WO2021059323A1 - Attachment and aircraft - Google Patents

Attachment and aircraft Download PDF

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Publication number
WO2021059323A1
WO2021059323A1 PCT/JP2019/037209 JP2019037209W WO2021059323A1 WO 2021059323 A1 WO2021059323 A1 WO 2021059323A1 JP 2019037209 W JP2019037209 W JP 2019037209W WO 2021059323 A1 WO2021059323 A1 WO 2021059323A1
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WO
WIPO (PCT)
Prior art keywords
attachment
box body
groove
present
slit
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PCT/JP2019/037209
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French (fr)
Japanese (ja)
Inventor
鈴木陽一
Original Assignee
株式会社エアロネクスト
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 株式会社エアロネクスト filed Critical 株式会社エアロネクスト
Priority to PCT/JP2019/037209 priority Critical patent/WO2021059323A1/en
Priority to JP2019552936A priority patent/JPWO2021059323A1/ja
Priority to CN201980102457.4A priority patent/CN114761325A/en
Publication of WO2021059323A1 publication Critical patent/WO2021059323A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices

Definitions

  • the present invention relates to an attachment and an air vehicle equipped with the attachment, and more particularly to an air vehicle having a mounting portion capable of mounting luggage and the like.
  • Patent Document 1 discloses a delivery system using an air vehicle (see, for example, Patent Document 1). The delivery system forms a shipping inventory for delivering packages that the flying object (drone) autonomously delivers to the delivery destination.
  • the flying object of Patent Document 1 may have a problem that the flight efficiency is lowered especially when moving forward with a load.
  • one object of the present invention is to provide an attachment capable of improving flight efficiency and an air vehicle equipped with the attachment.
  • the attachment according to the present invention is an attachment that can be attached to and detached from a box having a groove that opens through a slit that extends in the longitudinal direction and that opens on both sides in the longitudinal direction to form an entrance / exit. It has a protrusion that can be inserted into the groove through the doorway and the slit.
  • an attachment capable of improving flight efficiency and an air vehicle provided with the attachment.
  • the attachment according to the embodiment of the present invention and the flying object provided with the attachment have the following configurations.
  • [Item 1] It is an attachment that can be attached to and detached from a box body that has a groove that opens through a slit that extends in the longitudinal direction and that opens on both sides in the longitudinal direction to form an entrance / exit. It has a protrusion that can be inserted into the groove through the entrance and exit of the groove and the slit. attachment.
  • [Item 2] The attachment according to item 1.
  • the cross-sectional shape of the protrusion is T-shaped. attachment.
  • [Item 3] With the attachment described in item 1 or item 2, With an airframe that has a mounting part, The box body is mounted on the mounting portion via the attachment. Aircraft.
  • the air vehicle 1 is an air vehicle dedicated to home delivery business, and is a propeller 2 (lift generator: rotor blade) and a motor for rotating the propeller 2. 3, an arm 4 to which the motor 3 is mounted, and a mounting portion 5 provided on the arm 4 on which the box body 6 is mounted are provided.
  • the flying object 1 has the direction of the arrow D in the figure as the traveling direction (details will be described later).
  • the propeller 2 rotates by receiving the output from the motor 3.
  • the rotation of the propeller 2 generates a propulsive force for taking off the flying object 1 from the starting point, moving it horizontally, and landing it at the destination.
  • the propeller 2 can rotate to the right, stop, and rotate to the left.
  • the propeller 2 of the present invention has an elongated blade. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof. The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces). The blades can be formed into air wheels, wings, or geometric shapes suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.
  • rotors e. 1, 2, 3, 4, or more blades
  • shape of the blade can be any shape such as a flat shape, a bent shape,
  • the motor 3 causes the rotation of the propeller 2, for example, the drive unit can include an electric motor, an engine, or the like.
  • the vanes are driveable by the motor and rotate clockwise and / or counterclockwise around the axis of rotation of the motor (eg, the major axis of the motor).
  • the blades can all rotate in the same direction, or can rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction.
  • the blades can all rotate at the same rotation speed, and can also rotate at different rotation speeds.
  • the number of rotations can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
  • the arm 4 is a member that supports the corresponding motor 3 and propeller 2, respectively.
  • the arm 4 may be provided with a color-developing body such as an LED to indicate the flight state, flight direction, etc. of the rotary wing aircraft.
  • the arm 4 according to the present embodiment can be formed of a material appropriately selected from carbon, stainless steel, aluminum, magnesium and the like, alloys thereof, combinations and the like.
  • the mounting unit 5 is a mechanism for mounting and holding the box body 6.
