JP2006199108A - Moving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving device with excellent mobility capable of moving without restrained by any obstacles in environments with many obstacles such as at home and in public fields. <P>SOLUTION: In this moving device, a flapping control unit changes a flapping elevation angle by controlling an elevation angle control unit corresponding to the speed of fluid. The control unit changes at least any one of a flapping frequency and a flapping angle by controlling a drive unit, so as to maintain a floating force in a vertical direction and a propulsion force in a horizontal direction. Thereby, the moving device can efficiently maintain a motion state (hovering) under a wind pressure. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a moving apparatus having a wing portion that performs a flapping operation.

  In recent years, there has been a demand for a mobile device such as a robot to operate in an environment where a variety of obstacles exist without being prepared in advance such as a human living environment or a disaster area.

  As one of such conventional moving devices, a robot (for example, Japanese Patent Application Laid-Open No. 5-282040) with wheels for movement has been proposed. In addition, research on mobile devices having articulated legs has been actively conducted. Further, a six-legged insect model robot (for example, Japanese Patent Laid-Open No. 6-99369) has been developed with emphasis on stability.

  Furthermore, a biped autonomous walking robot (for example, Japanese Patent Laid-Open No. 9-272083) that is called a humanoid type with an emphasis on functionality has been developed. Furthermore, a robot having an endless track (for example, JP-A-6-305455) has been developed.

  All of these moving devices move while supporting their own weight by bringing a part of them into contact with the ground.

On the other hand, there are mobile devices such as helicopters that can move in the air avoiding obstacles on the ground.
Japanese Patent Laid-Open No. 5-282040 JP-A-6-99369 JP-A-9-272083 JP-A-6-305455

  However, the conventional mobile device has the following problems. First, in a home, unlike a factory or office where the environment is maintained, there are many obstacles whose positions change from time to time, such as people, pets, chairs, ornaments or toys. There are also narrow passages, stairs, or steps between rooms in the home.

  In the conventional mobile device, “ability to get over the step” and “ability to pass through the gap” are trade-offs. For example, a conventional moving device using a wheel moves by a frictional force between the wheel and its contact surface. This frictional force is proportional to the normal drag at the contact surface.

  However, when the radius of the wheel is D, the vertical drag becomes zero in the case of a step higher than the radius D. For this reason, where there is a step higher than the radius D, the frictional force between the wheel and the ground contact surface cannot be obtained. For this reason, the moving device cannot get over the step.

  Therefore, when designing a moving device using wheels that can move in a certain environment, the radius D of the wheels is required to be larger than the maximum step in that environment.

  On the other hand, if the radius D of the wheel is increased for the purpose of overcoming a higher step, the ability to pass through the gap is reduced. For example, the diameter of the wheel having the radius D is 2D, and the total length of the moving device using the wheel is larger than the diameter 2D of the wheel. For this reason, in order for the moving device to pass through a gap bent at a right angle, for example, the width of the gap needs to be several times larger than the radius D of the wheel.

  Further, in order to change the direction of the moving device on the spot, it is necessary that there is no obstacle in the region having the minimum radius D or more.

  Under such circumstances, the conventional moving device using wheels adopts a wheel having a relatively small diameter and is used only in an environment having a relatively low level difference, or adopts a relatively large wheel and obstructs it. It can only be used in environments with few things.

  In a moving apparatus using legs having a plurality of joints, the length of the legs is required to be about the same as the level difference. And in order to walk stably, as the space | interval of the grounding point of a leg, the space | interval about the length of this leg is needed. For this reason, similarly to the moving device using wheels, the moving device using the legs cannot solve the trade-off between “ability to get over the step” and “ability to pass through the gap”.

  For example, in the case of a biped robot in Japanese Patent Application Laid-Open No. 9-272083 as a moving device, the maximum leg length must be longer than the step h in order to go up the stairs of the step h. Therefore, if the leg is foldable so that the size of the robot is smaller than the level difference h, the moving device becomes more complicated.

  In addition, the arrangement of furniture and the like in the home is different for each house, and even in the same house, the position of the furniture and the like changes depending on the situation so that, for example, the position of the chair changes during a meal. Is. Many of these furniture are arranged on the floor.

  In order to move the mobile device while avoiding such obstacles, it is necessary to detect obstacles and search for routes in real time.

  However, if such a function is to be provided to the mobile device, it is difficult to reduce the size of the mobile device because the detection device and the arithmetic device occupy a large space in the mobile device. As a result, there is a problem that the moving device cannot pass through a narrow gap.

  In addition, in disaster areas and general fields, there is a completely different environment from the home, with unpaved roads, wasteland, grasslands, rivers, ponds, cliffs, or rubble mountains. . It is almost impossible for a conventional mobile device using wheels, legs, etc. to move freely in such an environment.

  Then, when trying to move in the air avoiding obstacles, a moving device such as an airplane will stall unless it is at a certain speed or more, and it has been impossible to fly in the air. In addition, a moving device such as a helicopter can fly with a rotating wing, but because of its large rotational torque, it can exhibit excellent maneuverability (quick transition between stationary and normal flight). could not.

  As described above, the conventional mobile device having wheels, legs, and the like cannot move freely avoiding obstacles in the home or disaster areas. In addition, conventional mobile devices such as helicopters have failed to obtain excellent maneuverability.

  The present invention has been made to solve the above-described problems, and can move without being restricted by such obstacles in an environment with many obstacles such as a home or a general field. And it aims at providing the moving apparatus excellent in mobility.

  The moving device of the present invention is equipped with a wing that performs a flapping operation in a space where a fluid exists, a driving unit that causes the wing to flutter, a flapping control unit that controls the driving unit, and a driving unit and a flapping control unit A body part, an elevation angle changing mechanism for changing a flapping elevation angle of the wing part by changing a posture of the driving part with respect to the body part, and a detector for detecting a physical quantity of fluid. Yes. The flapping control unit calculates the fluid velocity vector and the external force vector received by the moving device using the fluid physical quantity detected by the detector, the horizontal component vector of the external force and the propulsive force vector of the moving device, And controlling the elevation angle control mechanism so that the flapping elevation angle necessary for hovering is realized according to the speed vector, and further, at least one of the flapping frequency and flapping angle of the drive unit. By changing one of them, control for maintaining the hovering state is executed.

  According to the above configuration, the moving device can perform hovering efficiently even under wind pressure.

