JP2006051841A - Small sized flying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To attain a high level of flying performance even for a flight in a gusty wind. <P>SOLUTION: One end part of a connecting rod 4 is rotatably mounted to four places of the front right and left positions and the rear right and left positions of a fuselage 1. One side part of a motor 5 for driving wings where rotary wings 2a, 2b, 2c, 2d are mounted to an output shaft 5a is mounted to the other end part of the connecting rod 4 projecting to the outward of the fuselage so that the output shaft 5a is orthogonal to the connecting rod 4. The downward back wash is generated by arranging and rotary-driving the rotary wings 2a, 2b, 2c, 2d in the vertical downward direction with the motor 5 for driving wings, and the vertical ascent, descent and hovering are performed by the reaction force. The flying device flies forward by obtaining lift force and propulsive force through the reaction of the back wash by inclining the back wash generation direction of the rotary wings 2a, 2b, 2c, 2d to the rear obliquely downward. The flying device is turned to the right and left direction by changing the balance of right and left propulsive force in this case. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a small flight apparatus used for flying to a desired target position and collecting information on the target position, transporting a small device to the target position, and the like.

In recent years, when investigating on-site conditions in places that are difficult for people to approach easily, such as indoor or outdoor high places or disaster sites, or where contamination with chemical substances, microorganisms, radioactive substances, etc. is assumed For example, a very small flying device (Micro Air Vehicle: MAV) with a size of several tens of centimeters or less is used to detect the presence of chemical substances, microorganisms, radioactive substances, etc. in cameras, microphones, and atmospheric gases. Equipped with the necessary analysis equipment and the like to fly the small flying device to the target position, and based on the field measurement results detected by the equipment mounted on the small flying device, Further, it has been considered that information collection of the target position can be performed.

By the way, when the interaction between the flying object and the surrounding fluid is organized by the correlation with the Reynolds number, which is the ratio of the inertial force and the viscous force of the fluid, the size of the flying object and the Reynolds number are almost corresponding. In the case of a metric-sized aircraft that has been put to practical use in the past, the Reynolds number is high (Re> 10 ⁵ ), for example, so that the Reynolds number of an ordinary aircraft is on the order of 10 ⁷ to 10 ^8. On the other hand, in a small-sized flying device having a small size as described above, the Reynolds number is as low as about 10 ⁴ to 10 ^{5. In} the interaction with the surrounding gas (fluid), the inertial force At the same time, the influence of viscous force increases. Further, since the small flying device is small in size and light in weight, it is easily affected by air currents and is always in a state of flying in a gust of wind. Further, in order to fly indoors or in an air current outdoors, very high flight performance such as vertical takeoff and landing, sudden turn, and air stop flight (hovering) is required.

  By the way, helicopters are widely known as flying bodies capable of vertical take-off and landing and aerial stop flight as flight performance. Also, vertical take-off and landing aircraft and airships can be used for vertical take-off and landing and aerial stop flight.

  As the vertical take-off and landing aircraft, for example, the main wing is provided at the left and right positions of the fuselage, the left and right horizontal tails and the vertical tail are provided at the rear part of the fuselage, and the engine is provided at the tip of the main wing and the tip of the horizontal tail. A tilt engine type aircraft has been conventionally proposed in which each of the engines is attached so as to be rotatable from a horizontal direction to a vertical direction, and a propeller (rotary wing) is attached to each engine (for example, Patent Document 1). reference).

  In addition, the airship includes a fuselage that has, for example, a circular planar shape and an elliptical cross-sectional shape, and is filled with helium to form an aerostatic riser. Propeller units with propellers (rotary blades) are provided at the front left and right positions and the rear left and right positions, respectively, and each of the propulsion units has a propeller rotation surface in a vertical position from a horizontal position (propeller rotation axis is vertical). (Propeller rotation shaft is in the horizontal direction) can be tilted between the propellers of each propulsion unit by rotating the propeller in a state where the propeller rotation surface is in a horizontal position. Conventionally, a propulsion unit has been proposed in which propulsion is obtained by rotationally driving a propeller of a propulsion unit in a state where the rotation surface is vertical (for example, Patent Document Reference).

  Furthermore, as another flying body capable of vertical takeoff and landing, a rotor (rotary wing) having a rotation axis directed in the vertical direction is provided at the front and rear positions of the main body section provided with a section on which a person rides, and the left and right positions of the main body section are provided. And a rotor (rotary blade) whose rotational axis can be changed from the vertical direction to the front-rear direction by a tilt mechanism, and each of the front, rear, left and right rotors is provided with a plurality of differential gears (differential gears) from one engine. ), And a structure in which each of the left and right rotors is arranged so that the rotation axis is in the vertical direction. The left and right rotors and the front and rear rotors are driven to rotate, and then the left and right rotors are tilted so that the rotation axis is directed in the front-rear direction. By rotated in a state in which is has been proposed conventionally others so as to perform forward flight (e.g., see Patent Document 3).

JP 2002-205694 A JP 2001-507306 A JP-A-4-173497

  However, helicopters can perform vertical take-off and landing and aerial stop flights, but in order to advance, reverse, or turn in the left-right direction, the rotor (rotary blade) rotation axis is usually tilted in the direction of travel along with the fuselage. Therefore, there is a problem that the rapid turning performance cannot be improved so much. For this reason, the helicopter type aircraft configuration satisfies the very high level of flight performance required for a small flying device that is small in size and light in weight as described above, and that always flies in gusts. It is difficult to let

  In addition, a vertical take-off and landing aircraft of the type provided with a tilt engine as disclosed in Patent Document 1 causes the propeller to rotate together with the engine so that the propeller rotation axis is vertical during vertical take-off and landing. During normal forward flight, as with other general aircraft, by operating the elevator, horizontal rudder, and auxiliary wing provided on each wing, it is possible to make a left-right turn flight and a posture during flight. Since it is considered that the control is performed, the rapid turning performance cannot be improved so much. For this reason, it is difficult to satisfy the flight performance required for the above-mentioned small flight apparatus even by the fuselage structure of a vertical take-off and landing aircraft equipped with a tilt engine. Note that Patent Document 1 does not specifically describe the control of the flight direction of an aircraft having a tilt engine and the control of the body posture during flight. Therefore, in Patent Document 1, the tilt engine provided at the tip of each main wing and horizontal tail is individually controlled to change the flight direction even during normal forward flight or by changing the output. The idea of performing or controlling the attitude of the aircraft during flight is not shown at all and is not suggested.