  • the mounting portion 5 is composed of a pair of members configured at predetermined intervals in the left-right direction.
  • the mounting unit 5 always holds the state in a predetermined direction (for example, a horizontal direction (vertically downward)) so that the position and orientation of the mounted box 6 can be maintained.
  • the mounting portion 5 has a hinge (gimbal) 50, and the box body 6 is configured to bend according to the inclination of the flying object 1 with the hinge 50 as a fulcrum.
  • the angle at which the hinge 50 bends is not particularly limited. For example, as shown in FIG. 1, it is sufficient that the position and direction of the box body 6 can be kept horizontal even when the flying object 1 flies in a forward leaning posture. As a result, the box body 6 is always held in a vertically downwardly suspended state, and can be delivered to the destination while maintaining the position and state at the starting point.
  • the hinge 50 according to the present embodiment is movable only in the front-rear direction, which is the same direction as the traveling direction. However, it may be movable in the left-right direction.
  • the hinge 50 may be controlled by a motor or the like. As a result, the box body 6 is more prevented from wobbling (natural vibration, etc.) during flight.
  • the shape and mechanism of the mounting portion 5 are not particularly limited as long as the box body 6 can be stored and held, and the box body 6 mounted on the first mounting portion 30 tilts or holds its position. Anything that can be done can be used.
  • the mounting portion 5 according to the present embodiment is provided behind the center of gravity Gh in the front-rear direction of the flying object 1 in the traveling direction D by a predetermined distance L1.
  • the predetermined distance L1 is determined so that the box body 6 does not overlap with the circular region generated by the rotation of the rear propeller 2, even if only partially, in the vertical direction.
  • the predetermined distance L1 is set to a value such that the propeller 2 that rotates when viewed from above the propeller 2 and the box body 6 do not overlap.
  • the box body 6 is provided at a position that is not affected by the wake region generated from the rear propeller 2.
  • the mounting portion 5 can be provided at an arbitrary position on the arm 4. It is also possible to change the position by moving the slide after mounting.
  • the upper surface member 60 and the lower surface member 61 forming the XY planes of the XYZ coordinate axes are It includes a front surface member 62 and a rear surface member 63 that form the XX surface, and side surface members 64 on both sides that form the YY surface.
  • the box body 6 is for carrying a parcel for home delivery inside.
  • Reference numerals 65 shown in FIGS. 2 to 4 are a pair of outer covers.
  • Such a box body 6 is symmetrical in the front-rear, left-right, and up-down directions like a normal one. Therefore, the upper, lower, front, and lower parts of the member names shown as the upper surface material 60, the lower surface material 61, the front surface material 62, and the rear surface material 63 represent a state when they are tentatively placed upright as shown in the drawing.
  • the box body 6 is opened through a slit 66 extending in the Y direction (longitudinal direction). As shown in FIG. 2, the slits 66 are provided at a predetermined interval in the central portion in the X direction (short direction). Such a slit 66 may be automatically inserted at the time of manufacturing the box body 6 or the like, or may be inserted into the seamless box body 6 with a cutter or the like.
  • the box body 6 has groove portions 67 having openings on both sides in the Y direction. Such a groove portion 67 is provided to form an entrance / exit through which the neck portion 71 of the attachment 7, which will be described later, can pass.
  • the attachment 7 is removable from the box body 6.
  • the attachment 7 has a protrusion shape that can be inserted into the groove portion 67 via the groove portion 67 and the slit 66 that serve as entrances and exits.
  • the attachment 7 has a T-shape in cross section.
  • the attachment 7 since the attachment 7 has a constant cross-sectional shape, it can be extruded by a base. This has the advantage that the attachment 7 can be manufactured at low cost.
  • the attachment 7 has a head 70 protruding in the Z direction and a pair of neck portions 71 protruding in the X direction.
  • the head 70 has a predetermined width in the X direction (see FIG. 6) and a predetermined length in the Y direction (see FIG. 5).
  • the head 70 arranged in the slit 66 of the box body 6 is formed with a hole 72 for passing a pin 80 for attaching the attachment 7 to the mounting portion 5 in the central portion in the Y direction.
  • the neck portion 71 arranged in the groove portion 67 of the box body 6 has a predetermined width in the Z direction (see FIG. 5) and a predetermined length in the X direction (see FIG. 6).
  • the method of fixing the attachment 7 to the box body 6 is arbitrary, but in the illustrated embodiment, the attachment 7 is boxed by sandwiching the head 70 of the attachment 7 between the pair of outer covers 65 and the pin 80. Strongly fixed to body 6. That is, in the present embodiment, strong fixing is maintained by the integralness of the portion of the outer cover 65 and the portion of the head 70.
