JP2005193727A - Flying robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flying robot which can automatically hold the horizontal state or the required tilting angle without adding any controlling operation. <P>SOLUTION: A flying robot is provided with an acceleration sensor 2 for detecting the tilting angle by sensing a component of the gravitational acceleration and an angular velocity sensor 3 for detecting the angular velocity in the tilting direction. The flying robot can automatically hold the horizontal state or the required tilting angle by modifying the tilting angle such that the signal, which has been unified by adding or adding and amplifying the output signal from an acceleration signal reference adjusting circuit 4 for adding or subtracting the output signal from the acceleration sensor and the output signal from an angular velocity signal reference adjusting circuit 5 for adding or subtracting the output signal from the angular velocity sensor, reads null or a required value. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

Detailed Description of the Invention

  The present invention relates to a flying robot that floats in a medium or is supported in an inclined manner in the medium.

  In order to maintain the inclination angle of a flying robot horizontally or at a predetermined inclination angle, which is suspended in a medium like a radio control helicopter or supported by a rotary bearing or a spherical pivot bearing, the various inclination angles have been conventionally used. The flying robot is controlled so that the tilt angle is measured by a sensor and the tilt angle is horizontal or a predetermined angle.

  However, since the tilt angle can be automatically held for only a short time, if the tilt angle is deviated, a human must frequently perform an operation of correcting the tilt angle while watching the flight status of the flying robot. There wasn't. In many cases, the operation for correcting the tilt angle relies on experience and intuition, and the flying robot cannot be maintained horizontally or at a predetermined angle unless it is a skilled person.

  In flying robots such as for detecting the situation of narrow places where humans cannot enter or places that are dangerous for humans, it is impossible for humans to steer while watching the movement of the flying robots as in the past. It is necessary to keep the flying robot horizontal or at a predetermined angle without frequently performing correction operations.

  In a conventional flying robot, although the inclination angle is measured by an inclination angle sensor and the inclination angle is controlled, the flying robot cannot be held horizontally or at a predetermined angle. When the tilt angle deviates from the tilt angle, when returning the posture angle to a horizontal or predetermined tilt angle, the angular velocity does not become zero when the tilt angle reaches the target value, and the flying robot still has a finite angular velocity. It is mentioned that.

  If the flying robot has an angular velocity when the inclination angle reaches the target value, the flying robot passes the target inclination angle at that angular velocity, and is corrected again when the inclination angle is shifted to the opposite side.

  For this reason, the inclination angle of the flying robot repeats vibrational changes, and it is difficult to achieve a horizontal or predetermined inclination angle.

  If the next disturbance is applied to an arbitrary tilt angle disturbance before the tilt angle returns to the target value, the tilt angle changes greatly. In extreme cases, the corrective operation is not in time, and the flying robot crashes. Resulting in.

  For this reason, it is necessary to develop a new flying robot in which the inclination angle is automatically maintained at the horizontal or target inclination angle and immediately returns to the original state even when a disturbance is applied.

  Of course, when the flying robot sends a command to change the target tilt angle, it must immediately follow.

  As described above, as a flying robot that automatically maintains the tilt angle of the aircraft, for example, as shown in the pp. 194 of the 2002 Annual Meeting of the Japan Society for Precision Engineering, a bimorph vibration angular velocity sensor is used. The angular velocity signal of the posture angle change is detected, and the angular velocity signal is integrated to obtain an angular displacement signal indicating the posture angle. Based on the signal obtained by adding and amplifying the angular displacement signal obtained by integrating the angular velocity signal, the lift source A flying robot that controls the rotation speed of a plurality of rotor blades and maintains the level is considered.

Problems to be solved by the invention

  However, in this conventional flying robot, the angular displacement signal obtained by the integration gradually drifts. For example, the angular displacement signal becomes a value indicating horizontal while the flying robot is fixed horizontally. In addition, even if the rotational speed of the rotor blades of the flying robot is controlled, there is a problem that the inclination angle changes by the amount of drift of the angular displacement signal.

  Even if the angular displacement signal obtained by integration is trusted only for a short time, the absolute tilt angle of the flying robot at the start of integration cannot be detected. In the end, the inclination angle could not be kept horizontal unless the human eyes looked at the flying robot.

  As described above, in the conventional flying robot, even if the inclination angle is measured and the inclination angle of the flying robot is controlled, the angular velocity signal and the angular displacement signal obtained by integrating the angular velocity signal are measured. In order to control the tilt angle using the, the flight robot can be used as a target unless the person who is skilled in maneuvering sees the flight robot and gives instructions such as correction of the tilt angle and start of angular displacement integration. The tilt angle could not be maintained.

  That is, it has been impossible to give the flying robot a target inclination angle as a command and automatically maintain the inclination angle of the flying robot at the target inclination angle for a long time.

Means for solving the problem

  In order to solve the above-described problems, the flying robot of the present invention has a levitation device for levitating the aircraft in the medium, and the gravitational acceleration component defines the inclination angle formed by the horizontal reference plane of the aircraft relative to the horizontal plane. An acceleration sensor that detects and detects an angular velocity, an angular velocity sensor that detects an angular velocity in the tilt angle direction, an acceleration signal reference adjustment circuit that adjusts an arbitrary signal to an output signal of the acceleration sensor, and an output of the angular velocity sensor An angular velocity signal reference adjustment circuit for adjusting an arbitrary signal to the signal, and an output signal of the acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal and an output signal of the angular velocity signal reference adjustment circuit or the output signal A summing amplifier circuit for summing or amplifying the signal obtained by the summing and amplifying the output signal of the acceleration sensor and the output signal of the angular velocity sensor obtained by the summing amplifier circuit A tilt angle adjusting circuit for sending a drive command signal to the tilt angle correcting mechanism to correct the tilt angle of the aircraft so that the magnitude of the unified signal becomes 0 or a predetermined value; The tilt angle is automatically maintained horizontally or at a predetermined tilt angle.

  More specifically, an acceleration sensor for detecting an inclination angle about the x and y axes provided in the horizontal reference plane of the aircraft and detecting gravitational acceleration components in the y and x directions, and an angular velocity about the x and y axes. A total of four rotary wings that also serve as levitation devices for levitation of the fuselage in the medium, each having two angular velocities at opposite positions with respect to the x and y axes. An arbitrary signal is added to the output signal of the angular velocity sensor for detecting the angular velocity around the x and y axes, and the x and y direction acceleration signal reference adjusting circuit for adjusting an arbitrary signal to the output signal of the acceleration sensor for detecting the acceleration in the direction. An x / y-axis angular velocity signal reference adjustment circuit to adjust, an output signal of the y-direction acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal, and an output signal of the x-axis angular velocity signal reference adjustment circuit, Increase the output signal When the tilt angle of the airframe deviates from the target value, the signal has a summing amplifier circuit that adds or amplifies the received signal together with a drive signal for steady rotation of two rotor blades arranged at positions facing each other with respect to the x-axis. Further, in order to increase the rotation speed of one of the two rotor blades and decrease the other rotation speed so that the inclination angle is corrected based on the output signal of the summing amplifier circuit, the drive device for each rotor blade And an output signal of the x-direction acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal and an output signal of the angular velocity signal reference adjustment circuit about the y-axis. Or an addition amplifying circuit for adding or amplifying a signal obtained by amplifying the output signal together with a drive signal for steady rotation of two rotor blades arranged at positions opposed to each other with respect to the y-axis. In order to increase the rotational speed of one of the two rotor blades and decrease the rotational speed of the other so that the inclination angle is corrected based on the output signal of the summing amplifier circuit when deviating from the target value, An inclination angle adjustment circuit that issues an inclination angle adjustment signal to each rotor driving device, and automatically maintains the inclination angle of the airframe horizontally or at a predetermined inclination angle by increasing or decreasing the number of rotations of the four rotor blades. Do it like this.