  Furthermore, in the airship described in Patent Document 2, it is necessary to set the volume of the fuselage larger than the fuselage weight in order to lift the total weight of the fuselage by the buoyancy of helium filled in the fuselage. For this reason, the airframe configuration described in Patent Document 2 is adopted for the above-described small flight apparatus that is assumed to always fly in a gust of wind even if its size is reduced. It is difficult.

  Therefore, in fact, the above-mentioned small flying device requires a design that is very different from that of conventional helicopters, aircrafts, and airships.

  In the one described in Patent Document 3, since the two rotors provided at the front and rear positions of the main body are fixed in the vertical direction, the two front and rear rotors are At the time of forward flight, it hardly contributes to the generation of propulsive force for advancing the flying object. In addition, when the two rotors provided at the left and right positions of the main body are moved forward by being tilted by 90 °, the two rotors on the left and right sides generate lift force that floats the aircraft weight (total weight) of the flying object. It is necessary to generate lift that supports the weight of the aircraft by the two front and rear rotors. Therefore, the two front and rear rotors and the two right and left rotors have low efficiency because their uses are almost divided into lift generation and propulsion generation, respectively. Further, the two left and right rotors are rotated by an output unit attached to the engine via a differential and a clutch, and at the same time, a tilt provided at the tip of the output unit. Since the mechanism can be tilted, it is considered that the structure of each tilt mechanism is complicated and the weight is increased. Therefore, it is difficult to adopt the airframe configuration described in Patent Document 3 for the above-described small flight device.

  Therefore, the present inventor has devised and researched to give advanced flight performance to a small flying device, and as a result, vertical takeoff and landing while maintaining the horizontal attitude of the fuselage, rapid turn, aerial stop flight (hovering), etc. We focused on dragonflies with advanced flight performance. When flying horizontally, the dragonfly flapped each wing so that the average angle of attack of the wing cross section (angle formed with the horizontal plane) is almost zero, and the wing cross section moves in a manner that combines the vertical reciprocating motion and the rotational motion. On the other hand, when flying in mid-air, the average angle of attack of the wing cross-section is set to approximately 90 degrees, that is, the wing cross-section moves in a superimposed manner of the back-and-forth reciprocating motion and the rotational motion with the wing leading edge facing up. Therefore, the difference between horizontal flight and air suspension flight is that the relative reciprocating direction of the wing cross section relative to the wing cross section does not change, and the average angle of attack of the wing cross section However, the direction of the air flow generated by flapping of each wing is different between the backward in the horizontal direction and the downward in the vertical direction.

  By the way, each wing of the dragonfly is connected to the fuselage by a joint having a degree of freedom in three directions. By utilizing this degree of freedom, the wing cross section can be freely moved up and down, back and forth, and rotated.

  For this reason, it is conceivable to adopt a wing drive mechanism having three degrees of freedom in the vertical, forward, backward, and rotational directions by imitating the structure of the attachment portion of the dragonfly wing to the fuselage. In this case, the universal joint with the three degrees of freedom as described above can be realized by combining a gimbal and a motor, etc., but it becomes too heavy and adopted for a small flying device. It is difficult to do this, and it is considered to be expensive.

  In view of these things, the present inventor is not a biomimetic idea that imitates the movement of the dragonfly wing drive unit as it is, but extracts only the excellent points of the dragonfly wing drive unit and extracts its structural The present invention has been made on the basis of a biomorphic idea that incorporates various ideas.

  Therefore, the object of the present invention is to achieve a high level of flight performance, and to be able to fly even in a state where it always flies in a gust of wind in an indoor flight or outdoor air flow. A flight device is to be provided.

  In order to solve the above-mentioned problems, the present invention, corresponding to the first aspect of the invention, independently adjusts the angle of the rotor blades at a plurality of positions on the left and right sides of the fuselage from the front-rear posture to the vertical posture. The rotation speed of each rotor blade can be controlled independently, and the rotor blades can be driven to rotate at the required rotation speed while flying at the required angle posture. The configuration.

  Corresponding to the invention according to claim 2, the rotor blades are provided at a plurality of positions in the front left-right position and the rear left-right position of the fuselage so that the angle can be independently adjusted from the front-rear direction to the vertical direction. The rotational speeds of the rotor blades can be controlled independently, and the rotor blades can be driven to rotate at the required rotational speeds while being held at the required angular postures.

  Further, corresponding to the invention according to claim 3, connecting rods are attached so as to extend in the left-right direction at a plurality of positions in the front left and right positions and rear left and right positions of the fuselage so that the connecting rods can be rotated, and A blade drive motor having a rotor blade attached to the output shaft is attached to each connecting rod, and the angular posture of the rotor blade can be changed in the vertical direction via the connecting rod. In addition, the attitude sensor for detecting the attitude of the fuselage, the control of the angular attitude in the vertical direction of each rotor blade based on the signal input from the attitude sensor, and the control of the rotational speed of each blade drive motor The configuration includes a controller.

  In addition, a fixed wing that can generate lift in the airflow from the front to the rear is attached to a required portion of the fuselage in each configuration described above.