  • the above-mentioned flying object has a functional block shown in FIG.
  • the functional block in FIG. 5 has a minimum reference configuration.
  • the flight controller is a so-called processing unit.
  • the processing unit can have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)).
  • the processing unit has a memory (not shown), and the memory can be accessed.
  • Memory stores logic, code, and / or program instructions that a processing unit can execute to perform one or more steps.
  • the memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
  • the processing unit includes a control module configured to control the state of the aircraft.
  • the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls).
  • the transmitter / receiver can use any suitable communication means such as wired communication or wireless communication.
  • the transmitter / receiver uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to.
  • the transmitter / receiver can transmit and / or receive one or more of the data acquired by the sensors, the processing result generated by the processing unit, the predetermined control data, the user command from the terminal or the remote control, and the like. ..
  • the sensors according to this embodiment may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
  • an inertial sensor accelerelerometer, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, rider
  • vision / image sensor eg, camera
  • the air vehicle of the present invention can be expected to be used as an air vehicle dedicated to home delivery business and as an industrial air vehicle in warehouses and factories. Further, the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. In addition, it can be used in various industries such as security field, agriculture, and infrastructure monitoring.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

[Problem] To provide an attachment that can improve flight efficiency, and an aircraft provided therewith. [Solution] This attachment is attachable to a box body that has a groove which opens through a slit extending in the longitudinal direction and which opens at both sides in the longitudinal direction to form an entrance/exit, and the attachment has a protruding part which can be inserted into the groove via the entrance/exit and the slit of the groove. The cross section of the protruding part has a T-shape.

Description

アタッチメント及び飛行体Attachments and flying objects
　本発明は、アタッチメント及びこれを備えた飛行体に関し、特に荷物等を搭載可能な搭載部を有する飛行体に関する。 The present invention relates to an attachment and an air vehicle equipped with the attachment, and more particularly to an air vehicle having a mounting portion capable of mounting luggage and the like.
　近年、ドローン（Ｄｒｏｎｅ）や無人航空機（ＵＡＶ：Ｕｎｍａｎｎｅｄ　Ａｅｒｉａｌ　Ｖｅｈｉｃｌｅ）などの飛行体（以下、「飛行体」と総称する）を利用して荷物の配達を行う試みがなされている。特許文献１には、飛行体による配達システムが開示されている（例えば、特許文献１参照）。配達システムは、飛行体（ドローン）が自律して宅配する荷物を宅配先に配達するための出荷目録を形成している。 In recent years, attempts have been made to deliver luggage using flying objects (hereinafter collectively referred to as "flying objects") such as drones and unmanned aerial vehicles (UAVs). Patent Document 1 discloses a delivery system using an air vehicle (see, for example, Patent Document 1). The delivery system forms a shipping inventory for delivering packages that the flying object (drone) autonomously delivers to the delivery destination.
米国特許公開公報２０１５－０１２００９４　Ａ１US Patent Publication 2015-01200 94 A1
　特許文献１の飛行体は、特に荷物を搭載した状態で前進する際に飛行効率が下がるという問題が生じ得る。 The flying object of Patent Document 1 may have a problem that the flight efficiency is lowered especially when moving forward with a load.
　そこで、本発明は、飛行効率を向上し得るアタッチメント及びこれを備えた飛行体を提供することを一つの目的とする。 Therefore, one object of the present invention is to provide an attachment capable of improving flight efficiency and an air vehicle equipped with the attachment.
　本発明によるアタッチメントは、長手方向に延びるスリットを介して開口すると共に、前記長手方向の両側が開口して出入り口を形成する溝部を有する箱体に対して着脱可能なアタッチメントであって、前記溝部の前記出入り口及び前記スリットを介して前記溝部の内部に挿入可能な突起部を有する。 The attachment according to the present invention is an attachment that can be attached to and detached from a box having a groove that opens through a slit that extends in the longitudinal direction and that opens on both sides in the longitudinal direction to form an entrance / exit. It has a protrusion that can be inserted into the groove through the doorway and the slit.
　本発明によれば、飛行効率を向上し得るアタッチメント及びこれを備えた飛行体を提供し得る。 According to the present invention, it is possible to provide an attachment capable of improving flight efficiency and an air vehicle provided with the attachment.