  Alternatively, an acceleration sensor having a levitation device for levitating the airframe in the medium and detecting the inclination angles around the x and y axes provided in the horizontal reference plane of the airframe by detecting gravitational acceleration components in the y and x directions And an angular velocity sensor for detecting angular velocities about the x and y axes, and a total of four rotor blades, two each at opposite positions with respect to the x and y axes, separately from the levitation device, An x and y direction acceleration signal reference adjustment circuit for adjusting an arbitrary signal to an output signal of an acceleration sensor for detecting acceleration in the x and y directions, and an output signal of an angular velocity sensor for detecting an angular velocity about the x and y axes. And an x- and y-axis angular velocity signal reference adjusting circuit for adjusting the signal, and an output signal of the y-direction acceleration signal reference adjusting circuit or a signal obtained by amplifying the output signal, and an x-axis angular velocity signal reference adjusting circuit of the x-axis Output signal or the An addition amplification circuit for adding or amplifying a signal obtained by amplifying a force signal together with a drive signal for steady rotation of two rotor blades arranged at positions facing each other with respect to the x-axis, and the inclination angle of the airframe is a target value In order to correct the tilt angle based on the output signal of the summing amplifier circuit in the case of deviation from the above, the rotation speed of each of the two rotor blades is increased and the rotation speed of the other rotation speed is decreased. A tilt angle adjusting circuit for issuing a tilt angle adjusting signal to the wing driving device; and an output signal of the x-direction acceleration signal reference adjusting circuit or a signal obtained by amplifying the output signal and the y-axis rotation angular velocity signal reference adjusting An addition amplification circuit for adding or amplifying an output signal of the circuit or a signal obtained by amplifying the output signal together with a drive signal for steady rotation of two rotor blades arranged at positions facing each other with respect to the y-axis, When the body tilt angle deviates from the target value, the rotation speed of one of the two rotor blades is increased so that the tilt angle is corrected based on the output signal of the summing amplifier circuit, and the other rotation In order to reduce the number, an inclination angle adjustment circuit that issues an inclination angle adjustment signal to the driving device of each rotor blade is provided, and the inclination angle of the airframe is set to a horizontal or predetermined inclination by increasing or decreasing the number of rotations of the four rotor blades. Keep it at the corner automatically.

  FIG. 1 is a block diagram showing an embodiment of a flying robot of the present invention. An acceleration sensor 2 and an angular velocity sensor 3 are attached to the body 1. The acceleration sensor 2 detects the inclination angle formed by the horizontal reference plane of the airframe 1 with respect to the vertical axis by detecting the gravitational acceleration component. The angular velocity sensor 3 detects the angular velocity in the tilt angle direction.

  The acceleration signal reference adjustment circuit 4 is a circuit that adds an arbitrary signal to the output signal of the acceleration sensor 2 or subtracts an arbitrary signal from the output signal of the acceleration sensor 2. The angular velocity signal reference adjustment circuit 5 is an output of the angular velocity sensor 3. This is a circuit that adds an arbitrary signal to the signal or subtracts an arbitrary signal from the output signal of the angular velocity sensor 3. An arbitrary signal may be added to or subtracted from the amplified signal of the output signal of the acceleration sensor 2 or the angular velocity sensor 3.

  The output signal of the acceleration sensor 2 that has passed through the acceleration signal reference adjustment circuit 4 and the output signal of the angular velocity sensor 3 that has passed through the angular velocity signal reference adjustment circuit 5 are amplified at appropriate amplification factors by the amplification circuits 6 and 7, respectively. Are added or added to an addition amplification circuit 8 for addition amplification.

  The summing amplifier circuit 8 adjusts the inclination angle of the object so that the output signal of the acceleration sensor 2 and the output signal of the angular velocity sensor 3 are subjected to a circuit operation and the magnitude of the combined signal becomes 0 or a predetermined value. A command is given to the inclination angle adjusting circuit 9 that drives the mechanism that performs the operation.

  Reference numeral 10 denotes a levitation device, which abstractly shows an arbitrary number of rotor blades, balloons, gas injectors, and the like. A levitation device in which these are arbitrarily combined may be used.

  The tilt angle adjustment circuit 9 sends a drive signal to the tilt angle control mechanism 11 that adjusts the tilt angle by changing the balance of lift force to the levitation device 10 to control the tilt angle. As shown in the figure, the tilt angle control mechanism 11 may be divided into a plurality of parts such as 11a, 11b,.

  In FIG. 1, one acceleration sensor 2 and one angular velocity sensor 3 are drawn. However, in order to control the three-dimensional tilt angle of the aircraft, two tilt angles, for example, both the pitch angle and the roll angle are shown. Need to be detected and controlled. Therefore, the acceleration sensor 2, the angular velocity sensor 3, the acceleration signal reference adjustment circuit 4, the angular velocity signal reference adjustment circuit 5, the amplification circuits 6 and 7, the addition amplification circuit 8, and the posture angle adjustment circuit 9 are equipped with two sets corresponding to two directions. is required.

  Some acceleration sensors 2 and angular velocity sensors 3 can detect accelerations and angular velocities in two or more orthogonal directions with a single sensor. In that case, needless to say, only one acceleration sensor 2 and one angular velocity sensor 3 are required.

  In order to return the flying robot to the horizontal position, the flying robot body 1 is stopped horizontally, and the acceleration signal reference is set so that the input to the addition amplification circuit 8 reflecting the output of the acceleration sensor 2 becomes zero. The adjustment circuit 4 is adjusted, and at the same time, the angular velocity signal reference adjustment circuit 5 is adjusted so that the input to the addition amplification circuit 8 reflecting the output of the angular velocity sensor 3 is also zero.

  Adjustment of the acceleration signal reference adjustment circuit 4 is performed by operating a joystick, a handle, a button, a knob, or the like of a pilot machine (not shown) and transmitting an adjustment value of the acceleration signal reference adjustment circuit 4 corresponding to the operation. .

  If the acceleration signal reference adjustment circuit 4 and the angular velocity signal reference adjustment circuit 5 are adjusted as described above, if the input acceleration and the input angular velocity are both 0, the signal input from the acceleration sensor 2 and the angular velocity sensor 3 to the addition amplification circuit 8 is 0.

  When acceleration or angular velocity other than 0 is detected by the acceleration sensor 2 and / or the angular velocity sensor 3, an input signal is transmitted to the addition amplifier circuit 8, and the acceleration sensor 2 and the angular velocity sensor 3 to the addition amplifier circuit 8 are transmitted. A signal for applying a tilt angle correction operation to the body 1 is sent to the tilt angle adjustment circuit 9 so that the input signal returns to zero.