According to the small flight device of the present invention, the following excellent effects are exhibited.
(1) A plurality of rotor blades at the left and right positions of the fuselage, more specifically at the front left and right positions and the rear left and right positions of the fuselage, and the rotational attitude and the angle orientation from the front and rear direction to the vertical direction for each rotor blade Since each of the rotor blades can control the angular orientation in the wake generation direction and the strength of the wake to be generated, each rotation blade can be controlled independently. The vertical component and the horizontal component of the wake reaction force acting on the wing can be adjusted. Therefore, since the magnitude of the lift force acting on the fuselage from each rotor blade and the magnitude and direction of the propulsive force can be individually controlled, even if the attitude is likely to be disturbed in the front-rear and left-right directions, it is easily corrected Thus, the horizontal posture can be maintained. Moreover, advanced flight performance such as vertical take-off and landing and air stop flight can be achieved.
(2) More specifically, connecting rods are attached so as to extend in the left-right direction at a plurality of positions in the front left and right positions and rear left and right positions of the fuselage so that the connecting rods can be rotated. In addition, a blade driving motor having a rotor blade attached to the output shaft is attached, and the angle posture of the rotor blade can be changed in the vertical direction via the connecting rod. And by changing the rotational speed of the blade driving motor, it is possible to change the vertical attitude of the rotary blade and to control the rotational speed.
(3) By adopting a configuration that includes a posture sensor for detecting the posture of the fuselage, and a controller that controls the angular posture of the rotor blades and the rotational speed based on a signal input from the posture sensor. When the attitude of the inventive small flying device collapses and tilts in the required direction, the angular attitude and rotation in the wake generation direction of each rotor blade is changed so as to change the balance of lift acting on the inclined side and the opposite side. It is possible to stably maintain the flying posture by changing the posture by changing the speed.
(4) Since a fixed wing that generates lift in the air flow in the front-rear direction is attached to a required portion of the fuselage, lift can be generated by the fixed wing during forward flight. Since the magnitude of the lift force that acts on the fuselage from each rotor blade can be reduced, the propulsion efficiency can be improved.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  1 (a) (b) to FIG. 3 show an embodiment of a small-sized flying device of the present invention. In the front-rear direction, for example, both left and right sides of a fuselage 1 having a length of about a few tens of centimeters. Rotating blades 2a, 2b, 2c, 2d, such as screw propellers, whose rotational speeds can be controlled independently at a plurality of positions, for example, at four positions of the front left / right position and the rear left / right position, It is possible to fly by changing the angle of each of the four rotor blades 2a, 2b, 2c, and 2d and the rotation speed as appropriate so that the direction can be changed (angle change) from the front-rear direction to the vertical direction. Like that.

  Details will be described below.

  As shown in FIG. 2, a pair of bearings 3a and 3b are separately provided on the left and right positions of the body 1 at the front left and right positions and the left and right positions at the rear, respectively, and extend in the left and right directions to the pair of bearings 3a and 3b. Respective one end portions of the left and right connecting rods 4 arranged so as to protrude to the left and right outer sides of the body 1 are supported rotatably. One end of the connecting rod 4 is a protruding end of the blade drive motor 5 in which the rotor blades 2a, 2b, 2c, and 2d are respectively attached to the output shaft 5a extending in parallel with the body 1. Side blades are attached so that the rotor blades 2a, 2b, 2c, 2d are in a rearward posture, and by rotating the connecting rod 4, each blade driving motor 5 is rotated in the vertical direction to output shaft 5a. That is, the angle posture in the rotation axis direction of each rotor blade 2a, 2b, 2c, 2d can be adjusted from the front-rear direction posture to the up-down direction posture and vice versa. Further, each connecting rod 4 is provided with an angle changing gear 6 at a portion located between the pair of left and right bearings 3a and 3b, and a pinion 7 meshed with each gear 6 is made independent. The angle control motor 8 is attached to the output shaft 8a. As a result, each angle control motor 8 is driven to rotate the pinion 7 independently, so that each blade driving motor 5 can be moved back and forth independently via the angle changing gear 6 and the connecting rod 4. It can be rotated in the vertical direction (angle change) within a vertical plane along the direction. Accordingly, by appropriately controlling the rotation speed of the angle control motor 8, the vertical postures of the rotary blades 2a, 2b, 2c, 2d attached to the output shaft 5a of the corresponding blade drive motor 5 ( Orientation) can be changed independently.

  The blade driving motors 5 can individually control the rotational speed (rotational speed), and the rotational speeds of the blades can be controlled individually to control the corresponding rotary blades 2a, 2b, The rotational speeds of 2c and 2d can be controlled independently, and the strength of the slip stream (rear flow) generated by the rotation of the rotary blades 2a, 2b, 2c and 2d can be individually adjusted. . 1A and 1B and FIG. 2, each of the rotor blades 2a, 2b, 2c, and 2d is configured to suck air from the blade driving motor 5 side by rotational driving.

  With this configuration, when the rotor blades 2a, 2b, 2c, and 2d are driven to rotate by the blade driving motors 5, wakes are generated in the rear regions of the rotor blades 2a, 2b, 2c, and 2d. For this reason, the wake reaction force acts on each of the rotor blades 2a, 2b, 2c and 2d. Therefore, in the entire small flying apparatus of the present invention, the resultant force of the upward component (component force) in the reaction force of the wake that acts on each of the four rotor blades 2a, 2b, 2c, and 2d is lift (levitation force). In addition, the horizontal component (horizontal component) of the reaction force of the wake that acts on each of the four rotor blades 2a, 2b, 2c, and 2d acts as a horizontal driving force. Therefore, the angle posture in the wake generation direction which is one of the rotation axis directions of the rotor blades 2a, 2b, 2c and 2d and the rotation speed of the rotor blades 2a, 2b, 2c and 2d are adjusted independently. Thus, the balance between the lift and propulsion generated for each of the rotor blades 2a, 2b, 2c, and 2d can be changed, so that a high degree of flight performance is realized.