本実施の形態による飛行体の進行時の状態を表す図である。It is a figure which shows the state at the time of traveling of the flying object by this embodiment. 本実施の形態によるアタッチメント及び箱体の全体斜視図である。It is the whole perspective view of the attachment and the box body by this embodiment. アタッチメントを箱体に装着した状態を示す側面視図である。It is a side view which shows the state which attached the attachment to a box body. アタッチメントを箱体に装着した状態を示す正面視図である。It is a front view which shows the state which attached the attachment to a box body. アタッチメントの側面視図である。It is a side view of the attachment. アタッチメントの正面視図である。It is a front view of the attachment. 飛行体の一般的な機能ブロック図である。It is a general functional block diagram of an air vehicle.
　本発明の実施形態の内容を列記して説明する。本発明の実施の形態によるアタッチメント及びこれを備えた飛行体は、以下のような構成を備える。
　[項目１]
　長手方向に延びるスリットを介して開口すると共に、前記長手方向の両側が開口して出入り口を形成する溝部を有する箱体に対して着脱可能なアタッチメントであって、
前記溝部の前記出入り口及び前記スリットを介して前記溝部の内部に挿入可能な突起部を有する、
アタッチメント。
　[項目２]
　項目１に記載のアタッチメントであって、
　前記突起部の断面形状がＴ字状である、
アタッチメント。
　[項目３]
　項目１又は項目２に記載のアタッチメントと、
　搭載部を有する機体と、を有し、
前記箱体は前記アタッチメントを介して前記搭載部に搭載される、
飛行体。 The contents of the embodiments of the present invention will be described in a list. The attachment according to the embodiment of the present invention and the flying object provided with the attachment have the following configurations.
[Item 1]
It is an attachment that can be attached to and detached from a box body that has a groove that opens through a slit that extends in the longitudinal direction and that opens on both sides in the longitudinal direction to form an entrance / exit.
It has a protrusion that can be inserted into the groove through the entrance and exit of the groove and the slit.
attachment.
[Item 2]
The attachment according to item 1.
The cross-sectional shape of the protrusion is T-shaped.
attachment.
[Item 3]
With the attachment described in item 1 or item 2,
With an airframe that has a mounting part,
The box body is mounted on the mounting portion via the attachment.
Aircraft.
＜実施の形態の詳細＞
　以下、本発明の実施の形態による飛行体について、図面を参照しながら説明する。 <Details of the embodiment>
Hereinafter, the flying object according to the embodiment of the present invention will be described with reference to the drawings.
＜本発明による実施の形態の詳細＞
　図１に示されるように、本発明の実施の形態による飛行体１は、宅配業務専用の飛行体であって、プロペラ２（揚力発生部：回転翼）と、プロペラ２を回転させるためのモータ３と、モータ３が取り付けられているアーム４と、アーム４に設けられ箱体６が搭載される搭載部５とを備えている。飛行体１は図の矢印Ｄの方向を進行方向としている（詳しくは後述する）。 <Details of Embodiments According to the Present Invention>
As shown in FIG. 1, the air vehicle 1 according to the embodiment of the present invention is an air vehicle dedicated to home delivery business, and is a propeller 2 (lift generator: rotor blade) and a motor for rotating the propeller 2. 3, an arm 4 to which the motor 3 is mounted, and a mounting portion 5 provided on the arm 4 on which the box body 6 is mounted are provided. The flying object 1 has the direction of the arrow D in the figure as the traveling direction (details will be described later).
　プロペラ２は、モータ３からの出力を受けて回転する。プロペラ２が回転することによって、飛行体１を出発地から離陸させ、水平移動させ、目的地に着陸させるための推進力が発生する。なお、プロペラ２は、右方向への回転、停止及び左方向への回転が可能である。 The propeller 2 rotates by receiving the output from the motor 3. The rotation of the propeller 2 generates a propulsive force for taking off the flying object 1 from the starting point, moving it horizontally, and landing it at the destination. The propeller 2 can rotate to the right, stop, and rotate to the left.
　本発明のプロペラ２は、羽根は細長い形状を有している。任意の羽根（回転子）の数（例えば、１、２、３、４、またはそれ以上の羽根）でよい。また、羽根の形状は、平らな形状、曲がった形状、よじれた形状、テーパ形状、またはそれらの組み合わせ等の任意の形状が可能である。なお、羽根の形状は変化可能である（例えば、伸縮、折りたたみ、折り曲げ等）。羽根は対称的（同一の上部及び下部表面を有する）または非対称的（異なる形状の上部及び下部表面を有する）であってもよい。羽根はエアホイル、ウイング、または羽根が空中を移動される時に動的空気力（例えば、揚力、推力）を生成するために好適な幾何学形状に形成可能である。羽根の幾何学形状は、揚力及び推力を増加させ、抗力を削減する等の、羽根の動的空気特性を最適化するために適宜選択可能である。 The propeller 2 of the present invention has an elongated blade. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof. The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces). The blades can be formed into air wheels, wings, or geometric shapes suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.