  In addition, the wing portion includes a one-side wing shaft portion connected to the driving portion, an other-side wing shaft portion connected to driving separately from the one-side wing shaft portion, and at least one wing shaft portion and the other side. It is desirable to include a wing body portion formed between the wing shaft portion. The drive unit includes a one-side drive unit that causes the one-side wing shaft unit to perform a first periodic motion, and a second-side drive unit that causes the other-side wing shaft unit to perform a second periodic motion independently of the one-side drive unit. It is desirable to contain. In the hovering state, the flapping control unit separately controls the one side driving unit and the other side driving unit, so that the flapping frequency and flapping angle do not increase so that the tip of the one side wing shaft unit and the other side It is desirable to change the twist angle formed between the tip of the wing main body connecting the tip of the side wing shaft and the virtual plane.

  According to said structure, since the torque of the drive part for maintaining the movement state of a moving apparatus can be reduced, it becomes possible to reduce the power consumption of a moving apparatus.

  In addition, it is desirable that the flapping control unit execute control for fixing the flapping elevation angle to a value that allows hovering and stopping the flapping operation of the wings when the velocity vector is equal to or greater than a predetermined value. According to this, power consumption for hovering can be reduced.

  In addition, it is desirable that the flapping control unit execute control that causes the wing to intermittently perform flapping operations for at least a predetermined period. According to this, the moving apparatus can compensate for the positional deviation to the rear.

  A moving device according to another aspect of the present invention includes a wing that performs a flapping operation in a space where a fluid exists, a driving unit that causes the wing to flutter, a flapping control unit that controls the driving unit, and a driving unit. And a body part on which the flapping control unit is mounted, an elevation angle changing mechanism that changes the posture of the driving unit with respect to the body part and changes the flapping elevation angle of the wing part, and detects the physical quantity of the fluid And a detector. The flapping control unit includes an external force calculation unit that calculates a vector of external force received by the moving device using the physical quantity of the fluid detected by the detector, a propulsive force calculation unit that calculates a vector of propulsive force of the moving device, The posture of the flapping apparatus so that the balance determination unit for determining whether the vector of the propulsive force and the vector of the horizontal component of the external force are balanced, and the vector of the propulsive force and the vector of the horizontal component of the external force are balanced A posture changing unit that changes the velocity, a velocity vector calculating unit that calculates a fluid velocity vector for the moving device using the physical quantity of the fluid detected by the detector, and the moving device for hovering using the velocity vector Flapping elevation angle is realized when the elevation angle calculation unit that calculates the required flapping elevation angle and the balance determination unit determine that the balance is in balance. An elevation angle control unit that controls the elevation angle change mechanism, a frequency / flapping angle calculation unit that calculates a flapping frequency and flapping angle necessary for hovering using a velocity vector and a flapping elevation angle, and a determination unit A drive control unit that controls the drive unit so as to perform a flapping operation at a flapping frequency and flapping angle required for the wing to hover when it is determined that it is in a balanced state.

  According to the above configuration, the moving device can perform hovering efficiently even under wind pressure.

  In addition, the wing portion includes a one-side wing shaft portion connected to the driving portion, an other-side wing shaft portion connected to driving separately from the one-side wing shaft portion, and at least one wing shaft portion and the other side. It is desirable to include a wing body portion formed between the wing shaft portion. The drive unit includes a one-side drive unit that causes the one-side wing shaft unit to perform a first periodic motion, and a second-side drive unit that causes the other-side wing shaft unit to perform a second periodic motion independently of the one-side drive unit. It is desirable to contain. The flapping control unit further includes a twist angle changing unit that changes a twist angle formed between the tip of the wing main body connecting the tip of the one side wing shaft and the tip of the other wing shaft and the virtual plane. It is desirable. The torsion angle changing unit is used to determine whether or not the flapping frequency and flapping angle have increased compared to before, and when the discriminating unit determines that the flapping frequency and flapping angle have increased compared to before. A twist angle calculation unit that calculates a twist angle so that each increase in flapping frequency and flapping angle is reduced, and a frequency / flapping angle that changes the flapping frequency and flapping angle corresponding to the twist angle calculated by the twist angle calculation unit / It is desirable to have a flapping angle changing unit. The drive control unit desirably controls the drive unit so that the twist angle calculated by the twist angle calculation unit and the flapping frequency and flapping angle changed by the frequency / change unit are realized.

  According to said structure, since the torque of the drive part for maintaining the movement state of a moving apparatus can be reduced, it becomes possible to reduce the power consumption of a moving apparatus.

  It is desirable that the elevation angle control unit controls the elevation angle changing mechanism to fix the flapping elevation angle to a predetermined value that allows hovering. When the fluid velocity vector is greater than or equal to a predetermined value, the drive control unit is configured to connect the tip of the wing main body and the tip of the other wing shaft to a virtual plane at least for a certain period. It is desirable to control the drive unit so that the torsion angle, flapping angle, and flapping frequency formed by each other are zero. According to this, power consumption for hovering of the mobile device can be reduced.

  The flapping control unit uses the physical quantity of the fluid detected by the detecting unit or the signal transmitted from the external device when each of the twist angle, flapping angle, and flapping frequency is zero, or the signal transmitted from the external device. A positional deviation calculation unit that calculates a positional deviation vector, a flapping method determination unit that determines a predetermined flapping method for moving in the opposite direction to the positional deviation vector, and a movement amount and a moving direction obtained by a predetermined flapping operation can be specified. Calculate the ratio of the time when the wing part performs a predetermined flapping and the time when the wing part stops so that the sum of the position deviation vector and the movement vector becomes zero It is desirable that the ratio calculation part to include is included. The drive control unit desirably controls the drive unit so that the wing unit intermittently executes a predetermined flapping method based on the ratio. According to this, the moving apparatus can compensate for the positional deviation to the rear.

  Hereinafter, a flapping apparatus as a moving apparatus according to an embodiment of the present invention will be described with reference to the drawings. Fig.1 (a) and FIG.1 (b) are figures which show the flapping apparatus which has two wing shafts as a wing | blade part. FIG. 1 (a) shows the front of the flapping apparatus, and FIG. 1 (b) shows the left side of the flapping apparatus.

  1 (a) and 1 (b), only the left wing that can be seen on the right side when the front of the flapping apparatus is viewed from the front is shown, but in reality, the body 105 has a central axis 802. The right wing is also mounted symmetrically on both sides. For the sake of simplicity, the trunk axis 801 along the front-rear direction of the trunk section 105 is in a horizontal plane and extends so as to intersect the central axis 802 at right angles, and the central axis 802 passing through the center of gravity is the vertical direction. It shall extend to.

  As shown in FIGS. 1 (a) and 1 (b), the body portion 105 of the flapping apparatus includes a front wing shaft 103 and a rear wing shaft 104, and a space between the front wing shaft 103 and the rear wing shaft 104. A wing (left wing) having a wing film 106 provided so as to pass is formed.

