 may be fixed to one of the outer side surface and the inner side surface of the duct 121 via a connection, or may be fixed to each of the outer side surface and the inner side of the duct 121 via a connection. Good. That is, the microphones 131 and 141 are physically connected to at least one of the outer side surface and the inner side surface of the duct 121 via the connection. In the example of FIG. 7, the microphones 131 and 141 are fixed to both the outer side surface and the inner side surface via a plurality of connectors.

  The above connection may be a damper. That is, the above connection may be an elastic body. Thereby, the influence of the vibration of the duct 121 on the microphones 131 and 141 is more appropriately suppressed. More specifically, a spring or rubber may be used for the connection as an elastic body. In addition, elastic fibers may be used as an elastic body in the connection. In addition, even when the connection is not an elastic body, the direct influence of the vibration of the duct 121 may be suppressed by using the connection.

  FIG. 8 is a configuration diagram showing the connection mode of the microphone 131 etc. in the unmanned air vehicle 200 shown in FIG. 6 in another cross section of the duct 121. As shown in FIG. Specifically, FIG. 8 is a cross-sectional view of the horizontal plane relative to the duct 121 of the unmanned air vehicle 200 shown in FIG. 6, and conceptually shows a cross-section including the microphones 131 and 141.

  As shown in FIG. 8, in this modification, the microphones 131 are fixed at three places. Specifically, the microphone 131 is fixed to two places on the outer side and one place on the inner side via three connectors. This connection mode is an example, and the microphone 131 may be fixed at one place, may be fixed at two places, or may be fixed at four or more places. The connection mode of the microphone 141 is the same as the connection mode of the microphone 131.

  Further, the connection modes regarding the microphones 132 to 134 and 142 to 144 are also the same as the connection modes regarding the microphone 131 and the microphone 141.

(2nd modification)
The unmanned air vehicle in this variation includes one generator, one duct, one microphone, and one speaker.

  FIG. 9 is a block diagram showing the unmanned air vehicle in the present modification. Specifically, in FIG. 9, the configuration of the unmanned air vehicle 300 in the present modification is conceptually shown in the cross section of the vertical plane with respect to the unmanned air vehicle 300. As shown in FIG. 9, the unmanned air vehicle 300 in this modification includes a generator 310, a duct 320, a microphone 330, a speaker 350, and a processor 370.

  Each of the plurality of components of unmanned air vehicle 300 in the present modification corresponds to at least one of the plurality of components of unmanned air vehicle 100 in the above-described embodiment. And, each of the plurality of components of the unmanned air vehicle 300 has basically the same features as the corresponding at least one component in the unmanned air vehicle 300.

  Specifically, generator 310 corresponds to generators 111-114, duct 320 corresponds to ducts 121-124, microphone 330 corresponds to microphones 131-134 and 141-144, and speaker 350 is , Speakers 151 to 154 and 161 to 164. Also, the processor 370 corresponds to the processor 170.

  In the present variant, a duct 320 covers the generator 310. In the wind path of the duct 320, the generator 310 and the speaker 350 are included. In the space between the inner and outer sides of the duct 320, the microphone 330 and the processor 370 are included. Then, in accordance with the sound acquired by the microphone 330, the processor 370 causes the speaker 350 to output the antiphase sound of the predicted noise.

  Thereby, the unmanned air vehicle 300 in the present modification can appropriately acquire the noise, and can appropriately suppress the noise. In addition, in the unmanned air vehicle 300, the number of parts is reduced and the waste of resources is reduced.

  Note that each of the generators 111 to 114 of the unmanned air vehicle 100 in the above embodiment generates a component of force that causes the unmanned air vehicle 100 to fly. The generator 310 of the unmanned air vehicle 300 in this variation also generates a component of the force that causes the unmanned air vehicle 300 to fly, but this component can be regarded as the force that causes the unmanned air vehicle 300 to fly.

  Also, the first modification and the second modification may be combined. Specifically, as in the first modification, the microphone 330 in the second modification may be fixed to at least one of the inner side surface and the outer side surface of the duct 320 via a connection.

