JP2005192869A - Midair swimming body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a midair swimming body which can move in the air according to the operation command floating in the air. <P>SOLUTION: A fish-like midair swimming body 1 has a balloon 111 of the head part 11 thereof sealed with a He gas and a balloon 131 of the body part 13 thereof sealed with a He gas for floating itself. The fish-like midair swimming body 1 has the head part 11, the body part 13 (or tail handle) and the tail fin 15 of the fish and all of them are linked with link parts 31 and 32. The body part 13 and the tail fin 15 are driven with two servomechanisms 51 and 52. A computer for control carried on the body part 13 varies the pulse width of PWM of the two servomechanisms 51 and 52 to change the rotating range of the servomechanisms 51 and 52. This causes a change in the operation start timing (phase difference τ) to differentiate the motion pattern and moving speed of the body part 13 and the tail fin 15. Thus, the fish-like midair swimming body 1 moves in the air according to the rotation of the body part 13 and the tail fin 15. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an aerial swimmer that floats in the air and is movable in the air.

  Various game robots are presented. Among such amusement robots, fish robots that simulate the movement of fish have been proposed.

Japanese Patent Application Laid-Open No. 2002-136776 discloses a swimming fish robot that is driven by a rotating shaft and has a plurality of ridges and tails.
Since this fish robot is shown to the audience in an aquarium or the like, it can move in the aquarium by moving the shark by driving the rotating shaft mounted on the fish robot in response to an operation signal by wireless communication.

Japanese Patent Application Laid-Open No. 11-318687 proposes an air floating body such as a carp streamer in a room or a store. This aerial floating body is suspended from a guide rod via a string, and the tail fin is moved up, down, left and right so that the shark swims in a suspended state like a carp streamer.
Japanese Patent Application Laid-Open No. 2002-136776 Japanese Patent Laid-Open No. 11-318687

There is a demand for an amusement robot that can move freely in the air according to the intention of the operator (user), not underwater as in JP-A-2002-136776, but not fixed as in JP-A-11-318687. .
For example, a spectacle where a fish-shaped play robot floats in the space of an indoor event venue and can move freely attracts the audience and softens the audience.

  An object of the present invention is to provide an aerial swimmer that can freely move in the air, such as a fish-shaped aerial swimmer.

According to the inventor's consideration, the propulsion principle of fish is typically a type in which the entire body is moved to the left and right like a carp, as illustrated schematically in FIGS. 1 (A) to (C). It can be roughly divided into a type that moves the left and right half of the body represented by fish such as carp and the like, and a type that moves only the caudal fin to the left and right like a river pig.
In producing the aerial swimmer of the present invention, the first problem is to float at a predetermined altitude. For this purpose, it is necessary to select a buoyant gas, the characteristics of a balloon that accommodates the gas, and to reduce the size and weight of a member mounted on the air swimming body. In addition, it is necessary that the air swimming body floats in the air and can be stopped, that is, the “floating state”. When the buoyancy of the gas is too large than the weight of the entire air swimming body aerial swimming body rises without endlessly like a balloon. On the other hand, when the buoyancy of gas is less than the weight of the entire aerial swimmer, the aerial swimmer falls to the ground. It is necessary to keep the buoyancy in balance with the weight of the air swimmer so that the air swimmer can float.
Next, the propulsive force in the air as an air swimming body becomes a problem. The inventor of the present application has attempted to produce a fish-shaped aerial swimmer that performs, for example, a saddle-shaped propulsion illustrated in FIG. 1B as an aerial swimmer. The shark-shaped fish-shaped aerial swimmer has excellent acceleration performance due to the added mass that changes as a result of tail movement (part from the ridge to the base of the ridge) and the movement of the ridge, as a driving force. .
However, in that case, the driving force concentrates on the joint (connecting portion) at the base of the caudal fin. Therefore, the strength is maintained while achieving a reduction in size and weight of the member mounted on the aerial swimmer.