That is, for example, the blade driving motor 5 is rotated by the angle control motor 8 so that the wake generation direction of each of the rotating blades 2a, 2b, 2c, 2d is downward in the vertical direction as shown in FIG. When the rotor blades 2a, 2b, 2c, and 2d are rotated by driving the blade drive motor 5 in the state of the following posture, the wakes are generated downward in the vertical direction.
For this reason, the reaction force of the wake is only an upward component in the vertical direction, and no horizontal component force is generated. Therefore, in the region where there is no airflow, the rotational speeds of the rotor blades 2a, 2b, 2c, 2d by the blade driving motors 5 are adjusted, and the four rotor blades 2a, 2b, 2c, 2d are adjusted. If the lift of the small flying device of the present invention, which is the resultant force of the reaction force of the wake generated, exceeds the weight (overall weight) of the small flying device of the present invention, the small flying device It will rise vertically without being moved. On the other hand, when the lift of the above-described small-sized flying device is less than the weight of the aircraft, the small-sized flying device can be lowered vertically. Furthermore, if the lift of the above-described small flying device is balanced with the weight of the aircraft, the small flying device of the present invention can perform aerial stop flight (hovering).

  Further, for example, when the blade driving motor 5 is rotated by the angle control motor 8 to change the angles of the rotating blades 2a, 2b, 2c, 2d, the rotating blades 2a, 2b, 2c, 2d are rotated. Since the direction of the wake generated by the tilt is inclined downward from the vertical direction, a horizontal component occurs in the reaction force of the wake. Therefore, as shown in FIG. 1 (b), the wake generation direction of each of the four rotor blades 2a, 2b, 2c, and 2d is set to be slightly downward from the rear indicated by the arrow B in the figure. In this state, when the blades are driven to rotate by driving the blade driving motors 5, the reaction forces of the wakes generated by the four rotating blades 2a, 2b, 2c, and 2d act slightly upward. At this time, the propulsive force which is the resultant force of the horizontal component force is appropriately adjusted so that the lift force which is a resultant force of the vertical component force of the reaction force of the wake generated as described above is balanced with the body weight of the small flying device of the present invention. Will act positively. From this, in a quiet air current, the small flight device of the present invention can fly forward according to the magnitude of the propulsive force while maintaining a constant altitude. When the small flying device of the present invention is to fly forward as described above, the rotor blades 2a and 2b at the front of the fuselage and the rotor blades 2c and 2d at the rear of the fuselage basically rotate in substantially the same manner. The rotor blades 2c and 2d at the rear of the fuselage may be driven in the wake of the rotor blades 2a and 2b positioned at the front, so that the front and rear provided on the same left and right sides. The rotor blades 2a and 2c, 2b and 2d cause interference. Therefore, the rotational speeds of the front and rear rotor blades 2a, 2b and 2c, 2d may be adjusted as appropriate so that this interference effect can be taken into account.

  Further, when the small flying device of the present invention is caused to fly forward while maintaining a constant altitude as described above, the rotational speeds of the front and rear rotor blades 2a and 2c on the left side of the fuselage and the front and rear rotor blades 2b and 2b on the right side of the fuselage When the rotational speed of 2d is made different, the magnitude of the propulsive force acting on the left side of the fuselage from the rotary blades 2a and 2c and the magnitude of the propulsive force acting on the right side of the fuselage from the rotary vanes 2b and 2d are different. For this reason, in a quiet air current, the small flying device of the present invention can be turned to one side in the left-right direction where the acting thrust is smaller. On the other hand, in a turbulent airflow that attempts to turn the flying small flying device to one of the left and right directions, either the left or right of the fuselage 1 that is the side on which the small flying device is to be turned. If the rotational speeds of the left and right rotor blades 2a, 2c and 2b, 2d are made different from each other so that the propulsive force acting on the side becomes larger than the propulsive force acting on the other side, the small flight of the present invention An effect of preventing the device from coming off the predetermined flight course can be obtained.

  Each of the rotor blades 2a by the respective blade driving motors 5 during the flight to the front of the small flying device of the present invention by the rotational driving of the rotor blades 2a, 2b, 2c, and 2d as described above or during the turning to the left and right. , 2b, 2c, 2d, and the rotational speeds of the rotary blades 2a, 2b, 2c, 2d are turned up and down together with the blade drive motor 5 by driving the angle control motor 8 By appropriately changing the angle orientation in the generation direction, the lift force, which is the resultant force of the vertical component force in the reaction force of the wake generated by each of the rotor blades 2a, 2b, 2c, 2d, becomes larger than the weight of the fuselage. If this is done, or if it is less than the weight of the fuselage, the small flight device of the present invention can be gradually raised or lowered during flight forward or during a turn. .

  Further, as shown in FIG. 1 (a), when the small flying device of the present invention is hovered, vertically lifted or vertically lowered, the rotor blades 2a, 2c or 2b on either one of the left and right sides, If the angle posture in the wake generation direction of 2d is slightly inclined forward, and the angle posture in the wake generation direction of the other rotor blades 2b, 2d or 2a, 2c is slightly inclined backward, Since it becomes possible to apply reverse propulsive forces to the left and right sides of the fuselage 1 in the front-rear direction, the small flying device of the present invention can be turned in the left-right direction on the spot. Furthermore, if the wake generation directions of the rotor blades 2a, 2b, 2c, and 2d on the left and right sides are all inclined slightly forward, it is possible to fly backward.