  In addition, a rotary actuator 101 for driving the front wing shaft 103 and a rotary actuator 102 for driving the rear wing shaft 104 are mounted on the body portion 105. The arrangement of the actuators 101 and 102 and the shape of the wing including the front wing shaft 103, the rear wing shaft 104, and the wing membrane 106 are not limited to those described above as long as the flight performance is not impaired.

  Furthermore, in the case of the above-described flapping device, if the cross-sectional shape of the wing is made to protrude vertically upward, in the flight in the horizontal direction, not only the drag but also the lift is generated in the wing, so the flapping device Therefore, a greater levitation force can be obtained.

  In addition, the position of the center of gravity of the flapping apparatus is set to be lower than the position of the point of action on the actuator of the force that the wing receives from the surrounding fluid in order to emphasize the stability of the flapping apparatus. On the other hand, from the viewpoint of easily changing the posture of the flapping device, it is desirable that the height of the center of gravity and the height of its action point are substantially the same.In this case, the left wing necessary for posture control is removed from the fluid. Since the difference between the force received and the force received by the right wing from the fluid is reduced, the posture of the flapping apparatus can be easily changed.

  The two rotary actuators 101 and 102 share the rotation axis 800 with each other. The rotation axis 800 intersects the body axis 801 at a predetermined angle (90 ° −θ). The front (rear) wing shafts 103 and 104 reciprocate in a plane orthogonal to the rotation shaft 800 with the actuators 101 and 102 as fulcrums, respectively. The angle formed by the plane perpendicular to the rotation axis 800 and the body axis 801 is the flapping elevation angle θ. The flapping elevation angle θ is changed by the elevation angle changing mechanism 108. The elevation angle changing mechanism 108 is controlled by the flapping control unit 705, and rotates the support unit that supports the rotary actuators 101 and 102 around the rotation center axis extending in the left-right direction. The elevation angle changing mechanism 108 may be, for example, a rotary actuator or a rotary motor in which the direction in which the rotation center axis extends matches the left-right direction. Accordingly, the front wing shaft 103 and the rear wing shaft 104 together with the rotary actuators 101 and 102 rotate around the rotation center axis extending in the left-right direction. As a result, the flapping elevation angle θ changes by a rotation angle proportional to the rotation angle of the elevation angle changing mechanism 108. Therefore, if the rotation angle of the elevation angle changing mechanism 108 is controlled, a surface including the reciprocating motion trajectory of the front wing shaft 103 or a surface including the reciprocating motion trajectory of the rear wing shaft 104 and a virtual including the front-rear direction and the left-right direction are included. The angle formed with the reference plane can be changed.

  It is desirable that the body unit 105 is made of a material such as polyethylene terephthalate (PET) formed into a cylindrical shape in order to ensure the mechanical strength of the flapping device and to reduce the weight of the flapping device. The material and shape of the trunk portion 105 are not limited to the above-described materials and shapes.

  As the actuators 101 and 102, it is desirable to use an ultrasonic traveling wave actuator using a piezoelectric element (piezo) for reasons such as a large starting torque, a simple reciprocating motion, and a simple structure. There are two types of ultrasonic traveling wave actuators: rotary actuators and linear actuators. In FIG. 1A and FIG. 1B, a rotary actuator is used.

  Here, the description will focus on a method of directly driving a wing by an ultrasonic element using a traveling wave, but the mechanism for driving the wing and the type of actuator used for the mechanism are particularly those of the present embodiment. It is not limited to what was shown in the form.

  As the rotary actuator, in addition to the rotary actuators 101 and 102 shown in FIGS. 1A and 1B, for example, a rotary actuator 401 shown in FIG. 11 may be used.

  In the flapping apparatus shown in FIG. 11, a wing shaft 403 is attached to a rotary actuator 401 mounted on a body portion 404. The wing shaft 403 rotates about the rotation center 402 of the rotary actuator 401 as a central axis. Even if a voice coil motor or the like is used instead of the rotary actuator 401, it is possible to cause the rotary actuators 101 and 102 to perform the same rotary motion as the above-described rotary motion.

  As a mechanism for driving the wings, a mechanism combining an exoskeleton structure and a linear actuator may be used. A flapping apparatus using the mechanism is shown in FIG. 12 or FIG.

  In the flapping apparatus shown in FIG. 12, a front wing shaft or a rear wing shaft 503 is connected to one end of a linear actuator 501. The movement of the linear actuator 501 is transmitted to the front wing shaft or the rear wing shaft 503 through a hinge 502 attached to the body portion 504. Thereby, a flapping movement is performed. This flapping movement came up with an idea from the flapping movement of a dragonfly that directly drives its wings with muscles.

  In the flapping apparatus shown in FIG. 13, the body part is divided into an upper body part 1063 and a lower body part 1064. The movement of the linear actuator 601 fixed to the lower body part 1064 is transmitted to the upper body part 1063. The motion of the upper body part 1063 is transmitted to the front wing shaft or the rear wing shaft 603 via the hinge 602. Thereby, a flapping movement is performed. This flapping movement came up with an idea from the flapping movement used by bees other than dragonflies.

  In the case of the flapping apparatus shown in FIG. 13, the left and right wing shafts 603 are simultaneously driven by one actuator 601. Therefore, the left and right wing shafts cannot be driven separately. As a result, the flapping apparatus cannot perform fine flight. However, the number of actuators can be reduced. Therefore, it is possible to reduce the weight of the flapping device and reduce the power consumption.

  Further, in the flapping apparatus shown in FIGS. 1A and 1B, the front wing shaft 103 and the rear wing shaft 104 are connected to the rotary actuators 101 and 102, respectively. A wing film 106 is stretched between the front wing shaft 103 and the rear wing shaft 104. The wing film 106 has a spontaneous tension in the direction of contraction in the plane. The tension works to increase the rigidity of the entire wing.

  For weight reduction, the front wing shaft 103 and the rear wing shaft 104 have a hollow structure and are each formed of carbon graphite. For this reason, the front wing shaft 103 and the rear wing shaft 104 have elasticity, and the front wing shaft 103 and the rear wing shaft 104 can be deformed by the tension of the wing film 106.

  FIG. 14 shows the overall structure of the flapping apparatus. Note that the left wing is omitted in the forward direction (upward in the drawing).