According to the present invention, an aerial swimmer floating in the air,
A first portion, a second portion, a third portion, a first connecting means for movably connecting the first portion and the second portion, and the second portion, mounted on the aerial swimmer; And a second connecting means for movably connecting the third part, an electric first rotating means for rotating the second member with respect to the first member via the first connecting means, Electric second rotating means for rotating the third member relative to the second member via the second connecting means, gas for floating the air swimming body in the air, and at least the first portion And a gas container that surrounds the second part and accommodates the gas in the first part and the second part, and a power feeding means for feeding power to the first means and the second rotating means. ,
Furthermore, it is mounted on the aerial swimmer, or is not mounted on the aerial swimmer, and includes a control means for controlling the first and second rotating means according to an operation signal,
An aerial swimmer is provided that propels the air through rotation of the second part and / or the third part in a floating state.

  According to the present invention, an aerial swimmer that can move in the air while floating in the air has been realized.

  With reference to FIG. 2 to FIG. 5, a fish-shaped aerial swimmer whose appearance is a fish shape will be described as a first embodiment of the aerial swimmer of the present invention.

FIG. 2 is a diagram illustrating a state in which the fish-shaped aerial swimmer according to the embodiment of the present invention floats in the air in the room and is propelled and moved in a three-dimensional space according to the operation of the operator. The fish-shaped aerial swimmer according to the present embodiment is not only floating like a balloon, but can move up and down and left and right according to an operator's instruction while floating at a certain altitude.
Details of the fish-shaped aerial swimmer 1 according to the embodiment of the present invention that performs such floating and propulsion movement will be described.

3A to 3C are diagrams illustrating a schematic configuration of a balloon portion of the fish-shaped aerial swimmer illustrated in FIG. FIG. 3 (A) is a cross-sectional view of the fish-shaped aerial swimmer 1, and FIG. 3 (B) is a schematic view of the skeleton as viewed from above the fish-shaped aerial swimmer 1 perpendicular to FIG. 3 (A). FIG. 3C is a schematic configuration diagram of a balloon portion of the fish-shaped aerial swimmer 1.
The fish-shaped aerial swimmer 1 has a pair of left and right pectoral fins, and each pectoral fin is composed of three servos and a rod having a fan-like mechanism. Of the three servos, one is used for opening and closing the fan, and two is used for twisting and fanning. It operates with 3 degrees of freedom for each chest and 6 pairs of motions for the left and right pairs (pectoral movement means). The fish-shaped aerial swimmer 1 performs operations of propulsion, steering at the time of propulsion, turning at a fixed position, and parallel movement by the chest movement means.
The fish-shaped aerial swimmer 1 has a head 11, a trunk (or tail handle (portion from the heel to the base of the tail fin)) 13, and a tail fin (or tail portion) 15.
The head 11 is surrounded by a head balloon 111, and the head balloon 111 is filled with He gas 113. Similarly, the trunk (or tail handle) 13 is surrounded by a trunk balloon 131, and the trunk balloon 131 is filled with He gas 133. Each of the head balloon 111 and the trunk balloon 131 is made of a material that does not leak He gas 113 and He gas 133 and is lightweight.
The fish-shaped aerial swimmer 1 floats in the air by the ascending force of the He gas 113 filled in the head balloon 111 and the He gas 133 filled in the trunk balloon 131.

The skeleton portion head balloon 111 and the trunk balloon 131 are provided with a first penetrating portion 12 and a second penetrating portion 14, and the first member 21 and the second member 22 are disposed in the penetrating portions 12 and 14. It penetrates.
The first member 21 and the second member 22 are connected by a first connecting portion 31, and the second member 22 and the third member 23 are connected by a second connecting portion 32. The first connecting portion 31 and the second connecting portion 32 correspond to fish joint portions, respectively, and are provided outside the head balloon 111 and the trunk balloon 131. Thus, the fish-shaped aerial swimmer 1 has two joint portions 31 and 32.