  By the way, the small flying device of the present invention independently sets the angle posture and the rotational speed in the wake generation direction of the four rotor blades 2a, 2b, 2c and 2d provided at the front left and right positions and the rear left and right positions of the fuselage 1, respectively. Control, as described above, vertical ascent, vertical descent, hover, vertical turn, vertical descent and hovering, turn in place, forward flight, left and right turn, up and down while moving forward or turning However, as described above, when flying in an actual environment, it is affected by the air current that exists in the environment. It will always be in a state of flying in turbulent flow. For this reason, there is a concern that the posture may be easily disturbed, and there is also a concern that the flight course may easily deviate from the desired flight course when flying in the turbulent flow. It is difficult for an operator to correct such a posture disorder or a deviation from a desired flight course each time by wireless control or the like. For this reason, the small flight apparatus of the present invention is provided with the following control mechanism so that the flight can be controlled autonomously.

  That is, as shown in FIG. 3, a position sensor 9 such as a position sensor comprising a GPS, a magnetic sensor, a flight speed meter and a flight altimeter, a posture sensor 10 such as a gyro, and an obstacle are detected at a required position of the fuselage 1. The anti-collision sensor 11 is provided, and based on the signals from the sensors 9, 10, 11, each of the rotor blades 2a, 2b, 2c, 2d at the front left / right position and the rear left / right position of the fuselage 1 is handled. The controller 12 is provided to give independent control commands to the set of the blade driving motor 5 and the angle control motor 8 provided as described above.

  Further, a wireless reception for receiving a flight command corresponding to the purpose of use of the small flight apparatus of the present invention, which is issued by radio from an external control device (not shown), and inputting it to the controller 12 at a required position of the fuselage 1. A device 13 and a command setting device 14 are provided. Furthermore, a state monitor 15 and a wireless transmitter 16 are provided for wirelessly transmitting the current position, flight status, etc. of the small flight device of the present invention output from the controller 12 to the external control device. is there.

  The controller 12 will be described in detail. One of its functions is an attitude control function. As described above, since the attitude of the small flight device of the present invention may be easily disturbed by turbulence during flight, the controller 12 is input from the mounted attitude sensor 10. On the basis of the signal, the front / rear / left / right inclinations are constantly monitored, and when the inclination is detected, the rotor blades at the front left / right position and the rear left / right position are returned so that the detected inclination is canceled and the horizontal posture is restored. Commands are given to the blade drive motor 5 and the angle control motor 8 in order to appropriately change the angle posture and the rotational speed in the wake generation direction of 2a, 2b, 2c, and 2d.

  Specifically, for example, when it is detected by the signal from the attitude sensor 10 that the left side is tilted downward, the wake of each rotor blade 2a, 2b, 2c, 2d in the current flight state is generated. To slightly increase the lift by the front and rear rotor blades 2a and 2c on the left side of the fuselage as compared to the angular orientation and rotation speed of the direction, and to prevent the lift from deviating from the desired flight course as this lift increases. In addition, the lift by the front and rear rotor blades 2b and 2d on the right side of the fuselage is slightly reduced. Furthermore, even if the balance of lift acting on the left and right sides of the fuselage 1 is changed in this way, the left and right rotors 2a, 2c and 2b, 2d are prevented from deviating from the desired flight course in the left-right direction. In order to prevent the propulsive force acting on the left and right of the fuselage 1 from being changed, the angle attitude and rotational speed in the wake generation direction of each rotor blade 2a, 2b, 2c, 2d are respectively corresponding to the blade drive motors. 5 and the angle control motor 8. Thereby, the balance of the lift force acting on the left side and the right side of the body 1 is adjusted, the inclination is corrected, and the horizontal posture can be maintained.

  Similarly, when an inclination that the right side is lowered is detected, or when an inclination in the front-rear direction is detected, the rotor blades 2a, 2b, and 2c existing on the lower side and the upper side of the fuselage 1, respectively. , 2d, the inclination is corrected by changing the balance of the lift generated at 2d so that the horizontal posture can be maintained.

  Another function of the controller 12 is a flight control function. This is to fly the small flight apparatus of the present invention to a predetermined target position, and then return to the initial position or the predetermined position after completion of the desired work. Therefore, the position of the small flying device of the present invention itself (for example, based on a signal input from a position sensor 9 such as a position sensor comprising a magnetic sensor, a flight speed meter, and a flight altimeter when GPS or GPS radio waves do not reach (for example, 3D coordinates) can be detected. Further, when a flight command, for example, a target position is set by a GPS coordinate or the like from an external control device via the wireless receiver 13 and the command setting unit 14, the target is detected from the detected initial position (takeoff position). Find the direction, distance, etc. to reach the position, for example, first take off vertically and then ascend vertically to the required height position, then fly forward to the required direction toward the target position The flight course can be automatically determined and set. Accordingly, commands are given to the wing drive motor 5 and the angle control motor 8 in accordance with changes in lift and propulsion required to fly along the set flight course, respectively. The angular posture and the rotational speed in the wake generation direction of the rotor blades 2a, 2b, 2c, and 2d can be appropriately controlled independently. Thereby, the small flight apparatus of the present invention can fly to the target position along the set flight course.

  In addition, since the small flight device of the present invention is easily disturbed by the turbulent flow as described above, the flight control function of the controller 12 has the predetermined small flight device of the present invention as described above. When flying along a flight course, the current flight position of the small flight device of the present invention is constantly monitored based on the signal from the position sensor 9 such as GPS coordinates, and the detected current flight position is If it is detected that there is a deviation from a predetermined flight course, the right and left rotor blades 2a, 2b, 2c, and 2d are appropriately controlled to the blade driving motor 5 and the angle control motor 8 so as to correct the deviation. A command is given so that it can be swung left and right, or raised or lowered. Thereby, even if a flight course is disturbed, it has a function which can fly the small flight apparatus of this invention to a target position, correcting it at any time.