  An ultrasonic sensor 701, an infrared sensor 702, an acceleration sensor 703, and an angular acceleration sensor 704 are disposed on the body 700. The detection results by these sensors are sent to the flapping control unit 705. The flapping control unit 705 processes information such as the distance between the flapping apparatus and the surrounding obstacles and humans from the results detected by the ultrasonic sensor 701 and the infrared sensor 702. Further, information such as the flying state, the target position or the posture of the flapping apparatus is processed from the results detected by the acceleration sensor 703 and the angular acceleration sensor 704, and the drive control of the left and right actuators 101 and 102 and the gravity center control unit 707 is performed. It is determined. Thereby, the reciprocating motion of the front wing shaft 103 and the rear wing shaft 104 is controlled. As a result, the wing film 106 performs a predetermined flapping operation.

  In the present embodiment, an ultrasonic sensor 701 and an infrared sensor 702 are used as means for detecting an obstacle present around the flapping apparatus. Further, an acceleration sensor 703 and an angular acceleration sensor 704 are used as means for detecting the position and orientation of the flapping apparatus. However, any sensor may be used as long as it can measure the ambient environment, position and orientation of the flapping apparatus.

  For example, the posture of the flapping apparatus can be calculated from acceleration information obtained by providing two acceleration sensors capable of measuring accelerations in three orthogonal directions at different positions of the body portion 105. It is also possible to calculate the position and orientation of the flapping apparatus by providing a magnetic field distribution in the space in which the flapping apparatus moves and detecting this magnetic field distribution with a magnetic sensor.

  In FIG. 14, sensors such as the acceleration sensor 703 and the angular acceleration sensor 704 are shown as separate components from the flapping control unit 705. However, from the viewpoint of weight reduction, the above-described sensor may be integrally formed on the substrate of the flapping control unit 705 by micromachining technology.

  Further, open loop control is used for driving the wings of the flapping apparatus. However, a wing angle sensor may be provided at the base of the wing, and closed loop control may be performed based on angle information obtained from the angle sensor.

  If the fluid flow in the rising space is known and can be floated by a predetermined flapping method, the above-described sensors are not essential components.

  Further, the flapping control unit 705 is connected to the memory unit 708, and existing data necessary for flapping control can be read from the memory unit 708. In addition, information obtained by the sensors 701 to 704 is sent to the memory unit 708, and the information in the memory unit 708 is rewritten as necessary. Moreover, the flapping apparatus may have a learning function.

  In addition, as long as the information obtained by the sensors 701 to 704 is only stored in the memory unit 708, the memory unit 708 and the sensors 701 to 704 may be directly connected without using the flapping control unit 705. . In addition, the flapping control unit 705 is connected to the communication control unit 709 and can input and output data with the communication control unit 709. The communication control unit 709 transmits and receives data to and from an external device via the antenna unit 710.

  With such a communication function, data acquired by the flapping apparatus and stored in the memory unit 708 can be quickly transferred to an external apparatus. Alternatively, the flapping apparatus may receive information that cannot be obtained by itself from an external apparatus and store such information in the memory unit 708 to control the flapping operation. For example, even if the flapping device does not store all of the large map information, the flapping device may obtain the necessary range of map information from a base station or the like at any time.

  In FIG. 14, the antenna portion 710 is shown as a rod-like member protruding from the end of the body portion 105. However, the shape and arrangement of the antenna portion 710 are not limited to those described above as long as they have an antenna function. For example, a loop antenna may be formed on the wing film 106 using the front wing shaft 103 and the rear wing shaft 104. Further, the flapping apparatus may be a flapping apparatus in which an antenna is incorporated in the body unit 105, or may be a flapping apparatus in which the antenna and the communication control unit 709 are integrated.

  The ultrasonic sensor 701, infrared sensor 702, acceleration sensor 703, angular acceleration sensor 704, flapping control unit 705, left and right actuator 706, center of gravity control unit 707, memory unit 708, communication control unit 709, antenna unit 710, etc. It is driven by the current supplied by 711.

  Here, electric power is used as drive energy, but an internal combustion engine can also be used. It is also possible to use an actuator using a physiological redox reaction as seen in insect muscles. It is also possible to use a method of acquiring the driving energy of the actuator from the outside. Electric power can also be obtained from thermoelectric elements and electromagnetic waves.

(Floating method)
For simplicity of explanation, it is assumed that the external force acting on the flapping apparatus is only the fluid force that the wing receives from the fluid and the gravity acting on the flapping apparatus (the product of the mass of the flapping apparatus and the gravitational acceleration). In order for the flapping apparatus to surface constantly, in the time average during one flapping operation,
(Vertical fluid force acting on the wing)> (Gravity acting on the flapping device)
It is necessary to meet. A single flapping action refers to a series of actions of dropping a wing and then raising the wing.

In addition, in order for the upward fluid force to be greater than the gravity of the flapping device and the flapping device to rise,
(Vertical upward fluid force acting on the wing in the down motion)> (Vertical downward fluid force acting on the wing in the launch motion)
This condition must be satisfied.

  Here, the vertical upward fluid force (hereinafter referred to as “fluid force at the time of down-stroke”) acting on the wing in the down-motion operation using the simplified flapping method of the insect flapping is referred to in the up-motion operation. A description will be given of a method for making the fluid force larger than the vertically downward fluid force acting on the wing (hereinafter referred to as “fluid force at launch”).

  For the convenience of explanation, the behavior of the fluid or the force exerted by the fluid on the wing will be described with reference to its main components. The magnitude relationship between the levitation force obtained by this flapping method and the gravity acting on the flapping apparatus (hereinafter referred to as “weight”) will be described later.

  In order to make the fluid force at the time of downstroke greater than the fluid force at the time of launch, the fluid force may be lowered so that the volume of the space in which the wing film 106 moves during the downstroke is maximized. For this purpose, the wing film 106 may be downed in a state of being substantially parallel to the horizontal plane, and thereby the maximum fluid force can be obtained.

  On the other hand, the launch may be performed so that the volume of the space in which the wing film 106 moves is minimized. For this purpose, the wing film 106 may be launched at an angle close to a substantially right angle with respect to the horizontal plane, so that the fluid force exerted on the wing is substantially minimized.

  Therefore, when the front wing shaft 103 and the rear wing shaft 104 are reciprocated around the rotation shaft 800 by the reciprocating motion of the rotary actuators 101 and 102, respectively, the front wing shaft 103 and the rear wing shaft 104 are moved horizontally. Is reciprocated by an angle γ (flapping angle) upward and downward, centering on a position that substantially coincides with. Further, as shown in FIG. 2, the reciprocating motion of the rear wing shaft 104 is delayed by the phase difference φ with respect to the reciprocating motion of the front wing shaft 103.