  In the fish-shaped aerial swimmer 1 illustrated in FIGS. 3A and 3B, the first member 21 and the second member 22 can rotate about the first connecting portion 31 on the plane orthogonal to the paper surface. The 2nd member 22 and the 3rd member 23 can rotate centering on 2 connection part 32. As shown in FIG. Therefore, the head 11 and the trunk 13 of the fish-shaped aerial swimming body 1 rotate around the first connecting part 31, and the trunk 13 and the tail fin 15 can rotate around the second connecting part 32.

FIGS. 4A and 4B illustrate structural examples illustrated in FIG. 3B, that is, detailed configuration examples of the first member 21 to the third member 23 and the first connecting portions 31 and 32. FIG. 4A is a cross-sectional view, and FIG. 4B is a plan view. 4A and 4B also illustrate the dimensions of the present embodiment.
The first member 21 to the third member 23, the first connecting portion 31, and the second connecting portion 32 were reduced in weight while maintaining the strength.
The first block of the first member 21 is made of polyester resin as a substrate, a carbon basler is used for a portion where the control computer 41 is mounted, and a carbon fiber pipe and an acrylic plate are used for the first connecting portion 31.
The first member 21 housed in the first through-hole 12 of the body balloon 131 of the head 11 is formed of foamed polystyrene at the top and is shaped to be inserted into a carbon fiber pipe. In the vicinity of the first connecting portion 31 of the first member 21, a carbon bus plate is formed, and a control processing unit 40, a driving means 50, and a battery power source 60 are mounted on the carbon bus plate. .
The battery power source 60 provides power used to drive the control processing unit 40 and the driving unit 50.

The 2nd member 22 and the 3rd member 23 are comprised by the carbon fiber pipe of diameter 5mm.
The driving means 50 has a first servo 51 and a second servo 52.
The first servo 51 and the first connecting portion 31 are connected by a carbon fiber pipe having a diameter of 5 mm. The second servo 52 and the second connecting portion 32 are connected through a link mechanism made of a carbon fiber pipe having a diameter of 5 mm. 3A and 3B, the fish-shaped aerial swimmer 1 illustrated in FIGS. 3A and 3B drives the first servo 51 and the second servo 52 so that the fish-shaped aerial swimmer 1 swims in the plane perpendicular to the paper surface. The head portion 11 and the body portion 13 of the body 1 rotate about the first connection portion 31 as a pivot, and the body portion 13 and the tail fin 15 can rotate around the second connection portion 32.

FIG. 5 is an external view of a remote control servo used as the servos 51 and 52.
The remote control servo used for the fish-shaped aerial swimming body 1 has a main body 50a and a servo horn 50b. The main body 50a is fixed to the first member 21 by the method described above. When power is supplied via the cable 50c and a drive control signal is applied via the cable 50c, the servo horn 50b rotates and moves within a range of a predetermined angle, whereby the second member 22, The third member 23 rotates through the second connecting portion 32.

The servo for remote control used in the fish-shaped aerial swimming body 1 can be operated by the battery power source 60, is light because of floating, is small in size so as to be accommodated in the head balloon 111 of the head 11, and the servo horn second member 22 When the third member 23 is driven, it is necessary to have a predetermined torque and an operating angle sufficient to propel the fish-shaped aerial swimmer 1. However, the remote control servo does not require as much torque as the driving means used for the fish robot driven underwater.
The characteristics of the remote control servo used in the experimental example are illustrated below.