  Even if either the tilt angle or the angular velocity remains, the airframe 1 tilts. Therefore, the tilt angle of the airframe 1 is corrected so that the input signals from the acceleration sensor 2 and the angular velocity sensor 3 to the addition amplifier circuit 8 become zero. As a result, the inclination angle and the angular velocity are corrected to zero.

  As described above, if the input acceleration and the input angular velocity are zero, the acceleration signal reference adjustment circuit 4 and the angular velocity signal reference adjustment circuit 5 are adjusted so that the signals that enter the addition amplifier circuit 8 from the acceleration sensor 2 and the angular velocity sensor 3 become zero. After that, a predetermined bias input is applied to the summing amplifier circuit 8, and a signal for applying a tilt angle correcting operation to the body 1 so that the input to the summing amplifier circuit 8 is equal to the bias input is applied to the tilt angle adjusting circuit. 9 and the inclination angle of the machine body 1 may be corrected.

  A drive signal is sent from the tilt angle adjustment circuit 9 to the tilt angle control mechanism 11 that corrects the tilt angle of the airframe 1. FIG. 1 assumes the case where the levitation balance of the levitation device 10 is adjusted to adjust the tilt angle. When the levitation device 10 has a main rotor blade such as a helicopter, for example, the tilt angle control mechanism 11 is used. A mechanism for correcting the angle of the rotating surface of the main rotor blade is provided, and the tilt angle control mechanism 11 is driven.

  When the levitation device 10 has a plurality of rotor blades, the rotational speed of each rotor blade may be adjusted, and the rotor blade of the levitation device 10 itself becomes the tilt angle control mechanism 11.

  Apart from the levitation device 10, a plurality of rotary blades for adjusting the tilt angle may be provided as the tilt angle control mechanism 11. For example, a main rotor blade such as a helicopter or a counter rotating rotor blade may be used as a levitation device, and a plurality of rotor blades for adjusting an inclination angle may be provided in addition to the main rotor blade and the counter rotating rotor blade.

  An inclination angle adjustment mechanism 9 that is not directly related to the levitation device 10 may be provided. In this case, a drive signal is sent from the attitude angle adjustment circuit 7 to the inclination angle adjustment mechanism 9. For example, a tilt angle control mechanism 11 using a mechanism that moves the center of gravity or a gas injection mechanism that changes the posture may be provided.

  The flying robot body 1 is held stationary at a predetermined tilt angle, and the acceleration signal reference adjustment circuit 4 is adjusted so that the signal entering the addition amplification circuit 8 from the acceleration sensor 2 becomes zero, and the angular velocity sensor 3 performs addition amplification. If the angular velocity signal reference adjustment circuit 5 is adjusted so that the signal input to the circuit 8 becomes zero, the airframe 1 is set so that the signal input from the acceleration sensor 2 and the angular velocity sensor 3 to the addition amplifier circuit 8 becomes zero. By sending a signal for applying a tilt angle correction operation to the tilt angle adjusting circuit 9, the airframe 1 can be held at the predetermined tilt angle.

  As in the case where the airframe 1 is kept horizontal, when the tilt angle is a predetermined angle, that is, when the input acceleration is a predetermined value and the input angular velocity is 0, the acceleration sensor 2 and the angular velocity sensor 3 enter the addition amplification circuit 8. After adjusting the acceleration signal reference adjustment circuit 4 and the angular velocity signal reference adjustment circuit 5 so that the signal becomes 0, a predetermined bias input is applied to the addition amplifier circuit 8, and the input to the addition amplifier circuit 8 is the bias described above. A signal for applying a tilt angle correction operation to the airframe 1 so as to be equal to the input may be sent to the tilt angle adjustment circuit 9 to correct the tilt angle of the airframe 1.

  When the acceleration sensor 2 is a type of acceleration sensor in which a predetermined signal is output when the input acceleration is zero and the signal changes correspondingly when acceleration is applied, or when a carrier wave is on the acceleration signal, the input is performed. The output of the acceleration sensor 2 may be corrected by the acceleration signal reference adjustment circuit 4 so as to cancel the signal at the time of acceleration 0.

  That is, when controlling the aircraft 1 horizontally, when the aircraft 1 is stopped horizontally, the output of the acceleration signal reference adjustment circuit 4 is set to 0, and the aircraft 1 is controlled to a predetermined inclination angle. In this case, the acceleration signal reference adjustment circuit 4 is adjusted so that the output of the acceleration signal reference adjustment circuit 4 becomes zero when the airframe 1 is stopped at the predetermined inclination angle.

  In the case where the angular velocity sensor 3 is a type of angular velocity sensor in which a predetermined signal is output when the input angular velocity is zero and the signal changes correspondingly when the angular velocity is applied, the angular velocity signal reference adjustment is similarly performed when the input angular velocity is zero. Correction is performed so that the output of the circuit 5 becomes zero.

  As described above, since the target inclination angle of the airframe 1 can be changed by setting the acceleration signal reference adjustment circuit 4, the setting of the acceleration signal reference adjustment circuit 4 can be arbitrarily controlled by wired or wireless control. Then, the inclination angle of the airframe 1 can be changed to an arbitrary angle, and if the setting of the acceleration signal reference adjustment circuit 4 is maintained at an arbitrary condition, the inclination angle of the airframe 1 is kept constant.

  The antenna 12 and the receiver 13 in FIG. 1 are drawn on the assumption that the tilt angle is controlled wirelessly, and the tilt angle that is generated in response to the amount of operation of a joystick, handle, button, knob, etc. of a pilot (not shown). Receive setting signal.

  The acceleration signal reference adjustment circuit 4 is adjusted based on the inclination angle setting signal received by the receiver 13, but the inclination angle setting signal is a digital signal or a signal that is not directly applied to the acceleration signal reference adjustment circuit 4. The interface circuit 14 is placed between the receiver 13 and the acceleration signal reference adjustment circuit 4. It goes without saying that the interface circuit 14 may include a computer and a digital / analog conversion circuit as required.

  Further, a computer provided in the interface circuit 14 may be used, or another computer may be provided to control the entire circuit and the receiver 13 indicated by the broken line 15 described above as necessary for tilt angle control.

  Reference numeral 16 denotes a battery, which includes an acceleration sensor 2, an angular velocity sensor 3, an acceleration signal reference adjustment circuit 4, an angular velocity signal reference adjustment circuit 5, an amplification circuit 6, 7, an addition amplification circuit 8, an inclination angle adjustment circuit 9, a levitation device 10, and an inclination. Necessary power is supplied to the angle control mechanism 11, the receiver 13, the interface circuit 14, and the like. In the figure, the wiring from the battery 16 to each sensor, mechanism, circuit, etc. is omitted.