　モータ３は、プロペラ２の回転を生じさせるものであり、例えば、駆動ユニットは、電気モータ又はエンジン等を含むことが可能である。羽根は、モータによって駆動可能であり、時計方向に及び／または反時計方向に、モータの回転軸（例えば、モータの長軸）の周りに回転する。 The motor 3 causes the rotation of the propeller 2, for example, the drive unit can include an electric motor, an engine, or the like. The vanes are driveable by the motor and rotate clockwise and / or counterclockwise around the axis of rotation of the motor (eg, the major axis of the motor).
　羽根は、すべて同一方向に回転可能であるし、独立して回転することも可能である。羽根のいくつかは一方の方向に回転し、他の羽根は他方方向に回転する。羽根は、同一回転数ですべて回転することも可能であり、夫々異なる回転数で回転することも可能である。回転数は移動体の寸法（例えば、大きさ、重さ）や制御状態（速さ、移動方向等）に基づいて自動又は手動により定めることができる。 The blades can all rotate in the same direction, or can rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction. The blades can all rotate at the same rotation speed, and can also rotate at different rotation speeds. The number of rotations can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
　アーム４は、それぞれ対応するモータ３及びプロペラ２を支持している部材である。アーム４には、回転翼機の飛行状態、飛行方向等を示すためにＬＥＤ等の発色体を設けることとしてもよい。本実施の形態によるアーム４は、カーボン、ステンレス、アルミニウム、マグネシウム等またはこれらの合金又は組合わせ等から適宜選択される素材で形成することが可能である。 The arm 4 is a member that supports the corresponding motor 3 and propeller 2, respectively. The arm 4 may be provided with a color-developing body such as an LED to indicate the flight state, flight direction, etc. of the rotary wing aircraft. The arm 4 according to the present embodiment can be formed of a material appropriately selected from carbon, stainless steel, aluminum, magnesium and the like, alloys thereof, combinations and the like.
　搭載部５は、箱体６を搭載・保持するための機構である。搭載部５は、左右方向に所定の間隔を隔てて構成された一対の部材からなる。搭載部５は、搭載された箱体６の位置及び向きを維持することができるように、常に所定の方向（例えば、水平方向（鉛直下向き））に、その状態を保持する。 The mounting unit 5 is a mechanism for mounting and holding the box body 6. The mounting portion 5 is composed of a pair of members configured at predetermined intervals in the left-right direction. The mounting unit 5 always holds the state in a predetermined direction (for example, a horizontal direction (vertically downward)) so that the position and orientation of the mounted box 6 can be maintained.
　より具体的には、搭載部５は、ヒンジ（ジンバル）５０を有しており、当該ヒンジ５０を支点として、箱体６が飛行体１の傾きに応じて、折れ曲がるように構成されている。ヒンジ５０が折れ曲がる角度は、特に限定されない。例えば、図１に示されるように、飛行体１が前傾姿勢で飛行した場合であっても箱体６の位置・方向を水平に保つことができればよい。これにより、箱体６は、常に鉛直方向下向きに懸垂された状態で保持され、出発地点における位置、状態を保持しながら、目的地まで配達することが可能となる。本実施の形態によるヒンジ５０は、進行方向と同じ方向である前後方向のみに可動するものである。しかしながら、左右方向に可動するものであってもよい。 More specifically, the mounting portion 5 has a hinge (gimbal) 50, and the box body 6 is configured to bend according to the inclination of the flying object 1 with the hinge 50 as a fulcrum. The angle at which the hinge 50 bends is not particularly limited. For example, as shown in FIG. 1, it is sufficient that the position and direction of the box body 6 can be kept horizontal even when the flying object 1 flies in a forward leaning posture. As a result, the box body 6 is always held in a vertically downwardly suspended state, and can be delivered to the destination while maintaining the position and state at the starting point. The hinge 50 according to the present embodiment is movable only in the front-rear direction, which is the same direction as the traveling direction. However, it may be movable in the left-right direction.
　ここで、ヒンジ５０は、モータ等によって制御することとしてもよい。これにより、飛行時に箱体６のふらつき（自然振動等）がより防止される。 Here, the hinge 50 may be controlled by a motor or the like. As a result, the box body 6 is more prevented from wobbling (natural vibration, etc.) during flight.