  Further, as the flight control function of the controller 12, after a predetermined purpose at the target position is achieved, the small flight device of the present invention is returned to the initial position (takeoff position) or to a predetermined position set in advance. A flight course is set, and flight can be performed by performing the same control as described above along the return flight course.

  As another function of the controller 12, an obstacle avoidance function for automatically avoiding an obstacle present on the flight course is provided. This is because the controller 12 always monitors the front in the traveling direction based on the signal input from the collision prevention sensor 11 and if the presence of an obstacle is detected in front of the flight course, the wing drive motor 5 and the angle control motor By appropriately giving instructions to the motor 8, the flight direction is changed appropriately in the vertical and horizontal directions to bypass the obstacle. After avoiding the obstacle in this way, it is only necessary to return to the flight course to the target position or the return flight course based on the flight control function of the controller 12.

  For example, an optical flow sensor may be employed as the collision prevention sensor 11. This is because, when a moving body is moving and the outside is visually observed, the external image obtained expands radially from one point in front of the traveling direction. After flowing fastest at a speed corresponding to the speed of the moving body to the rear, it changes so as to be concentrated at one point behind the traveling direction. At this time, the object positioned in front of the moving direction of the moving body does not change the relative position in the field of view, and the object existing in the position deviating from the front of the moving direction moves up and down from the moving direction. The relative position changes in the vertical and horizontal directions on the field of view depending on the direction of shifting to the left and right, and the object that exists at a position deviated from the front of the traveling direction is smaller in the field of view. Obstacles ahead in the direction of travel can be detected using the principle that the rate of change of the relative position on the top increases.

  Furthermore, at a predetermined position (not shown) of the fuselage 1, depending on the purpose of use of the small flight apparatus of the present invention, for example, for the purpose of collecting remote information, the CCD sensor 17a for image capturing, Various sensors such as a chemical sensor 17b and a biosensor 17c for detecting a substance present in the atmospheric gas, and a gripping device (not shown) for performing a detachment operation and a gripping operation of a transport object. The payload 17 can be mounted. When the payload 17 is various sensors, as shown in FIG. 3, the current position of the small flight apparatus according to the present invention is sent to the state monitor 15 and input from the controller 12 as shown in FIG. In addition, it may be transmitted wirelessly to an external control device via the wireless transmitter 16 together with the flight status and the like.

  As shown in FIGS. 1 (a) and 1 (b), legs 18 for grounding when the small flight apparatus of the present invention is taken off and landing are provided at the lower required position of the fuselage 1. A power source (not shown) such as a battery for supplying power to the motors 5 and 8 and the devices in the control mechanism is mounted at a required position of the body 1. A power supply cable (not shown) for supplying power to each blade driving motor 5 may be guided along the corresponding connecting rod 4 from inside the fuselage 1 or through the inside of the connecting rod 4.

  Since the small flying device of the present invention is a flying object, it is important that all of the various components described above are lightweight. Therefore, the various components described above may be appropriately selected and used from light materials within a range in which required strength and function are satisfied.

  Because of the above configuration, when using the small flight device of the present invention, the target is transmitted wirelessly from an external control device while being transported to the required take-off position and mounted on the ground or a required location. When a flight command is issued so as to perform flight to a position and a desired purpose, for example, observation of the status of the target position by various sensors mounted as a payload 17, the command is a wireless receiver of the small flight device of the present invention. 13 and the command setter 14 and input to the controller 12. When a command is input to the controller 12 in this way, the controller 12 sets a flight course up to the designated target position, and obtains lift and propulsion that can fly along the predetermined flight course. As shown, commands for driving the blade driving motor 5 and the angle control motor 8 of each of the rotor blades 2a, 2b, 2c, and 2d are individually issued. As a result, the angle posture in the wake generation direction of each of the rotor blades 2a, 2b, 2c, and 2d is adjusted to a required direction by the angle control motor 8, and at the required rotation speed by the blade drive motor 5. Since the rotor blades 2a, 2b, 2c, and 2d are driven to rotate, the small flight device of the present invention flies to the target position along the predetermined flight course.

  During the flight, if the posture is disturbed due to turbulence or the like, the controller 12 detects the posture disturbance by a signal input from the posture sensor 10, and the controller 12 detects each wing to correct the posture disturbance. A command is issued to the drive motor 5 and each angle control motor 8 so that the angular posture and the rotational speed in the wake generation direction of each rotor blade 2a, 2b, 2c, 2d are appropriately adjusted. The flying device can always fly while maintaining a horizontal posture.

  Further, when the vehicle departs from a predetermined flight course due to the influence of wind or the like, the controller 12 detects a deviation from the flight course by a signal from the position sensor 9, and the controller 12 corrects the deviation from the flight course. A command is issued to each blade driving motor 5 and each angle control motor 8, and the angular posture and the rotational speed in the wake generation direction of each rotor blade 2a, 2b, 2c, 2d are appropriately adjusted to increase the lift force and propulsive force. Therefore, the small flight device of the present invention can fly toward the target position.

  Further, when there is an obstacle on the flight course, the controller 12 detects the obstacle by a signal from the collision prevention sensor 11, and the controller 12 drives each wing so that the obstacle can be bypassed. A command is issued to the motor 5 and the angle control motor 8 so that the angle posture and the rotational speed in the wake generation direction of each rotor blade 2a, 2b, 2c, 2d are appropriately adjusted. The device will be able to fly around obstacles.

  When the small flight device of the present invention reaches the target position, the state of the target position is measured by a sensor mounted on the payload 17. For example, when the sensor is a CCD sensor 17 a, When an image can be taken and the chemical sensor 17b or the biosensor 17c is used, the atmosphere gas at the target position is analyzed, and the image of the target position and the analysis result of the gas component in the atmosphere, etc. Can be transmitted to the external control device via the state monitor 15 and the wireless transmitter 16.