  As mentioned above, although the aspect of the unmanned aerial vehicle was demonstrated based on said embodiment etc. which contain several modification, the aspect of a unmanned aerial vehicle is not limited to said embodiment etc. Modifications apparent to those skilled in the art may be applied to the above-described embodiment and the like, and a plurality of components in the above-described embodiment and the like may be arbitrarily combined.

  For example, another component may execute the process performed by a specific component in the above-described embodiment and the like instead of the specific component. In addition, the order of a plurality of processes may be changed, or a plurality of processes may be executed in parallel.

  Also, the first and second ordinal numbers used in the description may be replaced as appropriate. In addition, ordinal numbers may be newly given or removed for components and the like.

  In each of the above structures, a pure substance may be used, or a mixture may be used. For example, metal may be used, resin may be used, wood may be used, or other materials may be used. In addition, the position of each component may be the center position of the component or may be the main position of the component.

  Further, the upstream side corresponds to the side opposite to the air flow direction, and the downstream side corresponds to the air flow direction. For example, when the air flow direction is downward, the upstream side is the upper side, and the downstream side is the lower side. Also, the end in the air flow direction means the end in the air flow direction. For example, the end of the duct in the air flow direction means the end of the duct in the air flow direction.

  Moreover, although the above-mentioned embodiment demonstrated the example in which the speaker was arrange | positioned in the air path of a duct, a speaker may be arrange | positioned on the outer side of the outer side of a duct. For example, the speakers may be arranged at the outer side of the duct or at the end of the duct in the air flow direction.

  Hereinafter, a basic configuration and representative modifications of the unmanned air vehicle according to an aspect of the present disclosure will be shown. These may be combined with each other, or may be combined with part of the above embodiment and the like.

  (1) The unmanned aerial vehicle (100, 200, 300) according to one aspect of the present disclosure includes one or more generators (111 to 114, 310) and one or more ducts (121 to 124, 320). It comprises one or more microphones (131-134, 141-144, 330), one or more speakers (151-154, 161-164, 350) and a processor (170, 370).

  One or more generators (111-114, 310) generate forces that cause the unmanned air vehicle to fly, each generating an air flow. The processor (170, 370) generates a second signal in accordance with the respective first signal output from the one or more microphones.

  Each duct (121 to 124, 320) covers each generator respectively corresponding to each duct, and passes the air flow in the air flow direction which is a direction in which each generator emits the air flow. Moreover, each duct (121 to 124, 320) has a space which is open at the end in the air flow direction of each duct between the inner side surface and the outer side surface of each duct. Moreover, the shape of the inner side surface of each duct (121 to 124, 320) is a tapered shape corresponding to the air flow direction.

  Each of the microphones (131 to 134, 141 to 144, and 330) is located in a space between the inner side surface and the outer side surface of each duct corresponding to each microphone. The speakers (151 to 154, 161 to 164, and 350) are positioned closer to the generators corresponding to the speakers than the microphones respectively corresponding to the speakers, and output sounds according to the second signal. .

  As a result, in the unmanned air vehicle (100, 200, 300), the microphone is disposed at a position where wind noise is difficult to enter. Also, the arrangement area of the microphone may not be outside the duct. Therefore, the unmanned air vehicle (100, 200, 300) can suppress an increase in the overall size while having a configuration for reducing noise.

  (2) For example, in the unmanned air vehicle (100, 200, 300), the positions of the microphones (131 to 134, 141 to 144, 330) are the inner side and the outer side of the ducts respectively corresponding to the microphones. The positions of the ends in the air flow direction in the space between

  As a result, in the unmanned air vehicle (100, 200, 300), the microphone is disposed at a position where noise can easily reach and wind noise can not easily enter. Therefore, the unmanned air vehicle (100, 200, 300) can obtain the noise to be suppressed more clearly using active noise canceling.

  (3) For example, in the unmanned aerial vehicle (100, 200, 300), each microphone (131 to 134, 141 to 144, 330) is between the inner side surface and the outer side surface of each duct corresponding to each microphone. They are respectively located in regions where the distance to the outer side is shorter than the distance to the inner side in space.

  Thereby, in the unmanned air vehicle (100, 200, 300), the microphone is disposed at a position far from the inner side surface of the duct. The inner side of the duct is prone to vibration by the air flow. Therefore, when the microphone is disposed at a position close to the inner side surface of the duct, vibration noise may enter the microphone, and symmetrical noise of suppression and vibration noise may be mixed. The unmanned air vehicle (100, 200, 300) can suppress the vibration sound from being picked up by the microphone by arranging the microphone at a position far from the inner side surface of the duct, and the unmanned air vehicle (100, 200, 300) Noise can be acquired more clearly.