  Although FIG. 1 shows the case of wireless control, it goes without saying that it may be controlled by wire. FIG. 2 shows an embodiment in the case of wired control. At least the acceleration sensor 2, the angular velocity sensor 3, the levitation device 10, and the tilt angle control mechanism 11 may be mounted on the airframe 17. The acceleration signal reference adjustment circuit 4, the angular velocity signal reference adjustment circuit 5, the amplification circuits 6 and 7, and the addition amplification The circuit 8 and the tilt angle adjusting circuit 9 are placed at a steering position away from the airframe 1 via the connection line 18. Of course, if there is no problem in weight or size, a part or all of the acceleration signal reference adjustment circuit 4, the angular velocity signal reference adjustment circuit 5, the amplification circuits 6, 7, the addition amplification circuit 8, and the tilt angle adjustment circuit 9 may be used. 17 may be mounted.

  The length of the connection line 18 is arbitrary, and it is also optional to provide connectors 19a and 19b at both ends. Reference numeral 20 denotes a circuit board or casing placed in the steering position.

  When the acceleration signal reference adjustment circuit 4 is placed at the steering position, the acceleration signal reference adjustment circuit 4 can be directly adjusted to set the target inclination angle, or a pilot device (not shown) is provided, and a joystick, handle, The inclination angle of the acceleration signal reference adjustment circuit 4 is set in accordance with the operation amount of buttons, knobs, and the like.

  When the tilt angle setting signal is applied to the acceleration signal reference adjustment circuit 4, a computer may be interposed.

  Acceleration sensor 2, angular velocity sensor 3, acceleration signal reference adjustment circuit 4, angular velocity signal reference adjustment circuit 5, amplification circuits 6 and 7, addition amplification circuit 8, and inclination angle adjustment for keeping the body 1 horizontal or at a predetermined inclination angle The operations of the circuit 9, the levitation device 10, the tilt angle control mechanism 11, and the interface circuit 14 are the same as those in FIG. Power feeding may be performed using an external power source, or may be performed using a battery as in FIG.

  By the way, the acceleration sensor 2 used in the present invention needs to be a sensor capable of detecting a component of gravitational acceleration acting on the acceleration sensor 2 corresponding to the inclination angle when the acceleration sensor 2 is inclined. That is, the acceleration sensor must be able to detect the tilt angle.

FIG. 3 shows an acceleration component when gravitational acceleration g is applied to the acceleration sensor 2, and the acceleration component a _h is detected by the acceleration sensor 2. If the inclination angle of the acceleration sensor 2 with respect to the horizontal plane is φ, the acceleration component a _h has a relationship of a _h = g sin φ, and therefore φ can be obtained by detecting a _h . In an angle range where φ is small, a _h = gφ.

  Next, specific examples of the flying robot of the present invention will be described. FIG. 4 is a flying robot that supports a two-rotor blade rotation pivot according to an embodiment of the present invention.

  The rotating blades 22a and 22b made of styrene having a total blade length of about 135 mm, a chord length of about 14 mm, and a mass of about 1 g driven by the motors 21 a and 21 b are attached to the airframe 23. The motors 21a and 21b are direct current motors.

  The machine body 23 is provided with a rotary bearing 24 and is supported so that it can freely rotate around a shaft 25. The diameter of the hole 26 of the rotary bearing 24 is sufficiently larger than the diameter of the shaft 25, and it is confirmed that the airframe 23 floats due to the relative positional relationship between the hole 26 of the rotary bearing 24 and the shaft 25 when rotating the rotor blades 22a and 22b. I can do it. The shaft 25 was fixed to the base 28 by a presser 27.

  In order to prevent rotational torque in the horizontal plane from acting on the body 23, the motors 21a and 21b are rotated in opposite directions. Arrows 29a and 29b indicate the rotation direction of the rotor blades 22a and 22b, and circles 30a and 30b drawn around the rotor blades 22a and 22b indicate the rotation ranges of the rotor blades 22a and 22b.

  The body 23 includes an ADXL 202 manufactured by Analog Devices, USA as an acceleration sensor 31 for detecting an inclination angle around the rotary bearing 24, and a gyrostar ENC-03, a bimorph vibration type angular velocity sensor manufactured by Murata Manufacturing Co., Ltd., as an angular velocity sensor 32 for detecting an angular velocity. Attached. Reference numeral 33 denotes a substrate.

  An acceleration signal reference adjustment circuit 34, an angular velocity signal reference adjustment circuit 35, amplification circuits 36 and 37, an addition amplification circuit 38, and an inclination angle adjustment circuit 39 are provided outside. Reference numeral 40 denotes an external substrate or casing.

  The connection between the power supply to the acceleration sensor 31, the angular velocity sensor 32, and the motors 21 a and 21 b mounted on the body 23 and the circuit in the substrate or the housing 40 placed outside was performed by a connection line 41. 42a and 42b are connectors.

  Since the acceleration sensor 31 is a sensor that outputs 0 when the acceleration input is 0, the acceleration signal reference adjustment circuit 34 is used to specify a target tilt angle. Therefore, for example, when the airframe 23 is to be kept horizontal, the output of the acceleration signal reference adjustment circuit 34 is adjusted to 0 when the airframe 23 is kept still. Further, when it was desired to keep the airframe 23 at a predetermined inclination angle, the output of the acceleration signal reference adjustment circuit 34 was adjusted to 0 when the airframe 23 was stopped at the inclination angle.

  On the other hand, the angular velocity sensor 32 is a type of angular velocity sensor that outputs a predetermined voltage when the angular velocity input is 0 and the output voltage changes correspondingly when the angular velocity is applied. Therefore, the angular velocity signal reference adjustment circuit 35 inputs the angular velocity to the angular velocity sensor 32. Was adjusted so that the output of the angular velocity signal reference adjustment circuit 35 was zero.

  The outputs of the acceleration signal reference adjustment circuit 34 and the angular velocity signal reference adjustment circuit 35 were amplified at appropriate magnifications by the amplification circuits 36 and 37, respectively. Then, the driving signals of the motors 21a and 21b necessary for causing the rotor blades 22a and 22b to rotate in a steady manner and levitate the airframe 23 were added to the summing amplifier circuit 38. A circuit 43 applies a drive signal to the motors 21a and 21b to steadily rotate the rotor blades 22a and 22b to lift the airframe 23.

  The output signal of the summing amplifier circuit 38 is input to the tilt angle adjusting circuit 39. The tilt angle adjustment circuit 39 adjusts the drive signals of the motors 21a and 21b for rotating the rotor blades 22a and 22b based on the output signal from the summing amplifier circuit 38, thereby rotating the rotor blades 22a and 22b. And the inclination angle of the airframe 23 is adjusted.

  That is, the output of the acceleration signal reference adjustment circuit 34 and the output of the angular velocity signal reference adjustment circuit 35 are increased by increasing the rotation number of the inclined blades of the rotation blades 22a and 22b and decreasing the other rotation number. Control the output to return to zero.

  The acceleration signal reference adjustment circuit 34 is adjusted so that the output of the acceleration signal reference adjustment circuit 34 becomes 0 or the output of the amplification circuit 36 becomes 0 when the airframe 23 is in a horizontal stationary state or tilted at a predetermined inclination angle. In this case, the airframe 23 is controlled so that the sum of the outputs of the amplifier circuit 36 and the amplifier circuit 37 returns to 0. Therefore, the airframe 23 has an output of the acceleration signal reference adjustment circuit 34 of 0 or is amplified. The tilt angle is set so that the output of the circuit 36 becomes zero, and the angular velocity is controlled to be zero.