  Thereby, in the reciprocating motion of the wing shown in FIGS. 3 to 10 (here, drawn as φ = 20 °), it is at a higher position when it is downed as shown in FIGS. Since the front wing shaft 103 of the rotary actuator 101 is pushed down first, the tips of the front wing shaft 103 and the rear wing shaft 104 and the wing film 106 approach horizontal.

  On the other hand, at the time of launch shown in FIGS. 7 to 10, the difference in height between the tips of the front wing shaft 103 and the rear wing shaft 104 is enlarged, and the wing film 106 also approaches vertical. As a result, there is a difference in the amount by which the wing film 106 stretched between the front wing shaft 103 and the rear wing shaft 104 pushes down or pushes up the fluid. In the case of this flapping apparatus, the fluid force at the time of the downstroke is greater than the fluid force at the time of the launch, and the levitation force is obtained.

  The levitation force vector is tilted back and forth by changing the phase difference φ. If the levitation force vector is tilted forward, it will be in a propulsion motion state, tilted backward will be in a retreat motion state, and if it is directly above it will be in a stationary flight (hovering) state. In actual flight, in addition to the phase difference φ, the flapping frequency f or the flapping angle γ indicating the maximum angle of the reciprocating motion of the front wing shaft 103 or the rear wing shaft 104 can be controlled.

(Flapping control)
The actual flapping control will be described in more detail. As shown in FIG. 3, the wing tip 107 is a linear portion that connects the tip of the front wing shaft 103 and the tip of the rear wing shaft 104. In the above-described flapping apparatus, the angle formed between the surface parallel to the plane including both the left rotation shaft 800 and the right rotation shaft 800 and the tip portion 107 changes during the down-motion operation or the up-motion operation. This predetermined angle is a twist angle α as shown in FIG. The twist angle α is the length of the wing (length along each of the front wing shaft 103 and the rear wing shaft 104) of the wing, and the width of the wing (the distance between the front wing shaft 103 and the rear wing shaft 104). ) W, flapping angle γ, flapping motion phase τ (0 ° for the most up-stroke, 180 ° for the most down-stroke), and the phase difference between the front wing shaft 103 and the rear wing shaft 104. If φ (see FIGS. 3, 9, and 10), it is represented by the following equation.

tan α = (w / l) · [sin (γ · cos τ) −sin {γ · cos (τ + φ)}]
Actually, the front wing shaft 103 and the rear wing shaft 104 have elasticity and are deformable. Therefore, the twist angle α has a slightly different value. Further, the twist angle α is smaller at the base of the wing shaft. However, in the following discussion, for convenience, explanation will be made using α in the above formula.

The vertical component F of the fluid force acting on an untwisted wing is approximately F = (4/3) · π ² · ρ · w, where ρ is the fluid density, γ is the flapping angle, and f is the flapping frequency.・ Γ ²・ f ²・ l ³・ sin ² τ ・ cos (γ ・ cos τ)
It is expressed by the formula. Integrating this equation for τ and calculating the average of one cycle F⊥
F⊥ = (1/6) · π ³ · ρ · w · γ ² · f ² · l ³ · (3 + cos γ)
It becomes. The horizontal component of the fluid force acting on the wings cancels each other if the left and right wings make the same movement.

  When the twist angle of the wing at the time of down is α ↓ and the twist angle of the wing at the time of launch is α ↑, the component L perpendicular to the flapping motion plane of the component F⊥ and the horizontal component D are expressed by the following equations, respectively. Represented.

That is, the launch formula is
L ↑ = F⊥ ・ sinα ↑ ・ cosα ↑
D ↑ = −F⊥ · sin ² α ↑,
The formula for downhill is
L ↓ = F⊥ ・ sinα ↓ ・ cosα ↓
D ↓ = F⊥ · sin ² α ↓.

Therefore, the average lift L and drag D in one cycle of flapping are
L = (L ↓ + L ↑) / 2 = (F⊥ / 2) sin (α ↑ + α ↓) cos (α ↑ −α ↓)
D = (D ↓ + D ↑) / 2 = (F⊥ / 2) sin (α ↑ + α ↓) sin (α ↑ −α ↓).

Considering the above equation and the flapping elevation angle θ, the vertical component A of the force generated in the flapping device so as to balance the weight and the horizontal component J of the force generated in the flapping device so as to be the propulsive force of the longitudinal motion are On average for one cycle,
A = L · cos θ + D · sin θ
= (F⊥ / 2) sin (α ↓ + α ↑) cos (α ↓ −α ↑ + θ)
J = L · sin θ−D · cos θ
= (F⊥ / 2) sin (α ↓ + α ↑) sin (α ↓ −α ↑ + θ)
It is expressed by the following formula.

  From the above, as an example of this flight control, the wing length l = 4 cm, the wing width w = 1 cm, the flapping elevation angle θ = 30 °, the flapping angle γ = 60 °, the flapping frequency f = 50 Hz, and the downswing. FIG. 15 shows temporal changes of the vertical direction component A and the horizontal direction component J together with the temporal changes of the respective angles when the phase difference φ ↓ = 4 ° at the time and the phase difference φ ↑ = 16 ° at the launch.

  In FIG. 15, the horizontal axis represents the time for one cycle as the phase τ. The first half is down, and the second half is up. A plurality of curves in the graph indicate the flapping angle γf of the front wing shaft, the flapping angle γb of the rear wing shaft, the wing twist angle (θ-α) from the horizontal plane, the vertical component A and the horizontal component J of the fluid force. Each change is shown.

  In this example, in the vertical direction component A of the fluid force per unit time, the downward force is greater than the launch time, so an average upward fluid force of about 500 dyn per cycle can be obtained with one wing. It is done. Therefore, if the weight of the flapping device is about 1 g or less, the two wings can float. In addition, since the horizontal component J of the fluid force per unit time is almost canceled during one cycle, a flapping apparatus having a weight of about 1 g can be hovered.

  Here, if the phase difference φ ↓ at the time of downstroke is increased or the phase difference φ ↑ at the time of launch is reduced, the flapping apparatus can move forward. At this time, in order to advance the flapping apparatus horizontally, it is desirable to slightly reduce the frequency f. On the other hand, if the phase difference φ ↓ at the time of downstroke is reduced or the phase difference φ ↑ at the time of launch is increased, the flapping apparatus can be moved backward. At this time, in order to retract the flapping apparatus horizontally, it is desirable to slightly increase the frequency f.

  The above-described flapping apparatus, for example, increases the phase difference φ ↓ at the time of launching down to 7 ° while keeping the phase difference φ ↑ at the time of launching at 16 °, or increases the phase difference φ ↓ at the time of launching to 4 °. The phase difference φ ↑ upon launching is kept as small as 11 ° while being maintained, and the flapping frequency is lowered to f = 48 Hz, so that the vehicle can advance horizontally at a speed of approximately 1 m in the first second.