　搭載部５の形状・機構は、箱体６を収納したり保持したりすることができれば特に制限されるものではなく、第１搭載部３０に搭載される箱体６が傾いたりその位置を保持することができるものであればどのようなものであってもよい。本実施の形態による搭載部５は、飛行体１の前後方向における重心Ｇｈよりも所定距離Ｌ１だけ進行方向Ｄにおいて後方に設けられている。所定距離Ｌ１は、箱体６が、部分的にであっても、少なくとも後方のプロペラ２が回転することによって生じる円領域と上下方向において重複しないように定められる。換言すれば、所定距離Ｌ１は、プロペラ２の上方から見た場合に回転するプロペラ２と箱体６とが重複しないような値に定められる。より好ましくは、箱体６が後方のプロペラ２から発生する後流領域の影響を受けない位置に設けられている。なお、搭載部５は、アーム４上の任意の位置に設けることが可能である。また、取り付け後にスライド移動等することによって、その位置を変更することも可能である。 The shape and mechanism of the mounting portion 5 are not particularly limited as long as the box body 6 can be stored and held, and the box body 6 mounted on the first mounting portion 30 tilts or holds its position. Anything that can be done can be used. The mounting portion 5 according to the present embodiment is provided behind the center of gravity Gh in the front-rear direction of the flying object 1 in the traveling direction D by a predetermined distance L1. The predetermined distance L1 is determined so that the box body 6 does not overlap with the circular region generated by the rotation of the rear propeller 2, even if only partially, in the vertical direction. In other words, the predetermined distance L1 is set to a value such that the propeller 2 that rotates when viewed from above the propeller 2 and the box body 6 do not overlap. More preferably, the box body 6 is provided at a position that is not affected by the wake region generated from the rear propeller 2. The mounting portion 5 can be provided at an arbitrary position on the arm 4. It is also possible to change the position by moving the slide after mounting.
　本発明の箱体６は、図２のように立てて置かれたときに、図２乃至図４に示すように、ＸＹＺ座標軸のＸ－Ｙ面を形成する上面材６０及び下面材６１と、Ｘ－Ｚ面を形成する前面材６２及び後面材６３と、Ｙ－Ｚ面を形成する両側の側面材６４とを備えている。箱体６は、宅配用の荷物を中に入れて運搬するためのものである。図２乃至図４に示す符号６５は一対の外カバーである。このような箱体６は、通常のものと同様に前後、左右及び上下方向に対称になっている。従って、上面材６０、下面材６１、前面材６２及び後面材６３として示している部材名称のうちの上下前後は、仮に図示の如く立てて置いたときの状態を表現したものである。 When the box body 6 of the present invention is placed upright as shown in FIG. 2, as shown in FIGS. 2 to 4, the upper surface member 60 and the lower surface member 61 forming the XY planes of the XYZ coordinate axes are It includes a front surface member 62 and a rear surface member 63 that form the XX surface, and side surface members 64 on both sides that form the YY surface. The box body 6 is for carrying a parcel for home delivery inside. Reference numerals 65 shown in FIGS. 2 to 4 are a pair of outer covers. Such a box body 6 is symmetrical in the front-rear, left-right, and up-down directions like a normal one. Therefore, the upper, lower, front, and lower parts of the member names shown as the upper surface material 60, the lower surface material 61, the front surface material 62, and the rear surface material 63 represent a state when they are tentatively placed upright as shown in the drawing.
　箱体６は、図２に示すように、Ｙ方向（長手方向）に延びるスリット６６を介して開口している。スリット６６は、図２に示すように、Ｘ方向（短手方向）の中央部分に所定の間隔を空けて設けられている。このようなスリット６６は、箱体６の製造時等に自動的に入れられてもよいし、切れ目のない箱体６にカッター等で入れてもよい。 As shown in FIG. 2, the box body 6 is opened through a slit 66 extending in the Y direction (longitudinal direction). As shown in FIG. 2, the slits 66 are provided at a predetermined interval in the central portion in the X direction (short direction). Such a slit 66 may be automatically inserted at the time of manufacturing the box body 6 or the like, or may be inserted into the seamless box body 6 with a cutter or the like.
箱体６は、図２に示すように、Ｙ方向の両側が開口した溝部６７を有している。このような溝部６７は、後述するアタッチメント７の首部７１が通過可能な出入り口を形成するために設けられている。 As shown in FIG. 2, the box body 6 has groove portions 67 having openings on both sides in the Y direction. Such a groove portion 67 is provided to form an entrance / exit through which the neck portion 71 of the attachment 7, which will be described later, can pass.