  Thereafter, when the target work at the target position is completed, the controller 12 causes the wing drive motor 5 and each of the wing drive motors 5 to fly along a takeoff position or a flight course for returning to a predetermined position specified in advance by the controller 12. A command is issued to the angle control motor 8, and the lift and propulsive force generated are adjusted by appropriately adjusting the angular posture and rotational speed in the wake generation direction of each rotor blade 2a, 2b, 2c, 2d. The small flight device of the present invention can be returned to the take-off position or a predetermined position.

As described above, according to the small flight apparatus of the present invention, the rotary wings 2a, 2b, 2c, and 2d provided at the front left and right positions and the rear left and right positions can be made independent of the angular posture and the rotation speed in the wake generation direction. Therefore, by controlling the angular posture and the rotational speed in the wake generation direction of the rotor blades 2a, 2b, 2c, and 2d, respectively, the front part of the fuselage 1 is controlled. Lift and propulsion acting on the left and right positions and the rear left and right positions can be adjusted independently. For this reason, since the small flight device of the present invention has a Reynolds number as low as about 10 ⁴ to 10 ⁵ due to its size, it receives interaction with a fluid that is significantly different from a meter-sized aircraft, Although the situation is such that the aircraft always flies in a turbulent flow, advanced flight performance can be achieved while the posture disturbance detected by the posture sensor 10 is constantly corrected and held in a horizontal posture.

  Further, by giving a flight command related to the target position and the purpose of use, after allowing autonomous flight to the target position, the predetermined operation at the target position is performed, and then the take-off position or the predetermined position is returned. You can fly. Therefore, for example, taking pictures of places where people cannot easily approach such as disaster occurrence sites and indoor high places, or analyzing the gas components contained in the atmosphere of the places, whether or not harmful gases are generated It is possible to collect information on the target position from a remote location.

  Furthermore, if a gripping device is mounted on the payload 17, it is possible to transport a required transported object to a place where a person set as a target position cannot easily approach or to a remote place or to collect it. Become.

  Next, FIGS. 4 (a) and (b) show another embodiment of the present invention. In the same configuration as shown in FIGS. 1 (a) and (b) to FIG. A fixed wing 19 is attached so as to extend in the left-right direction with a required chord length.

  More specifically, the fixed wing 19 includes, for example, a horizontal bone member 20 arranged along a wing leading edge extending so as to protrude by a required dimension with an upward inclination from the central portion corresponding to the width dimension of the fuselage 1 to the left and right sides. A plurality of longitudinal bone members which are arranged so that one end portion (front end portion) is attached to a plurality of places (10 places in the figure) of the longitudinal interval of the transverse bone member 20 and the other end portion reaches the wing trailing edge portion. In this structure, a frame (thin film) 22 such as a thin plastic film is stretched on a frame structure 21. The vertical bone member 21 has a shape with the upper surface curved so as to be slightly convex, and the film 22 stretched on the framework structure is curved in the front-rear direction, that is, the central portion of the chord length is slightly upward. By adopting such a shape, lift force can be generated by the fixed blade 19 in the airflow flowing from the front to the rear.

  The fixed blade 19 is configured to rotate the blade driving motor 5 and the rotary blades 2a, 2b, 2c, 2d in the vertical direction by driving the angle control motor 8, and the rotary blades 2a, 2b, 2c, For example, in the front-rear direction of the fuselage 1 so as not to interfere with the rotational drive of 2d and not to hinder the flow of air flowing into and out of the rotary blades 2a, 2b, 2c, 2d that are rotationally driven. It is arranged above the required dimension in the center. Further, a plurality of positions of the framework structure located above the body 1, for example, two left and right positions separated by an interval corresponding to the width dimension of the body 1 at the widthwise intermediate portion of the transverse bone member 20, A total of four locations of the rear end portions (the other end portions) of the two longitudinal bone members 21 each having a front end portion (one end portion) attached to each portion are connected to the intermediate portion in the front-rear direction of the body 1 via the columnar member 23. The fixed wings 19 are installed on the fuselage 1 at a required interval by being respectively attached to the upper side surfaces.

  Other configurations are the same as those shown in FIGS. 1A and 1B to FIG. 3, and the same components are denoted by the same reference numerals.

  According to the present embodiment, it can be used in the same manner as the embodiment shown in FIGS. 1 (a) to (b) to FIG. 3, and the effect of achieving high flight performance can be obtained. Furthermore, when the small flying device of the present invention is allowed to fly forward, lift can be generated by the fixed wing 19, so that the lift generated by the fixed wing 19 is applied to each of the rotary wings 2 a, 2 b, 2 c, 2 d. Thus, the lift of the small flying device of the present invention to be generated, that is, the vertical component of the reaction force of the wake generated by each of the rotor blades 2a, 2b, 2c, 2d can be reduced. Therefore, if the lift capable of supporting the weight of the aircraft can be generated by the fixed wing 19 during horizontal flight, the rotary wings 2a, 2b, 2c, and 2d have the angular posture in the wake generation direction as shown in FIG. As shown in (b), it is possible to set backward in the horizontal direction, so that the propulsion efficiency during horizontal flight can be improved.

  Note that the present invention is not limited to the above embodiment, and the size of the small flight apparatus of the present invention may be increased or decreased as appropriate. As long as the fuselage 1 has a shape that does not become a resistance during flight of the small flight device of the present invention, such as a streamline, the shape may be freely determined.