  (4) For example, in the unmanned air vehicle (100, 200, 300), each of the microphones (131 to 134, 141 to 144, 330) is at least one of the inner side surface and the outer side surface of each duct corresponding to each microphone. And fixed via connection.

  Thereby, in the unmanned air vehicle (100, 200, 300), the vibration of the duct is less likely to be transmitted to the microphone, and the vibration sound of the duct is suppressed from entering the microphone. Therefore, the unmanned air vehicle (100, 200, 300) can obtain the noise to be suppressed more clearly using active noise canceling.

  (5) For example, in the unmanned air vehicle (100, 200, 300), the connection is an elastic body. Thereby, in the unmanned air vehicle (100, 200, 300), the transmission of the vibration of the duct to the microphone is further suppressed, and the vibration sound of the duct is further suppressed from entering the microphone. Therefore, the unmanned air vehicle (100, 200, 300) can obtain the noise to be suppressed more clearly using active noise canceling.

  (6) For example, in the unmanned air vehicle (100, 200, 300), the microphones (131 to 134, 141 to 144, 330) are fixed to the outer side surfaces of the ducts respectively corresponding to the microphones. Thereby, in the unmanned air vehicle (100, 200, 300), the microphone is fixed to the outer side which is less likely to vibrate than the inner side. Therefore, the unmanned air vehicle (100, 200, 300) can suppress vibration sound from entering the microphone, and can obtain clearer the noise to be suppressed using active noise canceling.

  The present disclosure is applicable to suppression of noise of unmanned aerial vehicles and weight reduction of unmanned aerial vehicles, and is applicable to unmanned aerial vehicles flying in a quiet environment.

100, 200, 300 Unmanned Aerial Vehicles 111, 112, 113, 114, 310 Generators 121, 122, 123, 124, 320 Ducts 131, 132, 133, 134, 141, 142, 143, 144, 330 Microphones (microphones)
151, 152, 153, 154, 161, 162, 163, 164, 350 Speaker 170, 370 Processor 180 Case

Claims (6)

It is a drone and
One or more generators generating a force to fly said unmanned air vehicle, each generating one or more generators generating an air flow;
With one or more ducts,
With one or more microphones,
With one or more speakers,
A processor that generates a second signal according to the respective first signals output from the one or more microphones,
Each of the one or more ducts covers each of the one or more generators respectively corresponding to each of the one or more ducts, and the direction in which each of the one or more generators discharges the air flow A space that passes through the air flow in the air flow direction and is open between the inner and outer sides of each of the one or more ducts at the air flow direction end of each of the one or more ducts Have each
The shape of the inner side of each of the one or more ducts is a tapered shape according to the air flow direction, respectively
Each of the one or more microphones is respectively located in the space of each of the one or more ducts respectively corresponding to each of the one or more microphones;
Each of the one or more loudspeakers corresponds to each of the one or more loudspeakers respectively than to each of the one or more microphones respectively corresponding to the respective one or more loudspeakers An unmanned aerial vehicle, located respectively near each of the vessels and outputting a sound according to the second signal. The position of each of the one or more microphones corresponds to the position of the end in the air flow direction in the space of each of the one or more ducts respectively corresponding to each of the one or more microphones. The unmanned air vehicle described in. Each of the one or more microphones is in a region where the distance to the outer side surface is shorter than the distance to the inner side surface in the space of each of the one or more ducts respectively corresponding to each of the one or more microphones The unmanned air vehicle according to claim 1 or 2, which is located respectively. Each of the one or more microphones is fixed via a connection to at least one of the inner side surface and the outer side surface of each of the one or more ducts respectively corresponding to each of the one or more microphones The unmanned air vehicle according to any one of claims 1 to 3. The unmanned flight vehicle according to claim 4, wherein the connection is an elastic body. The unmanned according to any one of the preceding claims, wherein each of the one or more microphones is fixed to the outer side of the one or more ducts respectively corresponding to each of the one or more microphones. Flying body.

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