　アタッチメント７は、箱体６に対して着脱可能である。アタッチメント７は、出入り口となる溝部６７及びスリット６６を介して溝部６７の内部に挿入可能な突起形状を有する。アタッチメント７は、図６に示すように、断面視Ｔ字状である。このように、アタッチメント７は、一定の断面形状を持つため、口金による押し出し成形が可能である。これにより、アタッチメント７を低コストで製造できるというメリットがある。 The attachment 7 is removable from the box body 6. The attachment 7 has a protrusion shape that can be inserted into the groove portion 67 via the groove portion 67 and the slit 66 that serve as entrances and exits. As shown in FIG. 6, the attachment 7 has a T-shape in cross section. As described above, since the attachment 7 has a constant cross-sectional shape, it can be extruded by a base. This has the advantage that the attachment 7 can be manufactured at low cost.
アタッチメント７は、図６に示すように、Ｚ方向に突出する頭部７０と、Ｘ方向に突出する一対の首部７１と、を有している。頭部７０は、Ｘ方向において所定の幅を有し（図６参照）、Ｙ方向において所定の長さを有する（図５参照）。箱体６のスリット６６に配される頭部７０には、図５に示すように、Ｙ方向の中央部分において、搭載部５にアタッチメント７を取り付けるピン８０を通すための孔部７２が形成されている。箱体６の溝部６７に配される首部７１は、Ｚ方向において所定の幅を有し（図５参照）、Ｘ方向において所定の長さを有する（図６参照）。 As shown in FIG. 6, the attachment 7 has a head 70 protruding in the Z direction and a pair of neck portions 71 protruding in the X direction. The head 70 has a predetermined width in the X direction (see FIG. 6) and a predetermined length in the Y direction (see FIG. 5). As shown in FIG. 5, the head 70 arranged in the slit 66 of the box body 6 is formed with a hole 72 for passing a pin 80 for attaching the attachment 7 to the mounting portion 5 in the central portion in the Y direction. ing. The neck portion 71 arranged in the groove portion 67 of the box body 6 has a predetermined width in the Z direction (see FIG. 5) and a predetermined length in the X direction (see FIG. 6).
　箱体６に対するアタッチメント７の固定方法は任意であるが、図示の実施の形態においては、一対の外カバー６５と、ピン８０とで、アタッチメント７の頭部７０を挟むことで、アタッチメント７を箱体６に強固定する。すなわち、本実施形態においては、外カバー６５の部分と、頭部７０の部分との一体性により強固な固定が維持される。 The method of fixing the attachment 7 to the box body 6 is arbitrary, but in the illustrated embodiment, the attachment 7 is boxed by sandwiching the head 70 of the attachment 7 between the pair of outer covers 65 and the pin 80. Strongly fixed to body 6. That is, in the present embodiment, strong fixing is maintained by the integralness of the portion of the outer cover 65 and the portion of the head 70.
　上述した飛行体は、図５に示される機能ブロックを有している。なお、図５の機能ブロックは最低限の参考構成である。フライトコントローラは、所謂処理ユニットである。処理ユニットは、プログラマブルプロセッサ（例えば、中央処理ユニット（ＣＰＵ））などの１つ以上のプロセッサを有することができる。処理ユニットは、図示しないメモリを有しており、当該メモリにアクセス可能である。メモリは、１つ以上のステップを行うために処理ユニットが実行可能であるロジック、コード、および／またはプログラム命令を記憶している。メモリは、例えば、ＳＤカードやランダムアクセスメモリ（ＲＡＭ）などの分離可能な媒体または外部の記憶装置を含んでいてもよい。カメラやセンサ類から取得したデータは、メモリに直接に伝達されかつ記憶されてもよい。例えば、カメラ等で撮影した静止画・動画データが内蔵メモリ又は外部メモリに記録される。 The above-mentioned flying object has a functional block shown in FIG. The functional block in FIG. 5 has a minimum reference configuration. The flight controller is a so-called processing unit. The processing unit can have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)). The processing unit has a memory (not shown), and the memory can be accessed. Memory stores logic, code, and / or program instructions that a processing unit can execute to perform one or more steps. The memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. The data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
　処理ユニットは、飛行体の状態を制御するように構成された制御モジュールを含んでいる。例えば、制御モジュールは、６自由度（並進運動ｘ、ｙ及びｚ、並びに回転運動θｘ、θｙ及びθｚ）を有する飛行体の空間的配置、速度、および／または加速度を調整するために飛行体の推進機構（モータ等）を制御する。制御モジュールは、搭載部、センサ類の状態のうちの１つ以上を制御することができる。 The processing unit includes a control module configured to control the state of the aircraft. For example, the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion θ x , θ y and θ z). Controls the propulsion mechanism (motor, etc.) of the aircraft. The control module can control one or more of the states of the mounting unit and the sensors.