The rotor blades 2a, 2b, 2c, and 2d are light in weight and the number of blades provided that the required lift and propulsion required to fly the small flight device of the present invention can be obtained by rotational driving. 3 or more may be used. The rotor blades 2a, 2b, 2c, and 2d are shown as sucking air from the blade drive motor 5 side by the rotational drive by the blade drive motor 5, but the air is supplied to the blade drive motor 5 side. It is good also as what generates a wake by blowing.
In this case, when the wake generation direction is directed downward in the vertical direction or directed backward, the rotor blades 2a, 2b, 2c, and 2d are arranged on the upper side or the front side of the corresponding blade driving motor 5, respectively. do it. Furthermore, the rotor blades 2a and 2c on the left side of the fuselage and the rotor blades 2b and 2d on the right side of the fuselage may be provided with blades having opposite pitches. In this case, in order to generate the wake in the same direction, the left and right rotary blades 2a, 2c and 2b, 2d of the fuselage are rotationally driven in opposite directions, so that each rotary blade 2a, 2b, The reaction force of the torque acting when the 2c and 2d are rotationally driven is canceled by the corresponding rotary blades 2a and 2b and 2c and 2d at the left and right positions of the fuselage 1, thereby suppressing the occurrence of an undesirable unbalanced force. I can expect that.

  As long as the fixed wing 19 in the embodiment of FIG. 4 is lightweight and can generate a desired lift during forward flight, the number of the transverse bone members 20 can be increased or the number of the longitudinal bone members 21 can be increased. It may be increased or decreased. Furthermore, it is good also as things other than the structure which consists of the transverse bone member 20, the longitudinal bone member 21, and the film 22, such as making it a sheet-like thing, and you may change a shape a little. Further, if the lift can be applied without being biased in the front-rear direction during the forward flight of the small flight apparatus of the present invention, the attachment position and attachment means of the fixed wing 19 with respect to the fuselage 1 may be arbitrarily set. .

  When changing the angle posture in the wake generation direction of each rotor blade 2a, 2b, 2c, 2d, the connecting rod 4 attached to the blade drive motor 5 in the direction perpendicular to the output shaft 5a is connected by the angle control motor 8. Although shown as rotating through the pinion 7 and the angle changing gear 6, the angle of the wake generation direction desired for each of the rotor blades 2 a, 2 b, 2 c, 2 d when flying the small flight device of the present invention. If the connecting rod 4 can be rotated within a required angle range so that the posture can be taken and the weight of the machine body is not increased, a mechanism for rotating the connecting rod 4 includes a rack, a pinion mechanism, Any other mechanism such as a push / pull mechanism directly or via a link by a required actuator may be adopted.

  As long as the position sensor 9 can detect the position of the small flight device of the present invention, the position sensor 9 is not limited to a position sensor composed of a GPS, a magnetic sensor, a flight speed meter, and a flight altimeter. May be adopted. The posture sensor 10 may employ a device other than the gyro, such as using three GPS receivers and three antennas. As long as the collision prevention sensor 11 can detect an obstacle located in front of the flight direction, an arbitrary type of sensor such as a sensor that detects an obstacle by an ultrasonic wave or an infrared echo other than the optical flow sensor is adopted. Also good.

As long as the size and weight do not hinder the flight of the small flight device of the present invention, the payload 17 may be arbitrary depending on the desired use purpose of the small flight device of the present invention.
Therefore, the small flight device of the present invention can be applied to any purpose of use according to the payload 17 to be loaded.

  Furthermore, in the above embodiment, the controller 12 has been described as having an attitude control function, a flight control function, and an obstacle avoidance function. However, these are basic functions, and the small flight device of the present invention has a different function. A communication device with a small flying device is provided, and the controller 12 is added with a function for interworking with another small flying device, or another device for collecting other external information related to the flight. A sensor is added so that the attitude control function, the flight control function, the obstacle avoidance function, etc. can be modified based on the signal of the sensor, and further, the device mounted on the payload 17 is controlled. You may make it have arbitrary functions, such as adding a function. Of course, various changes can be made without departing from the scope of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of a small-sized flying device according to the present invention, in which (A) is a schematic perspective view showing a state in which a vertical upward lift is generated, and (B) is a schematic side view showing a state of forward flight. It is. FIG. 2 is a schematic cut plan view of the apparatus of FIG. 1. It is a schematic diagram which shows the control mechanism of the apparatus of FIG. FIG. 7 is a schematic perspective view showing another embodiment of the present invention, in which (A) shows a state in which a vertical upward lift is generated, and (B) shows a state in which the aircraft flies forward.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 2a, 2b, 2c, 2d Rotary blade 4 Connecting rod 5 Blade drive motor 5a Output shaft 8 Angle control motor 10 Attitude sensor 12 Controller 19 Fixed blade

Claims (5)

  The rotor blades are provided at a plurality of positions in the left and right positions of the fuselage so that the angle of the rotor blades can be adjusted independently from the front-rear direction posture to the vertical direction posture, and the rotation speed of each rotor blade can be controlled independently. A small-sized flying device characterized in that the rotary wing can be rotated and driven at a required rotational speed while being held at a required angular posture.   Rotor blades are provided at multiple positions in the front left and right positions and rear left and right positions of the fuselage so that the angle can be adjusted independently from the front and rear direction posture to the vertical direction posture, so that the rotation speed of each rotor blade can be controlled independently. A small-sized flying device characterized in that each of the rotor blades can be driven to rotate at a required rotational speed while being held at a required angular posture.   At the front left and right positions of the fuselage and at the rear left and right positions, connecting rods are attached so as to extend in the left-right direction so that the connecting rods can be rotated, and the rotor blades are attached to the output shafts of the connecting rods. A small-sized flying device having a configuration in which the wing driving motor is attached to each other and the angular posture of the rotary wing can be changed in the vertical direction via the connecting rod.   An attitude sensor for detecting the attitude of the fuselage, a controller for controlling the vertical attitude of each rotor blade based on a signal input from the attitude sensor, and controlling the rotational speed of each blade drive motor The small flight device according to claim 3 provided.   The small flight apparatus according to claim 1, 2, 3, or 4, wherein a fixed wing is attached to a required portion of the fuselage so that lift can be generated in an airflow from front to rear.

Images