Characteristics of experimental remote control servo (1) Operating voltage 4.8-6VDC
(2) Rotation speed 01.1 to 0.5 seconds / 60 °
(3) Operating angle range ± 60 ° (0-120 °)
(4) Torque ± 0.5-20kg · cm
(5) Dimensions 20 x 11 x 18 to 60 x 30 x 55 mm
(6) Weight 6-120g

Such a rotation operation is performed by the control processing unit 40 that drives the servos 51 and 52 in accordance with an instruction from the operator.
The control processing unit 40 includes a control computer and a transmission / reception device.
The transmission / reception device 42 has an antenna, receives an operation instruction signal emitted from a controller owned by the operator as a radio signal using a high-frequency radio wave with a built-in antenna, converts it to an intermediate frequency signal, and sends it to a control computer. Further, the transmission / reception apparatus sends a signal from the control computer as a radio signal to the operator's controller via the antenna as necessary.
In addition, when moving the fish-shaped aerial swimming body 1 within a limited space in the room, an optical signal or a wireless system is used instead of the high-frequency wireless signal between the control computer and the controller used by the operator. Instead, it can be performed by a wired system. In that case, the cable is connected between the controller and the transmission / reception device.

The control computer receives the first servo 51 and / or the first servo in response to an operation instruction signal received from the operator via the transmission / reception device, for example, an operation instruction signal such as clockwise rotation, counterclockwise rotation, ascending or descending. 2 The servo 52 is driven. The servos 51 and 52 drive the trunk portion 13 and the tail fin 15 via the first connecting portion 31 and the second connecting portion 32.
Details of the control contents of the control computer will be described later.

Balloon Part FIG. 6 is a diagram illustrating the shape and dimensions of each part of the fish-shaped aerial swimmer 1.
The total length of the fish-shaped aerial swimmer 1 is, for example, about 2550 mm to 2600 mm, and the lateral width of the head 11 is 800 to 850 mm. The total volume was over 300 liters.
He gas 113 and He gas 133 are accommodated in the head balloon 111 and the trunk balloon 131, respectively, but the confidentiality is a problem. In this experimental example, as illustrated in FIG. 8 from the inner side to the outer side of the balloon, the paraffin paper 71, the aluminum thin film (film) 72, and the thin rubber plate 73 are stacked, and the paraffin paper 71 is heated with a heat sealer. The aluminum thin film 72 was fused to improve confidentiality.
The buoyancy of He gas is 1 g per liter. In the present experimental example, the total volume of the balloon portion of the fish-shaped air swimmer 1 was 300 liters or more, and the buoyancy of the fish-shaped air swimmer 1 was 300 g or more in the calculation.
Therefore, the total weight of the first members 21 to 23, the first connecting parts 31, 32, the control processing part 40, the driving means 50 (servo 51, 52) and the battery power source 60, the balloons 111, 131, etc. is 300 g or less. If so, the fish-shaped aerial swimmer 1 floats in the space. However, if the total weight of the fish-shaped air swimmer 1 is extremely lighter than the buoyancy of He gas, the fish-shaped air swimmer 1 will fly up like a balloon. Therefore, it is important that the buoyancy of He gas and the total weight of the fish-shaped aerial swimmer 1 are balanced so that the fish-shaped aerial swimmer 1 floats in the air.
When the buoyancy of He gas is more than the total weight of the fish-shaped aerial swimmer 1, it is possible to prevent the fish-shaped aerial swimmer 1 from flying by attaching a weight for weight adjustment or connecting a string.
In addition, it has a gravity center moving means which moves the weight for weight adjustment back and forth and right and left using two servos, and changes the gravity center position of the fish-shaped aerial swimmer 1. The fish-shaped aerial swimmer 1 can effectively perform various operations by the gravity center moving means.

Control Method of Control Computer The control computer drives the first servo 51 and the second servo 52 so that the operator instructs the fish-shaped aerial swimmer 1 to perform the operation through the controller. The control processing contents of the control computer will be described.
FIG. 8 is a waveform diagram of control signals for controlling the servos 51 and 52. For example, when a pulse signal with a pulse width of 1.0 to 2.0 ms is applied to the servos 51 and 52 with a period of 20 ms, the servo horn 50a of FIG. Stopping at an intermediate position, the servo horn 50a rotates counterclockwise when a pulse signal shorter than 1.5 ms width is applied, and the servo horn 50a rotates clockwise when a pulse signal longer than 1.5 ms width is applied. To do.
The servo horn 50a rotates ± 60 ° (0 to 120 °) according to the servo of the experimental example described above, and therefore, within a range of ± 60 ° by applying a pulse signal having a pulse width of 1.0 to 2.0 ms. Thus, the servo horn 50a can be rotationally driven.
As described above, the control computer can control the rotation of the servo horn 50a of the first servo 51 and the second servo 52 by the pulse width modulation (PWM) method.
Since the control computer performs PWM control at a predetermined cycle, for example, 20 ms, the control computer performs the above operation with an interrupt every 20 ms.