　処理ユニットは、１つ以上の外部のデバイス（例えば、端末、表示装置、または他の遠隔の制御器）からのデータを送信および／または受け取るように構成された送受信部と通信可能である。送受信機は、有線通信または無線通信などの任意の適当な通信手段を使用することができる。例えば、送受信部は、ローカルエリアネットワーク（ＬＡＮ）、ワイドエリアネットワーク（ＷＡＮ）、赤外線、無線、ＷｉＦｉ、ポイントツーポイント（Ｐ２Ｐ）ネットワーク、電気通信ネットワーク、クラウド通信などのうちの１つ以上を利用することができる。送受信部は、センサ類で取得したデータ、処理ユニットが生成した処理結果、所定の制御データ、端末または遠隔の制御器からのユーザコマンドなどのうちの１つ以上を送信および／または受け取ることができる。 The processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls). The transmitter / receiver can use any suitable communication means such as wired communication or wireless communication. For example, the transmitter / receiver uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to. The transmitter / receiver can transmit and / or receive one or more of the data acquired by the sensors, the processing result generated by the processing unit, the predetermined control data, the user command from the terminal or the remote control, and the like. ..
　本実施の形態によるセンサ類は、慣性センサ（加速度センサ、ジャイロセンサ）、ＧＰＳセンサ、近接センサ（例えば、ライダー）、またはビジョン／イメージセンサ（例えば、カメラ）を含み得る。 The sensors according to this embodiment may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
　本発明の飛行体は、宅配業務専用の飛行体としての利用、及び倉庫、工場内における産業用の飛行体としての利用が期待できる。また、本発明の飛行体は、マルチコプター・ドローン等の飛行機関連産業において利用することができ、さらに、本発明は、カメラ等を搭載した空撮用の飛行体としても好適に使用することができる他、セキュリティ分野、農業、インフラ監視等の様々な産業にも利用することができる。 The air vehicle of the present invention can be expected to be used as an air vehicle dedicated to home delivery business and as an industrial air vehicle in warehouses and factories. Further, the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. In addition, it can be used in various industries such as security field, agriculture, and infrastructure monitoring.
　上述した実施の形態は、本発明の理解を容易にするための例示に過ぎず、本発明を限定して解釈するためのものではない。本発明は、その趣旨を逸脱することなく、変更、改良することができると共に、本発明にはその均等物が含まれることは言うまでもない。 The above-described embodiment is merely an example for facilitating the understanding of the present invention, and is not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes an equivalent thereof.
　１　飛行体
　５　搭載部
　６　箱体
　７　アタッチメント 1 flying object 5 mounting part 6 box body 7 attachment

Claims (3)

  1. 長手方向に延びるスリットを介して開口すると共に、前記長手方向の両側が開口して出入り口を形成する溝部を有する箱体に対して着脱可能なアタッチメントであって、
    前記溝部の前記出入り口及び前記スリットを介して前記溝部の内部に挿入可能な突起部を有する、
    アタッチメント。     It is an attachment that can be attached to and detached from a box body that has a groove that opens through a slit that extends in the longitudinal direction and that opens on both sides in the longitudinal direction to form an entrance / exit.
    It has a protrusion that can be inserted into the groove through the entrance and exit of the groove and the slit.
    attachment.
  2. 請求項１に記載のアタッチメントであって、
    前記突起部の断面形状がＴ字状である、
    アタッチメント。     The attachment according to claim 1.
    The cross-sectional shape of the protrusion is T-shaped.
    attachment.
  3. 請求項１又は請求項２に記載のアタッチメントと、
    搭載部を有する機体と、を有し、
    前記箱体は前記アタッチメントを介して前記搭載部に搭載される、
    飛行体。
          With the attachment according to claim 1 or 2.
    With an airframe that has a mounting part,
    The box body is mounted on the mounting portion via the attachment.
    Aircraft.
PCT/JP2019/037209 2019-09-24 2019-09-24 Attachment and aircraft WO2021059323A1 (en)

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CN201980102457.4A CN114761325A (en) 2019-09-24 2019-09-24 Accessory and flying object

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS487435U (en) * 1971-06-07 1973-01-27
JPS49137915U (en) * 1973-03-30 1974-11-27
US20160376066A1 (en) * 2015-06-29 2016-12-29 H.B. Fuller Company Discrete handles for containers
JP2018203226A (en) * 2018-03-13 2018-12-27 株式会社エアロネクスト Flight vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS487435U (en) * 1971-06-07 1973-01-27
JPS49137915U (en) * 1973-03-30 1974-11-27
US20160376066A1 (en) * 2015-06-29 2016-12-29 H.B. Fuller Company Discrete handles for containers
JP2018203226A (en) * 2018-03-13 2018-12-27 株式会社エアロネクスト Flight vehicle

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