  Although the rotary blades 22a and 22b are two blades in FIG. 4, the number of blades of each rotary blade is arbitrary.

  FIG. 5 is an embodiment of a circuit diagram of tilt angle control of the flying robot shown in FIG. Points A and B in the figure indicate that the upper circuit diagram is connected to the lower circuit diagram at points A and B.

  The acceleration sensor 31, the acceleration signal reference adjustment circuit 34 connected to the angular velocity sensor 32, the angular velocity signal reference adjustment circuit 35, the amplification circuits 36 and 37, the addition amplification circuit 38, the inclination angle adjustment circuit 39, and the stationary body for floating the airframe 23. A circuit 43 for applying a driving signal is a portion surrounded by a broken line in the drawing.

  Since both of the rotor blades 22a and 22b are controlled by the outputs of the amplifier circuits 36 and 37, the addition amplifier circuit 38 has two circuits 38a and 38b, the inclination angle adjustment circuit 39 has two circuits 39a and 39b, and the airframe 23 is levitated. The circuit 43 for applying a steady driving signal is provided by 43a and 43b.

  NJM4580 made by New Japan Radio Co., Ltd. was used for the operational amplifiers 48-55. Capacitors 56a and 56b of the circuit of the acceleration sensor 31, diode 57, electrolytic capacitor 58 of the circuit of the angular velocity sensor 32, diode 59, resistors 64a, 64b and 64c of the acceleration signal reference adjustment circuit 34, variable resistor 65, capacitor 66, angular velocity signal Resistors 67a, 67b and 67c of the reference adjustment circuit 35, variable resistor 68, capacitor 69, resistors 71a and 71b of the amplifier circuit 36, resistors 72a and 72b of the amplifier circuit 37, and a circuit 43a for applying a drive signal for rotating the rotor blade 22a in a steady state Resistor 73, variable resistor 74, resistor 75 of circuit 43b for applying a drive signal for steady rotation of rotor blade 22b, variable resistor 76, resistors 77a, 77b, 77c, 77d of summing amplifier circuit 38a, and resistor 78a of summing amplifier circuit 38b. 78b, 78c, 78d, resistance 8 of the tilt angle adjusting circuit 39a , Transistor 81, resistor 82 of tilt angle adjusting circuit 39b, transistor 83, capacitor 84 of motor 21a for rotating rotor blade 22a, diode 85, capacitor 86 of motor 21b for rotating rotor blade 22b, diode 87 Were appropriately selected and used so that each circuit operated well.

  As the power source, + 3V was applied to the terminal 88, + 5V to the terminal 89, -5V to the terminal 90, + 5V to the terminal 91, and -5V to the terminal 92.

  In order to automatically maintain the inclination angle of the flying robot, first, the variable resistances 74 and 76 of the circuits 43a and 43b for applying drive signals to the motors 21a and 21b are adjusted, and the rotor blades 22a and 22b are rotated in a steady manner so that the airframe 23 To surface.

  Next, the airframe 23 is made to stand still in a horizontal state or a predetermined inclination angle by an arbitrary method. In this state, the acceleration signal reference adjustment circuit 34 is set so that the output signal becomes zero, and thus the signal that enters the addition amplification circuit 38a and the addition amplification circuit 38b via the amplification circuit 36 becomes zero. The variable resistor 65 of the adjustment circuit 34 is adjusted.

  Further, as described above, the output signal of the angular velocity signal reference adjustment circuit 35 is also set to 0 in a state where the flying robot body 23 is held in a horizontal state or at a predetermined inclination angle. The variable resistor 68 of the angular velocity signal reference adjusting circuit 35 is adjusted so that the signals entering the circuit 38a and the addition amplifier circuit 38b are also zero.

  The inclination angle adjustment circuits 39a and 39b are set to the horizontal state or the inclination angle set by the flying robot body 23 according to the outputs of the addition amplification circuit 38a and the addition amplification circuit 38b reflecting the inclination angle and the angular velocity. A drive signal for changing the rotational speed of the rotor blades 22a and 22b is sent to the motors 21a and 21b.

  For example, when the rotor blade 22a is tilted in the direction of lowering with respect to the set inclination angle of the flying robot, the speed of the motor 21a for driving the rotor blade 22a increases, and the speed of the motor 21b for driving the opposite rotor blade 22b is increased. When the rotary blade 22a is tilted in the upward direction, the speed of the motor 21a for driving the rotary blade 22a decreases and the speed of the motor 21b for driving the opposite rotary blade 22b decreases. Outputs a signal to change the motor speed so that the speed increases.

  When the rotational speeds of the motors 21a and 21b are changed by the motor drive signals from the tilt angle adjusting circuits 39a and 39b, the lift of the rotary blades 22a and 22b changes according to the rotational speed, and the tilt angle is corrected. .

  Therefore, even after a lapse of time, the airframe 23 automatically maintains the initially set horizontal state or a predetermined inclination angle. FIG. 6 is a graph demonstrating that the inclination angle of the body 23 of the flying robot shown in FIG. 4 is automatically held by the circuit shown in FIG. As a result of supplying power to the terminals 88, 89, 90, 91, and 92 from the external power source and setting the horizontal holding, the inclination angle of the airframe 23 was automatically held within ± 3 ° for about two hours when the inclination angle was measured. . Thus, the set inclination angle can be maintained for a semi-infinite time.

  If the rotation directions of the rotor blades 22a and 22b are opposite to each other as shown in FIG. 4, the reaction torque is canceled out and the rotation of the airframe 23 around the vertical axis is not caused.

  FIG. 7 shows another embodiment of the present invention, which is a four-rotor flying robot. The inclination angle control circuit shown in FIG. 5 is provided in two orthogonal directions.

  As shown in the figure, four rotor blades 97a, 97b, 97c, and 97d driven by motors 96a, 96b, 96c, and 96d are provided on a machine body 95 that has x, y, and z axes and shown as a cross-shaped frame. The rotor blades 97a and 97c are disposed with the x axis interposed therebetween, and the rotor blades 97b and 97d are disposed with the y axis interposed therebetween. Arrows 98a, 98b, 98c, and 98d indicate the rotation directions of the rotor blades 97a, 97b, 97c, and 97d. Further, circles 99a, 99b, 99c, and 99d drawn around the rotary blades 97a, 97b, 97c, and 97d indicate the rotation ranges of the rotary blades 97a, 97b, 97c, and 97d. DC motors were used for the motors 96a, 96b, 96c, and 96d.

  ADXL202 manufactured by Analog Devices, USA as an acceleration sensor 102 for detecting the tilt angle, and angular velocity sensors 103a, 103b for detecting angular velocities around the x and y axes are attached as Gyrostar ENC-03, a bimorph vibration type angular velocity sensor manufactured by Murata Manufacturing Co., Ltd. It was.

  The acceleration sensor 102 and the angular velocity sensors 103 a and 103 b were attached to the substrate 104 on the machine body 95. The holder is not shown.

  Reference numeral 105 denotes a sensor cover, 106 a wireless antenna, 107 a control board containing a posture control circuit, and 108 a battery.

  As the used acceleration sensor 102, a sensor capable of detecting the components of the gravitational acceleration in the orthogonal x and y2 directions and detecting the tilt angle components around the y and x axes was used.