FIG. 9 is an exemplary pulse waveform diagram when the control computer drives one servo, for example, the first servo 51. In this example, the control computer 41 performs the following operation based on the PWM control process using the timer interrupt process for the above operation.
(1) An operation in which a pulse signal having a pulse width of 0.8 ms is applied to the first servo 51 at a cycle of 20 ms to rotate the servo horn 50a to a position of + 60 °.
(2) An operation of waiting for 800 ms without doing anything until the servo horn 50a rotates to the + 60 ° position.
(3) An operation in which a pulse signal having a pulse width of 2.2 ms is applied to the first servo 51 in a cycle of 20 ms to rotate the servo horn 50a to a position of −60 °.
(4) An operation of waiting for 800 ms without doing anything until the servo horn 50a rotates to the position of −60 °.
With the above operation, the servo horn 50a of the first servo 51 continuously swings in the range of ± 60 °.

FIG. 10 is an exemplary pulse waveform diagram in which the control computer drives the two servos 51 and 52 with a phase difference τ. When the phase difference τ changes, the phase difference between the operations of the two servos 51 and 52 also changes. As a result, the movements of the second member 22 in the body portion 13 and the third member 23 in the tail fin 15 portion change.
In the example illustrated in FIG. 10, the case where the phase difference τ is set to 400 ms and 800 ms is illustrated. In this embodiment, the phase is the same when τ = 0 ms and the opposite phase when τ = 800 ms.
11 (A) to 11 (C) and 11 (D) to 11 (F) respectively show the second member 22 in the body portion 13 and the third member 23 in the tail portion 15 at τ = 0 ms and τ = 800 ms. It is the graph which illustrated the exercise | movement for every 200 ms.
As described above, when the control computer applies PWM control to the first servo 51 and the second servo 52 with the phase difference τ, the body 13 and the tail fin 15 can be rotated to a desired angle.

FIGS. 12A and 12B illustrate the phase difference τ, the movement of the second member 22 of the trunk (or tail handle) 13 portion, the movement of the third member 23 of the tail fin 15 portion, and the driving force thereof. It is a typical figure.
By the rotation of the trunk (or tail handle) 13 and the tail fin 15, a propulsive force is generated in the fish-shaped aerial swimmer 1 floating in the air, and the fish-shaped aerial swimmer 1 is propelled. What the white arrow shows shows the driving force by the trunk | drum (or tail handle) 13, and what is shown by the black mark shows the driving force by the tail fin 15.
In this way, the second member 22 and the third member 23, that is, the trunk portion 13 and the tail fin 15 can be moved by PWM-controlling the two servos 51 and 52 with the phase difference τ.

FIG. 13 is a diagram illustrating the propulsion state of the fish-shaped aerial swimmer 1.
In the illustrated state, a positive pressure (positive pressure) PP is generated on the upper side where the head 11 and the body 13 are close to each other, and a negative pressure is generated on the lower side where the head 11 and the body 13 are separated from each other. Similarly, a negative pressure NP is generated on the upper side where the body portion 13 and the tail fin 15 are separated from each other, and a positive pressure PP is generated on the lower side where the body portion 13 and the tail fin 15 are close to each other. ing.
The fish-shaped aerial swimmer 1 moves in the air depending on the pressure difference between the positive pressure PP and the negative pressure NP.