  In addition, for example, the phase difference φ ↓ at the time of launch is kept at 16 ° while the phase difference φ ↓ at the time of launch is reduced to 1 °, or the phase difference φ ↓ at the time of launch is kept at 4 °. By increasing the time phase difference φ ↑ to 24 ° and raising the flapping frequency f to 54 Hz, it is possible to move backward horizontally at a speed of approximately 1 m in the first second.

  In order to raise or lower the flapping apparatus in the hovering state, the frequency f may be increased or decreased. Even during level flight, ascent and descent can be controlled mainly by the frequency f. Increasing the frequency f raises the flapping apparatus, and lowering the frequency f lowers the flapping apparatus.

  In this example, the torsion angle α of the wing is slowly changed during the launching operation or the downing operation, in order to reduce the load on the actuator. As a flapping motion to obtain buoyancy, set the torsion angle α of the wing to a constant value during the launching operation or downing operation, and from the downing operation to the launching operation, or from the launching operation to the downing operation You may make it change the twist angle (alpha) rapidly in a change point.

  FIG. 16 shows temporal changes of the vertical direction component A and the horizontal direction component J along with the temporal change of each angle when the flapping elevation angle θ = 0 °. In this case, it is a flapping movement inspired by hummingbird hovering. In the case of steering to the left and right, if the flapping motion of the left wing and the flapping motion of the right wing can be controlled separately, it is sufficient if there is a difference between the thrusts generated by the left wing and the right wing. For example, in order to turn rightward while flying forward, the flapping angle γ of the right wing is made smaller than the flapping angle γ of the left wing, or the phase difference between the front wing shaft 103 and the rear wing shaft 104 of the right wing Is larger than the phase difference between the front wing shaft 103 and the rear wing shaft 104 of the left wing, or the flapping elevation angle θ can be controlled, so that the flapping elevation angle θ of the right wing is made smaller than the flapping elevation angle θ of the left wing. Take control. Thereby, the propulsive force of the right wing is relatively lower than the propulsive force of the left wing, and the vehicle can turn right. When the flapping apparatus is turned to the left, the opposite control may be performed.

  On the other hand, when the right and left wings cannot be controlled separately as in the flapping apparatus shown in FIG. 13, the center-of-gravity control unit 707 as installed in the flapping apparatus shown in FIG. Is used to shift the center of gravity of the flapping apparatus to the left or right, so that the flapping apparatus can turn left or right.

  For example, the flapping device can be turned to the right by shifting the center of gravity to the right, tilting the right wing downward and the left wing upward and increasing the frequency f. The flapping device can be turned to the left by shifting the center of gravity to the left, tilting the right wing upward and the left wing downward and increasing the frequency f. This method can also be applied to the case where the two wings can be controlled separately. In any flapping apparatus, it is desirable to set the left and right flapping frequencies f to the same value in order to keep the posture stable.

  In the above description, the case where the reciprocating planes of the front (rear) wing shafts 103 and 104 are orthogonal to the rotation shaft 800 has been described. Therefore, in this case, these two planes are in parallel with each other. However, as shown in FIG. 14, the plane including the reciprocating motion trajectory of the front wing shaft 103 and the plane including the reciprocating motion trajectory of the rear wing shaft 104 may intersect at a predetermined angle. By doing this, the wing twist angle α when moving from the down motion to the down motion or from the down motion to the up motion due to the elastic force of the front (rear) wing shafts 103 and 104 and the tension of the wing membrane 106 The change from a positive value to a negative value or from a negative value to a positive value can be speeded up.

As shown in FIG. 17, when the tip directions of the front (rear) wing shafts 901 and 902 are directed outward from the mutually parallel positions by an angle ε, the width of the wing shaft root 905 is w, and the length of the wing shaft Let l be
sinε> {(w ² + 8 · l ² ) · 1 / 2−w} / (4 · l)
If ε satisfies the condition, the distance Wo between the wing shaft tips 906 at the wing twist angle α = 0 ° (γf = γb) is maximized. Therefore, the elastic force of the wing shaft and the tension of the wing film at that time are also maximized. The state where the absolute value | α |> 0 is more stable. As a result, the change in the twist angle α can be speeded up.

  Note that ε satisfying the above equation is ε> 30 ° when wing aspect ratio Ap (l / w) = 1, ε> 17.2 ° when Ap = 4, and ε> 1 when Ap = 10. 11.5 °.

  Further, if the degree of freedom of the front (rear) wing shaft 901 (902) can be rotated about its axis, even if the positional relationship between the front (rear) wing shaft 901 (902) changes, An actuator that drives the front (rear) wing shaft 901 (902) can be rotated so that the portions of the membrane 106 fixed to the front (rear) wing shaft 901 (902) face each other. It is possible to reduce the load applied to the vehicle and to perform efficient control.

  Examples 1 and 2 for controlling the flapping flight of the flapping apparatus of the above-described embodiment will be described below. In any of the first and second embodiments, the flapping apparatus includes a wind detection sensor 712 that detects a velocity vector with respect to the wind self, that is, a wind speed and a wind direction, as shown in FIG. The flapping control unit once calculates the wind direction and the wind speed detected by the wind detection sensor 712, that is, the wind speed vector. As a result, the vector of the propulsive force and the direction of the external force received by the wind are opposite to each other, and the magnitude of the propulsive force and the magnitude of the external force received by the wind are matched. In addition, after changing the posture, the moving device executes control for hovering, which will be described below. For example, in a state where the wind is blowing toward the flapping device, the flapping device must be in a posture such that the wind direction vector and the direction vector of the fuselage axis 801 almost coincide with each other before the wind speed. The flapping method is changed as described below according to the size.

  In the following embodiments, the mobile device calculates an external force received by the mobile device using a sensor that detects a wind speed vector. The external force received by the mobile device detects a relative acceleration of the fluid with respect to the mobile device. It can also be calculated using the acceleration value obtained by the acceleration sensor. Therefore, in the present invention, any sensor that detects the physical quantity of a fluid can be used as long as the sensor can calculate a relative velocity vector received from the fluid by measuring the physical quantity of the fluid. Good.

  Next, a method for controlling the above flapping apparatus will be described. In the present embodiment, a method for maintaining hovering (stop flying) while receiving a wind of speed V from the front will be described. At this time, the vertical component A of the levitation force, that is, the force generated in the flapping apparatus, and the horizontal component J of the propulsive force, that is, the force generated in the flapping apparatus, are expressed by the following equations (1) and (2), respectively. . Here, the flapping angle γ and the twist angle α of the front and rear wing shafts each change as represented by a sine wave, and during the flapping motion, the front wing shaft 103 and the rear wing shaft 104 Suppose that the phase reciprocates at the same frequency f with the phase shifted by η. Further, the left wing and the right wing are assumed to perform mirror surface operations on a plane that includes the body axis 801 and extends in the vertical direction.