  The control board 107 includes an acceleration signal reference adjustment circuit for an x-direction acceleration signal, an amplification circuit, an acceleration signal reference adjustment circuit for a y-direction acceleration signal, an amplification circuit, an angular velocity signal reference adjustment circuit for an angular velocity signal around the x axis, An amplification circuit, an angular velocity signal reference adjustment circuit for an angular velocity signal around the y axis, an amplification circuit, a plurality of addition amplification circuits, a plurality of tilt angle adjustment circuits, and a receiver are provided.

  The receiver is connected to an antenna 106, and receives an inclination angle setting signal of the flying robot from an external pilot by the receiver and adjusts an acceleration signal reference so that the inclination angle becomes a control target value. Adjust the circuit.

  Although not shown, the flying robot is equipped with a detection device such as a camera or a gas sensor as necessary. In that case, a circuit for using the camera and the gas sensor, and a transmitter for transmitting image information of the camera and detection information of the gas sensor to the pilot side are also provided.

  The battery 108 supplies power to the acceleration sensor 102, the angular velocity sensors 103a and 103b, the circuits on the control board 107, and the receiver. The battery 108 may be any combination of batteries. The wiring entry is omitted.

  As in FIG. 2, the control board 107 is separated from the machine body 95 and placed separately, and the acceleration sensor 102 and the angular velocity sensors 103a and 103b are connected by a soft connection line that does not prevent the flight of the machine body 95, and power is supplied from an external power source. Or a control target value of the tilt angle may be set. In that case, the receiver, transmitter, and antenna 106 are unnecessary.

  FIG. 8 is a diagram showing the configuration of the attitude control circuit of the flying robot shown in FIG. An acceleration sensor 102a that detects acceleration in the x-axis direction in the acceleration sensor 102, that is, an inclination angle around the y-axis, an acceleration sensor 102b that detects acceleration in the y-axis direction, that is, an inclination angle around the x-axis, and x provided on the control board 107 Acceleration signal reference adjustment circuit 111a for direction acceleration signal, amplification circuit 113a, acceleration signal reference adjustment circuit 111b for y direction acceleration signal, amplification circuit 113b, angular velocity sensor 103a for detecting angular velocity around the x-axis, and control board 107 An angular velocity signal reference adjustment circuit 112a for an angular velocity signal around the x axis, an amplifier circuit 114a, an angular velocity sensor 103b for detecting an angular velocity around the y axis, and an angular velocity signal reference adjustment for an angular velocity signal around the y axis provided on the control board 107 The circuit 112b, the amplifier circuit 114b, and the rotor blades 97a, 97b, 97c, and 97d Circuits 115a, 115b, 115c, 115d for adding drive signals, the amplifying circuit 113b, the amplifying circuit 114a, a summing amplifier circuit 116a for adding and amplifying the output of the circuit 115a for adding a driving signal for rotating the rotor blades at regular intervals, an amplifying circuit 113a, The output of the amplifier circuit 114b, the addition amplifier circuit 116b for adding and amplifying the output of the circuit 115b for adding the drive signal for rotating the rotor blades, the output of the amplifier circuit 113b, the amplifier circuit 114a and the circuit 115c for adding the drive signal for rotating the rotor blades to the steady state. Summing amplifier circuit 116c, amplifier circuit 113a, amplifier circuit 114b for adding and amplifying, summing amplifier circuit 116d for adding and amplifying the output of circuit 115d for adding a drive signal for rotating the rotor blades, and tilt angle adjusting circuits 117a, 117b, 117c and 117d Were connected as shown.

  The acceleration signal reference adjustment circuits 111a and 111b are circuits that adjust the outputs from the acceleration sensors 102a and 102b to predetermined values. When it is desired to keep the machine body 95 horizontal, adjustments are made so that the output of the acceleration signal reference adjustment circuits 111a and 111b or the output of the amplification circuits 113a and 113b becomes 0 while the machine body 95 is kept stationary. When it is desired to keep the airframe 95 at a predetermined tilt angle, the output of the acceleration signal reference adjustment circuits 111a and 111b or the amplifier circuits 113a and 113b can be used while the airframe 95 is stationary at the predetermined tilt angle. Adjust the output to zero.

  The angular velocity signal reference adjustment circuits 112a and 112b are circuits that adjust the outputs of the angular velocity sensors 103a and 103b to predetermined values. The used angular velocity sensors 103a and 103b are of a type that outputs a predetermined signal when the angular velocity input is 0 and the signal changes correspondingly when the angular velocity is applied. Therefore, the angular velocity signal reference is obtained with the body 95 stationary. The adjustment circuits 112a and 112b are adjusted to cancel the signal when the angular velocity input is 0, so that the outputs of the angular velocity signal reference adjustment circuits 112a and 112b or the outputs of the amplification circuits 114a and 114b become zero.

  The tilt angle adjustment circuits 117a and 117c are configured so that the flying robot body 95 is horizontal or has a set tilt angle according to the outputs of the addition amplification circuits 116a and 116c reflecting the tilt angle and angular velocity about the x axis. A drive signal is issued to the motors 96a and 96c that drive the rotor blades 97a and 97c.

  For example, when the rotary blade 97a is tilted in the downward direction with respect to the set inclination angle about the x-axis of the flying robot, the speed of the motor 96a for driving the rotary blade 97a is increased, and the motor 96c for driving the rotary blade 97c is increased. When a signal for changing the motor driving voltage is output so that the speed decreases, and the rotating blade 97a is tilted in the upward direction, the speed of the motor 96a for driving the rotating blade 97a decreases, and the speed of the motor 96c for driving the rotating blade 97c decreases. A signal for changing the motor drive voltage is output so that the

  When the rotational speeds of the rotor blades 97a and 97c are changed by the motor drive voltage change signals from the tilt angle adjusting circuits 117a and 117c, the lift forces of the rotor blades 97a and 97c change accordingly, and the tilt around the x-axis is changed. The corner is corrected.

  If the rotation directions of the rotor blades 97a and 97c are set to the same direction as shown in FIG. 7, the total value of the reaction torque hardly changes when one rotation is increased and the other rotation is decreased. Therefore, the operation of correcting the tilt angle does not cause the body 95 to rotate around the z axis.

  On the other hand, the tilt angle adjusting circuits 117b and 117d are arranged so that the flying robot body 95 has a horizontal or set tilt angle in accordance with the output of the addition amplifier circuits 116b and 116d reflecting the tilt angle and angular velocity about the y axis. In addition, a drive signal is issued to the motors 96b and 96d that drive the rotor blades 97b and 97d.

  For example, when the rotary blade 97b is tilted in the downward direction with respect to the set inclination angle around the y-axis of the flying robot, the speed of the motor 96b for driving the rotary blade 97b increases, and the motor 96d for driving the rotary blade 97d When a signal for changing the motor driving voltage is output so that the speed decreases, and the rotating blade 97b is tilted in the upward direction, the speed of the motor 96b for driving the rotating blade 97b decreases, and the speed of the motor 96d for driving the rotating blade 97d decreases. A signal for changing the motor drive voltage is output so that the

  When the rotational speeds of the rotor blades 97b and 97d are changed by the motor drive voltage change signals from the inclination angle adjusting circuits 117b and 117d, the lift forces of the rotor blades 97b and 97d change accordingly, and the tilt around the y-axis is changed. The corner is corrected.