FIG. 14 is a diagram showing the relationship between the phase difference and the straight traveling speed of the fish-shaped aerial swimmer 1 as an experimental example of the present invention.
In the experimental example, the phase difference τ = 300 ms and the maximum straight traveling speed was 5.34 cm / s. The maximum speed can be improved by improving the shape of the balloon, adding the number of joints, and improving the drive performance of the first servos 51 and 52.

  When the fish-shaped aerial swimming body 1 is moved like a kite, the fish-shaped aerial body is improved by performing the driving method of the servos 51 and 52 by the control computer to a higher level, and improving the shape and material of the balloon part. The swimming body 1 can be moved at higher speed.

The fish-shaped aerial swimmer 1 can change the moving direction, that is, the right side or the left side, and the moving speed according to a command from the controller used by the operator.
Therefore, the control computer of the control processing unit 40 changes the moving speed with reference to the data of FIG. 14, for example, when the operator gives an instruction to increase or decrease the moving speed via the controller, for example. The phase difference τ is selected.
In addition, when the operator instructs to turn right or turn left via the controller, the control computer 41 in advance according to the turning direction and the turning angle. The first servo 51 and the second servo 52 are subjected to PWM control with reference to the drive amounts of the first servo 51 and the second servo 52 and the phase difference τ stored in the above memory.

  As described above, the fish-shaped aerial swimmer 1, that is, the saddle-type aerial swimmer 1, moves the torso 13 relative to the head 11 in response to a command from the operator's controller. When the tail fin 15 moves with respect to 13, the kite moves the trunk and tail fin, and the kite also moves in the air like swimming in the sea.

  When moving the fish-shaped aerial swimmer 1 in a predetermined path, for example, indoors, the movement data is stored in the control computer without the operator giving an instruction each time via the controller. The control computer drives the servos 51 and 52 based on the data.

Second Embodiment A second embodiment of the aerial swimmer of the present invention will be described.
As an aerial swimmer of the second embodiment, a voice identification circuit is added to the fish shape aerial swimmer 1 described in the first embodiment, in addition to the control computer and the transmission / reception device. In response to a voice operation instruction from a human being under the aerial swimmer 1, for example, an operation instruction such as a fast left turn or a right turn is performed by a voice identification circuit, and control is performed based on the result. The computer can perform the control process described above.
When the voice is recognized normally, the control computer can turn on, for example, a light-emitting means, for example, a light-emitting diode, built in the eye portion of the fish-shaped aerial swimmer 1 for a predetermined time.

Third Embodiment A third embodiment of the aerial swimmer of the present invention will be described.
As an aerial swimmer of the third embodiment, for example, in order to prevent a collision with an obstacle in the room against the fish-shaped aerial swimmer 1 of the first embodiment or the second embodiment, For example, when information collecting means such as an ultrasonic sensor or a miniature CCD camera is added and the information collecting means detects, for example, a wall or an obstacle, the control computer applies an obstacle to the fish-shaped aerial swimmer 1. Can be avoided. At this time, the control computer can sound a buzzer or the like mounted on the fish-shaped aerial swimmer 1.
Alternatively, it is possible to cause the fish-shaped aerial swimmer 1 to perform a collision prevention operation according to the collision prevention operation data stored in the memory by the control computer. The operation data for collision prevention stored in the memory of the control computer includes data for stopping the movement of the fish-shaped aerial swimmer 1 and sounding a buzzer mounted on the fish-shaped aerial swimmer 1. It is.
The fish-shaped air swimmer 1 has information collecting means such as an ultrasonic CCD sensor and a micro camera, and has a function of detecting an obstacle existing around the fish-shaped air swimmer 1 and performing an appropriate operation. . There are two types of obstacles: moving obstacles (dynamic obstacles) and non-moving obstacles (static obstacles). For example, when the information collecting means detects an obstacle that hinders the scheduled movement of the fish-shaped aerial swimmer 1 Then, the operation for avoiding the failure is performed. Moreover, when a dynamic obstacle escapes from the fish-shaped aerial swimmer 1, the fish-shaped aerial swimmer 1 may track the dynamic obstacle.