A = (16/45) · π ² · ρ · w · l ³ · f ² · γ ² · cos θ · sin ² α · sin η · (4 + cos γ) + π · ρ · w · l · V ² · cos ² α · sin ² θ ... Formula (1)
J = (16/45) · π ² · ρ · w · l ³ · f ² · γ ² · sin θ · sin ² α · sin η · (4 + cos γ) −π · ρ · w · l · V ² · (cos ² α · cos ² θ + 1) (2)
In order for the flapping apparatus to hover, it is necessary that A = W and J = 0, where W is the weight of the flapping apparatus. In this case, Formula (1) and Formula (2) become like the following Formula (3) and Formula (4).

(16/45) · π ² · ρ · w · l ³ · f ² · γ ² · cos θ · sin ² α · sin η · (4 + cos γ) + π · ρ · w · l · V ² · cos ² α · sin ² θ = W Formula (3)
(16/45) · π ² · ρ · w · l ³ · f ² · γ ² · sin θ · sin ² α · sin η · (4 + cos γ) −π · ρ · w · l · V ² · (cos ² α · cos ² θ + 1) = 0 Equation (4)
Next, when the first term is eliminated in Expression (3) × sin θ−Expression (4) × cos θ, the following expressions (5) and (6) are obtained.

V ² = [W / (π · ρ · w · l)] · [tan θ / (cos ² α + 1)] (5)
∴ tan θ = π · ρ · w · l · V ² · (cos ² α + 1) / W Equation (6)
In Formula (6), if the twist angle α is fixed at 45 °, the elevation angle θ required for the flapping apparatus that receives the wind of speed V to the wings to maintain hovering is obtained. By substituting each of the velocity V and the flapping elevation angle θ into the equation (3) or the equation (4), the flapping angle γ and the flapping frequency f necessary for maintaining hovering are obtained.

  FIG. 18 shows the relationship between the flapping angle γ and the flapping elevation angle θ and the velocity V when the frequency f is constant, for example, 30 Hz. However, the density of air ρ = 1.18 g / cm 3, the width of the wing w = 2 cm, the length of the wing l = 8 cm, the phase difference η = 90 ° of the twist angle and the flapping motion, and the weight W = It shall be 3g weight. From FIG. 18, it can be seen that in order for the flapping apparatus to maintain the hovering state, it is necessary to increase the flapping elevation angle θ and the flapping angle γ as the speed V increases.

  On the other hand, in FIG. 19, the relationship between the speed f and the frequency f and the flapping elevation angle θ when the flapping angle γ is fixed at 45 ° is indicated by a bold line (upper side of the two lines). It can be seen from FIG. 19 that in order for the flapping apparatus to maintain hovering, it is necessary to increase each of the flapping elevation angle θ and the frequency f as the speed V increases. In this case, the flapping apparatus can maintain the hovering state also by increasing the flapping angle γ and the frequency f.

  However, increasing the frequency f and the flapping angle γ increases the torque to be generated by the drive unit, that is, the actuators 101 and 102, and therefore increases the power consumption in the flapping apparatus. Therefore, in order to minimize the increase in power consumption in the flapping apparatus, when increasing the flapping angle γ and the frequency f, the flapping angle γ and the frequency f are increased by changing the twist angle α. It is desirable to use a technique that minimizes An example of the technique is shown in FIG. 19 by a thin line (below the two lines). While the flapping apparatus is hovering, each of the flapping elevation angle θ and the frequency f can be slightly reduced by increasing the twist angle α as the speed V increases. Since the torque is proportional to the square of the frequency f, this method is effective when it is desired to reduce the frequency f as much as possible.

  However, in the flapping apparatus of the present embodiment, when the speed V increases, it is necessary to increase at least one of the frequency f and the flapping angle γ. Therefore, when the drive unit, that is, the actuators 101 and 102 cannot generate a very large torque, or when it is desired to reduce power consumption, it is desirable to perform control like the flapping apparatus of the second embodiment.

  In the present embodiment, a method will be described in which the flapping device stops the flapping motion and sails while maintaining the wings in a horizontal position. When the flapping apparatus sails, γ = 0 °, α = 0 °, and f = 0 Hz. Therefore, the above-described equations (1) and (2) are expressed by the following equations (7) and (7), respectively. (8)

A (Shosho) = π · ρ · w · l · V ² · sin ² θ ... (7)
J (Shosho) = -π · ρ · w · l · V ² (cos ² θ + 1) (8)
Further, in order to maintain the levitation force that the flapping apparatus hover, assuming that A (sail) = W, the following equation (9) is obtained.

A (Shosho) = π ・ ρ ・ w ・ l ・ V ²・ sin ² θ = W
² sin ² θ = W / (π · ρ · w · l · V ² ) (9)
The graph shown in FIG. 20 is obtained from the equations (8) and (9). In FIG. 20, the relationship between the wind speed V and the horizontal component J of the force generated in the flapping apparatus as a propulsion force when the flapping apparatus sails at the flapping elevation angle θ is indicated by a thin line. In the present embodiment, as in the first embodiment, it is assumed that the air density ρ = 1.18 g / cm 3, the wing width w = 2 cm, and the wing length l = 8 cm. From FIG. 20, if the velocity V is larger than a certain level (for example, 4 m / s or more in FIG. 20), the flying force is maintained so that the flapping device can hover by setting the flapping elevation angle θ to be slightly smaller than 90 °. It can be seen that the rearward movement of the flapping device (the propulsive force J at the time of sailing in FIG. 20) can approach zero. Furthermore, since f = 0 Hz, the flapping apparatus can make energy required for flight almost zero. However, electric power such as a posture control sensor is necessary even during the sailing.