  If the rotation directions of the rotor blades 97b and 97d are set to the same direction as shown in FIG. 7, the total value of the reaction torque hardly changes when one rotation is increased and the other rotation is decreased. Therefore, the operation of correcting the tilt angle does not cause the body 95 to rotate around the z axis.

  In this manner, since the tilt angle automatic maintenance control around the x and y2 axes can be performed, the flying robot body 95 can be automatically maintained horizontally or at a predetermined tilt angle.

  Further, if the rotational direction of the rotary blades 97b and 97d is opposite to the rotational direction of the rotary blades 97a and 97c and the reaction torque is canceled out, the airframe 95 does not need to be rotated about the z-axis.

  Although the rotor blades 97a, 97b, 97c, and 97d are two rotor blades in FIG. 7, it goes without saying that the number of blades of each rotor blade is arbitrary.

  Further, in the flying robot of the present invention described with reference to FIGS. 7 and 8, the number of rotor blades is four, but the number of rotor blades is arbitrary as long as it is three or more, and summing amplifier circuits 116a, 116b, .. And inclination angle adjustment circuits 117a, 117b,...

  By the way, in the flying robot of the present invention shown in FIG. 7, the rotor blades 97a, 97b, 97c, and 97d are also used as a levitation device, but a levitation device is provided separately, and the rotor blades 97a, 97b, 97c, Obviously, 97d may be used mainly for maintaining the tilt angle.

  FIG. 9 shows an embodiment of the flying robot according to the present invention, which has the main rotor blades 132 and 133 that are doubly reversed in addition to the rotor blades 131a, 131b, 131c, and 131d for adjusting the tilt angle. In FIG. 9, only the equipment for levitation is shown, and the acceleration sensor, the angular velocity sensor, various circuits for adjusting the tilt angle, etc. are omitted. However, if a circuit similar to that in FIG. It is possible to automatically maintain the inclination angle of the period.

  Needless to say, it is optional to always rotate the rotor blades 131a, 131b, 131c, and 131d and partially assist the levitation force.

  FIG. 10 shows an embodiment of the flying robot of the present invention having a main rotor 142 as a levitation device in addition to the rotors 141a, 141b, 141c, 141d for adjusting the tilt angle. In order to prevent the airframe 143 from rotating around the axis of the main rotor blade 142 due to the reaction torque, the airframe rotation suppression rotor blade 144 is provided. FIG. 10 also shows only the equipment for levitation and omits the acceleration sensor, the angular velocity sensor, and various circuits for adjusting the tilt angle. However, if the circuit similar to FIG. It can be automatically held at the desired tilt angle.

  Also in this case, it goes without saying that it is optional to always rotate the rotor blades 141a, 141b, 141c, and 141d and partially assist the levitation force.

  FIG. 11 shows an embodiment of a flying robot having a balloon 152 as a floating device in addition to the rotary blades 151a, 151b, 151c, and 151d for adjusting the tilt angle. In FIG. 11, only the equipment for levitation is shown and the acceleration sensor, the angular velocity sensor, and various circuits for adjusting the tilt angle are omitted. However, if a circuit similar to that of FIG. It can be automatically held at the desired tilt angle.

  In this case as well, it goes without saying that rotating blades 151a, 151b, 151c, and 151d are always rotated to partially assist the levitation force.

The invention's effect

  As described above, in the flying robot of the present invention, the inclination angle of the flying robot is set to a set inclination angle that is given as a horizontal state or as a command even if the operator does not frequently maneuver while watching the flying robot. Retained automatically.

  In order to control the tilt angle, an acceleration sensor and an angular velocity sensor are used, and the tilt angle is controlled by two sensing information of the tilt angle and the angular velocity. The outputs from both sensors are combined into one signal by a summing amplifier in advance. Therefore, since the composite signal is used as control information for tilt angle adjustment, the drive command to the tilt angle control mechanism used to restore the tilt can be greatly simplified, and the restoration when the flying robot is tilted due to disturbance can be performed smoothly. It can be done in a short time.

  The target rotational speed of each rotor blade is uniquely determined by the circuit using a single signal synthesized by the summing amplifier, including the case where a signal for rotating the rotor blades at a steady speed is added together. Since the two physical quantities can be brought close to the target value at the same time, the control algorithm becomes very simple.

  Since the circuit is simple, the equipment can be reduced in size and weight, so that the flying robot can have a small lift, and the flying robot can be downsized. In addition, when the battery is used for flight, the usable time can be extended. Then, assuming a flying robot having the same lift, the loadable weight can be increased.

  Conventionally, if the operator does not adjust the tilt angle frequently by looking at the position and tilt angle of the flying robot and relying on intuition, the tilt angle of the flying robot cannot be kept stable, and considerable skill is required. While the flying robot could not be controlled well without it being piled up, the flying robot of the present invention automatically takes a horizontal posture or an arbitrary inclined posture unless a command for forcibly changing the inclination of the aircraft is given. Because it is held in, you can easily maneuver.

  Humans may be left in confined or dangerous places due to accidents and disasters, such as the leakage and dissipation of radioactive materials and harmful gases and liquids. In such a case, rescue and recovery are required immediately, but as a sequence, it is important to quickly and accurately grasp what is happening and what is happening now. You can't do anything without knowing the situation, such as whether it is safe for humans to enter, whether there is a risk of fire or explosion, or whether someone has fallen or trapped. If the flying robot of the present invention is used to detect the situation in such a case, there is an advantage that it is possible to express the target location regardless of the landform on the ground and to detect the situation from an arbitrary viewpoint.

  There are many possible uses for not only accidents and disasters, but also to detect the situation of narrow places where humans cannot enter and places that are dangerous to humans. For example, maintenance and monitoring of unmanned driving devices, crime prevention monitoring in buildings, and the like can be considered. In these applications, a fixed camera can see only a specific place, but using the flying robot of the present invention has an advantage that the viewpoint can be changed.

  As described above, the flying robot of the present invention is particularly useful when applied to a narrow place where a human cannot enter or a dangerous place for a human, where the human cannot operate while looking at the flying robot. .

  In addition, since it can be operated without skill, it can be used for hobbies and advertisements.

  If the flying robot has a waterproof structure, the tilt angle can be maintained in the liquid, and it can be used for an underwater exploration robot.

  It is a block diagram which shows embodiment of the flying robot of this invention.

  It is a block diagram which shows another embodiment of the flying robot of this invention.

  It is a figure explaining the principle which performs an inclination angle detection with an acceleration sensor.

  It is an Example of the flying robot of this invention.

  FIG. 5 is a circuit diagram for tilt angle control of the flying robot of the present invention shown in FIG. 4.

  It is a verification result of tilt angle control by the flying robot of the present invention shown in FIG.

  It is another Example of the flying robot of this invention.

  FIG. 8 is a circuit configuration diagram for tilt angle control in the flying robot of the present invention shown in FIG. 7.

  It is another Example of the flying robot of this invention.

  It is another Example of the flying robot of this invention.