  Although the fish-shaped aerial swimmer 1 is normally in a floating state, the He gas in the balloon gradually leaks over time. As a result, the fish-shaped aerial swimmer 1 deviates from the floating state and gradually descends. When the information collecting means detects this descent, the fish-shaped aerial swimming body 1 is supplied with a He gas or a He gas according to the operation data for replenishing the He gas stored in the memory of the control computer. The requested action can be performed.

The implementation of the air swimming body of the present invention is not limited to the above-described embodiment. For example, the fish-shaped aerial swimmer 1 has been described as an example of a fish that has the shape of a shark-shaped fish and moves like a shark, but the present invention is not limited to such an example.
For example, the joint portion may be 2 or more, for example, 3. As a specific example, two body parts 13 may be used for finer movement, or two tail fins 15 may be used for finer movement. Alternatively, it is possible to increase the movement speed of the fish-shaped aerial swimmer 1 by using two caudal fins 15, increasing the movement on the tip side, and performing the movement in accordance with the actual movement of the ridge.

  In the above-described embodiment, the case of moving in the air from side to side is illustrated, but a function of moving up and down may be added.

  Of course, the shape of the air swimming body is not limited to the shape of a fish. For example, an object corresponding to the fish-shaped aerial swimming body 1 is an elephant, an elephant body portion is made to correspond to the head 11, an ear is equivalent to the trunk 13 and the tail fin 15, and the ear is The elephant floating in the air can be moved up and down by exercising like the tail fin 15.

  The fish-shaped aerial swimmer 1 is equipped with servos 51 and 52 and a battery power source 60, and the control computer 41 is not mounted on the fish-shaped aerial swimmer 1, but only the resulting drive signal on the ground. It is also possible to output to the servos 51 and 52 in a wireless manner. Thus, if the control computer is not mounted on the fish-shaped aerial swimmer 1, the weight of the fish-shaped aerial swimmer 1 is reduced, and the floating conditions of the fish-shaped aerial swimmer 1 can be relaxed.

In the above embodiment, the example in which the operator operates through the controller has been described. However, the present invention is a basic embodiment in which the fish-shaped aerial swimmer 1 is obtained by the information collecting means by the control computer. It can be positioned as a robot that determines the operation according to the information. That is, it is different from an aerial swimming body that only operates in response to an operator's command, such as a radio controlled airship.
In addition, the use of the “transmission / reception device” is not limited to communication between “the control computer and the operator's controller”. Communication is performed between an information processing computer installed outside the fish-shaped aerial swimmer 1 and a control computer, and information processing that cannot be covered by the control computer is performed by the information processing computer. As information processing that cannot be covered by the control computer, for example, advanced image processing and accumulation of a large amount of information obtained by information collecting means can be considered. If the operator communicates with the control computer via the information processing computer, (information processing computer) = (controller).

FIGS. 1A to 1C are diagrams illustrating the principle of propulsion of various fish. FIG. 2 is a diagram illustrating the floating state of a fish-shaped aerial swimmer as an embodiment of the aerial swimmer of the present invention. FIGS. 3A to 3C are diagrams illustrating a schematic configuration of a balloon portion of the fish-shaped aerial swimmer illustrated in FIG. 2, and FIG. 3A is a cross-sectional view of the fish-shaped aerial swimmer 1. FIG. 3B is a schematic view of the skeleton as viewed from above the fish-shaped aerial swimmer 1 orthogonal to FIG. 3A, and FIG. 3C is a schematic of the balloon portion of the fish-shaped aerial swimmer 1. It is a block diagram. 4A and 4B are diagrams illustrating a detailed configuration example of the structural portion illustrated in FIG. 3B. 4A is a cross-sectional view, and FIG. 4B is a plan view. FIG. 5 is an external perspective view of a servo used for the fish-shaped aerial swimmer illustrated in FIGS. FIG. 6 is a configuration diagram of a balloon portion of the fish-shaped aerial swimmer illustrated in FIGS. FIG. 7 is a configuration diagram of the fish-shaped aerial swimming body balloon illustrated in FIG. FIG. 8 is a drive waveform diagram of a servo mounted on the fish-shaped aerial swimmer illustrated in FIGS. FIG. 9 shows an example in which the control computer mounted on the fish-shaped aerial swimmer illustrated in FIGS. 3A to 3C drives one servo, for example, the first servo by the PWM method. FIG. FIG. 10 is an exemplary pulse waveform diagram in which the control computer mounted on the fish-shaped aerial swimming body illustrated in FIGS. 3A to 3C drives the two servos by the PWM method with a phase difference τ. It is. 11 (A) to 11 (C) and 11 (D) to 11 (F) respectively show the second portion of the body portion at the phase difference τ = 0 ms and τ = 800 ms when the two servos are driven by the PWM method. It is the graph which illustrated the motion for every 200 ms about a member and the 3rd member of a caudal fin part. 12A and 12B show the phase difference τ when two servos are driven by the PWM method, the movement of the second member of the trunk (or tail handle) part and the third member of the tail part. FIG. 2 is an exemplary diagram illustrating the driving force. FIG. 13 is a diagram illustrating the propulsion state of the fish-shaped aerial swimmer illustrated in FIGS. 3 (A) to 3 (C). FIG. 14 is a diagram showing the relationship between the phase difference and the straight traveling speed of the fish-shaped aerial swimmer as an experimental example of the present invention.

Explanation of symbols

1. Fish shape aerial swimming body
11. Head
111 ... Head balloon, 113 ... He gas
12. First penetration
13. The trunk (or tail handle)
131..Body balloon, 133..He gas
14. Second penetrating part
15. Owase
21 to 23 ... 1st to 3rd members
31, 32 .. 1st and 2nd connecting part
40..Control part
41..Control computer, 43..Transceiver
50 .. Driving means
51, 52 .. Servo
60 .. Battery power

Claims (8)

An aerial swimmer floating in the air,
Mounted on the aerial swimmer,
A first part;
A second part;
A third part;
First connection means for movably connecting the first part and the second part;
Second connection means for movably connecting the second part and the third part;
Electric first rotating means for rotating the second member relative to the first member via the first connecting means;
Electric second rotating means for rotating the third member with respect to the second member via the second connecting means;
A gas that floats the air swimming body in the air;
A gas container that surrounds at least the first part and the second part, and contains the gas in the first part and the second part;
Power supply means for supplying power to the first means and the second rotation means, and
Control means mounted on the aerial swimmer or not mounted on the aerial swimmer and controlling the first and second turning means in response to an operation signal;
Propelling the air by rotating the second part and / or the third part in an airborne state;
Air swimmer. The control means shifts the timing for driving the first and second rotating means, and controls the movement of the second part and / or the third part, so as to add a phase difference to the first and second parts. Drive the rotating means,
The aerial swimmer according to claim 1. The electric first and second rotating means are servos,
The control means drives the servo by a PWM method;
The aerial swimmer according to claim 2. The servo is connected to the connecting means and has a rotating side horn,
The control means adjusts the PWM pulse width to control the rotation angle range of the side horn.
The aerial swimmer according to claim 3. The aerial swimmer is a fish-shaped aerial swimmer,
The gas is He gas;
The first to third parts are a head, a trunk (or tail handle), a tail fin,
The torso and / or tail fin moves with respect to the head and moves in the air with its thrust;
The aerial swimming body according to any one of claims 1 to 4. The air swimming body is further equipped with voice response means,
The control means is mounted on the air swimming body,
The voice response means outputs a command corresponding to a voice operation instruction to the control means.
The air swimming body according to any one of claims 1 to 5. A voice recognition confirmation unit;
The voice response means drives the voice recognition confirmation means when recognizing voice;
The aerial swimmer according to claim 6. It further has a failure detection means,
When the control means detects a failure, the control means operates to avoid the failure.
The aerial swimmer according to claim 1.

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