  It is another Example of the flying robot of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Airframe 2 Acceleration sensor 3 Angular velocity sensor 4 Acceleration signal reference adjustment circuit 5 Angular velocity signal reference adjustment circuit 6 Amplification circuit 7 Amplification circuit 8 Addition amplification circuit 9 Inclination angle adjustment circuit 10 Levitation device 11 Inclination angle control mechanism 12 Antenna 13 Receiver 14 Interface Circuit 16 Battery 17 Connection line 21a, 21b Motor 22a, 22b Rotor blade 23 Airframe 24 Rotary bearing 25 Shaft 28 Base 31 Acceleration sensor 32 Substrate 33 Angular velocity sensor 34 Acceleration signal reference adjustment circuit 35 Angular velocity signal reference adjustment circuit 36 Amplification circuit 37 Amplification Circuits 38a and 38b Addition amplification circuits 39a and 39b Inclination angle adjustment circuits 40a and 40b Inclination angle control circuits 43a and 43b Circuits 48 to 55 for adding motor drive signals necessary for steady rotation of the rotor blades Operational amplifier 81 Transistor 83 Transistor 95 Aircraft 96 a, 96b, 96c, 96d Motor 97a, 97b, 97c, 97d Rotary blade 102 Acceleration sensor 103a, 103b Angular velocity sensor 107 Control board 108 Battery 111a, 111b Acceleration signal reference adjustment circuit Amplifier circuit 112a, 112b Angular velocity signal reference adjustment circuit 113a, 113b, 114a, 114b Amplifier circuits 115a, 115b, 115c, 115d Circuits 116a, 116b, 116c, 116d for adding motor driving signals necessary for rotating the rotor blades at regular intervals Addition amplifier circuits 117a, 117b, 117c, 117d Adjustment circuits 131 a, 131 b, 131 c, 131 d Rotor blades 132, 133 Main rotor blades that are doubly reversed 134 Airframes 141 a, 141 b, 141 c, 141 d Rotor blades 142 Main rotor blades 143 Airframes 151 a, 151 b, 15 c, 151d rotary blades 152 Balloon 153 airframe

Claims (3)

  It has a levitation device that levitates the aircraft in the medium, and detects the inclination angle that the horizontal reference plane of the aircraft makes with respect to the horizontal plane by detecting the gravitational acceleration component, and detects the angular velocity in the direction of the inclination angle. An acceleration signal reference adjustment circuit for adjusting an arbitrary signal to the output signal of the acceleration sensor, and an angular velocity signal reference adjustment circuit for adjusting an arbitrary signal to the output signal of the angular velocity sensor, An addition amplifying circuit for adding or amplifying the output signal of the acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal and the output signal of the angular velocity signal reference adjustment circuit or a signal obtained by amplifying the output signal; The airframe is configured so that the magnitude of the signal obtained by circuit calculation of the output signal of the acceleration sensor and the output signal of the angular velocity sensor obtained by the amplifier circuit becomes 0 or a predetermined value. In order to correct the inclination angle, an inclination angle adjustment circuit for sending a drive command signal to the inclination angle correction mechanism is provided, and the inclination angle of the airframe is automatically maintained at a horizontal or predetermined inclination angle. Flying robot   An acceleration sensor for detecting an inclination angle about the x and y axes provided in the horizontal reference plane of the airframe by detecting a gravitational acceleration component in the y and x directions, and an angular velocity sensor for detecting an angular velocity about the x and y axes. A total of four rotor blades that also serve as a levitation device for levitation of the airframe in the medium, and detects acceleration in the x and y directions. An x and y direction acceleration signal reference adjustment circuit for adjusting an arbitrary signal to the output signal of the acceleration sensor, and an x and y axis for adjusting an arbitrary signal to the output signal of the angular velocity sensor for detecting the angular velocity about the x and y axes. A rotation angular velocity signal reference adjustment circuit, an output signal of the y-direction acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal, and an output signal of the x-axis rotation angular velocity signal reference adjustment circuit or the output signal amplified The signal, An addition amplifying circuit for adding or adding and amplifying together with a drive signal for steady rotation of two rotor blades arranged at opposite positions with respect to the shaft, and the addition amplifying circuit when the tilt angle of the fuselage deviates from a target value In order to increase the rotational speed of one of the two rotor blades and reduce the other rotational speed so that the inclination angle is corrected based on the output signal of the And an output signal of the x-direction acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal and an output signal of the y-axis angular velocity signal reference adjustment circuit or the output signal. And an addition amplification circuit that adds or amplifies the signal together with a drive signal for steady rotation of two rotor blades arranged at positions facing each other with respect to the y-axis, and the inclination angle of the airframe deviates from the target value. In this case, each of the two rotor blades is driven to increase the rotational speed and decrease the other rotational speed so that the inclination angle is corrected based on the output signal of the summing amplifier circuit. The device has an inclination angle adjustment circuit for issuing an inclination angle adjustment signal, and automatically maintains the inclination angle of the airframe at a horizontal or predetermined inclination angle by increasing / decreasing the number of rotations of the four rotor blades. Flying robot featuring   An acceleration sensor having a levitation device for levitating the airframe in a medium, and detecting an inclination angle around the x and y axes provided in a horizontal reference plane of the airframe by detecting gravitational acceleration components in the y and x directions; An angular velocity sensor for detecting angular velocities about the x and y axes, and a total of four rotor blades, two each at opposite positions with respect to the x and y axes, separately from the levitation device, An x, y direction acceleration signal reference adjustment circuit for adjusting an arbitrary signal to an output signal of an acceleration sensor for detecting an acceleration in the y direction, and an arbitrary signal for an output signal of the angular velocity sensor for detecting an angular velocity about the x and y axes. And an x, y-axis angular velocity signal reference adjustment circuit for adjusting the output signal, an output signal of the y-direction acceleration signal reference adjustment circuit or a signal obtained by amplifying the output signal, and an output signal of the x-axis angular velocity signal reference adjustment circuit Or the output signal A summing amplifier circuit for adding or amplifying the amplified signal together with a driving signal for steady rotation of two rotor blades arranged at positions facing each other with respect to the x-axis, and the inclination angle of the airframe deviates from the target value In this case, each of the two rotor blades is driven to increase the rotational speed and decrease the other rotational speed so that the inclination angle is corrected based on the output signal of the summing amplifier circuit. A tilt angle adjusting circuit for generating a tilt angle adjusting signal in the apparatus; an output signal of the x-direction acceleration signal reference adjusting circuit or a signal obtained by amplifying the output signal; and an output of the y-axis angular velocity signal reference adjusting circuit A summing amplifier circuit for adding or amplifying a signal or a signal obtained by amplifying the output signal together with a drive signal for steady rotation of two rotor blades arranged at positions facing each other with respect to the y-axis. When the angle deviates from the target value, the rotation speed of one of the two rotor blades is increased and the rotation speed of the other is decreased so that the inclination angle is corrected based on the output signal of the addition amplifier circuit. Therefore, it has an inclination angle adjustment circuit that issues an inclination angle adjustment signal to the driving device of each rotor blade, and the inclination angle of the airframe is automatically adjusted to a horizontal or predetermined inclination angle by increasing or decreasing the number of rotations of the four rotor blades. A flying robot characterized by maintaining it

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