  Furthermore, in FIG. 20, when the flapping device is sailing, for example, in a state where the wind speed is 4 m / s to 10 m / s, if the horizontal component J of the force as a propulsive force becomes a negative value, the time As the time elapses, the flapping device gradually flows backwards according to the wind flow. In order to compensate for the backward displacement of the flapping apparatus, the flapping apparatus needs to perform a flapping operation for a certain time during sailing. The thick line in FIG. 20 is assumed to have a frequency f = 30 Hz, a flapping angle γ = 30 °, and a twist angle α = 10 ° when the flapping elevation angle θ is a value as shown by the thin line in FIG. The force generated when the flapping device performs the flapping motion, that is, the levitation force (vertical component of the force) A caused by the flapping motion A-the weight W of the flapping device, and the propulsive force generated due to the flapping motion (Horizontal component of force) J is shown. From FIG. 20, the relatively large forward propulsive force (horizontal component J of force) is maintained while maintaining the state where the flying force A is substantially suspended from the weight W of the flapping apparatus due to the flapping operation. You can see that

  For example, in FIG. 20, when the speed V = 4 m / s, the propulsive force Jk at the time of sailing is −4.7 g, and the flapping device moves backward with time if the condition is as described above. By flapping at (frequency f = 30 Hz, flapping angle γ = 30 °, torsion angle α = 10 °), the propulsive force Jf can be increased to +9.8 g weight without significantly increasing the flying force A.

In order to suspend the propulsive force Jk due to sailing and the propulsive force Jf due to intermittent flapping motion, the ratio between the time Tk for performing sail and the time Tf for performing flapping is Tk: Tf = Jf: Jk (11) )
Thus, the ratio calculation unit to be described later determines. In the above example, since the frequency is 30 Hz (30 flappings per second), for example, after performing the flapping operation for about 20 times, the sail that stops the wings for the same period as the period for performing the flapping operation for 10 times Sho is executed.

  By doing this, it is possible to hover while reducing the power consumption of the flapping apparatus as a whole by performing an operation with less energy consumption, such as sailing, for a certain period of time rather than keeping flapping from beginning to end.

  In the range of the conditions shown in FIG. 20, when the wind speed V reaches 10 m / s or more, the propulsive force Jk at the time of sailing becomes almost zero, and the flapping apparatus does not perform the flapping operation. Can stay in approximately the same position. However, it is considered that the wind speed does not often exceed 10 m / s even in places where the wind speed is high, such as outdoors, including the vicinity of the air outlet of an indoor air conditioner.

  As described above, the flapping apparatus can compensate backward displacement due to the wind by the intermittent flapping motion with little energy loss (flight method in which sailing and flapping operations are alternately performed).

  In addition, a control method that combines the control method of the flapping apparatus of the present embodiment and the control method of the flapping apparatus of the first embodiment is more effective. In the control method, when the speed V is smaller than a predetermined value, for example, 4 m / s, the flapping apparatus executes control for maintaining hovering as described with reference to FIG. For example, when the speed is 4 m / s or more, as described with reference to FIG. 20, the control is performed to stop the flapping motion or perform the intermittent flapping motion. The flapping elevation angle θ in the control described using FIG. 18 and the flapping elevation angle θ in the control described using FIG. 20 are substantially the same value. For this reason, it is not necessary to change the flapping elevation angle θ greatly by switching these control methods, so that the control methods can be switched smoothly.

  In each of the first and second embodiments, the control for hovering when the wind is flowing in a plane perpendicular to the direction of gravity, that is, in a horizontal plane, has been described. However, as long as hovering is possible, the direction in which the wind flows is not limited to the horizontal plane, and may be at a predetermined angle with respect to the horizontal plane. In this case, the flapping apparatus faces a direction that is not in the horizontal plane. Therefore, if the vertical component A of force and the horizontal component J of force used in Embodiments 1 and 2 are changed according to the direction of the wind, it is possible to obtain a flapping method necessary for hovering.

  Next, the system configuration of the flapping apparatus of the present embodiment will be described using FIG.

  In the flapping apparatus, a front wing shaft 103 and a rear wing shaft 104 are connected to a wing film 106. The front wing shaft 103 is driven by a rotary actuator 101. The rear wing shaft 104 is driven by a rotary actuator 102. The rotary actuators 101 and 102 are provided in the body portion 105. Further, an elevation angle changing mechanism 108 for changing the relative positional relationship between the rotary actuators 101 and 102 and the trunk portion 105, that is, for changing the posture of the driving portion, is provided in the trunk portion 105. Further, a flapping control unit 705 that controls the driving unit and the elevation angle changing mechanism 108 is provided in the body unit 105. The flapping control unit 705 is configured by a computer.

  In the flapping control unit 705, a twist angle changing unit is provided. In the twist angle changing unit, a determination unit, a twist angle calculating unit, and a frequency / flapping angle changing unit are provided. The discriminating unit changes at least one of the flapping frequency f and the flapping angle γ based on the data of the flapping frequency f, flapping angle γ, flapping elevation angle θ, and velocity V calculated by the frequency / flapping angle calculating unit. It is determined whether or not it is reduced or not and whether or not the twist angle α can be changed. In addition, the twist angle calculation unit changes the flapping method when at least one of the flapping frequency f and the flapping angle γ increases and the twist angle α can be calculated as a result of the discrimination by the discriminating unit. The torsion angle α is calculated later. Further, the frequency / flapping angle changing unit calculates the flapping elevation angle θ, the flapping frequency f ′, and the flapping angle γ ′ based on the value of the twist angle α calculated by the twist angle changing unit. In addition, a drive control unit is provided in the flapping control unit 705, and the rotary actuators 101 and 102 are controlled by signals output from the drive control unit. Further, the drive control unit transmits signals to the rotary actuators 103 and 104 so that the flapping frequency f ′ and flapping angle γ ′ and flapping elevation angle θ changed by the frequency / flapping angle changing unit are realized.

  Further, in the flapping control unit 705, a frequency / flapping angle calculation unit, an elevation angle calculation unit, an elevation angle control unit, an external force calculation unit, a propulsive force calculation unit, a ratio calculation unit, a movement amount calculation unit, and a positional deviation amount calculation unit are provided. It has been. Further, a wind detection sensor 712 and a position sensor (not shown in FIG. 14) 1700 are provided on the outer surface of the body portion 105. The position information of the flapping apparatus input from the position sensor 1700 is transmitted to the position deviation calculation unit. The position deviation calculation unit calculates a deviation between a position where the flapping apparatus should be present and a position where the flapping apparatus actually exists. Further, the positional deviation amount calculated by the positional deviation amount calculation unit is transmitted to the movement amount calculation unit. The movement amount calculation unit calculates a movement amount that the flapping apparatus can move according to the current flapping method based on the above-described positional deviation amount. The positional deviation amount calculated by the positional deviation amount calculation unit and the movement amount calculated by the movement amount calculation unit are transmitted to the ratio calculation unit. The ratio calculation unit calculates the ratio between the time for stopping the flapping operation and the time for continuing the current flapping operation using the positional shift amount and the movement amount. The flapping apparatus performs flapping operation intermittently according to the above-described ratio. Accordingly, the flapping apparatus performs flapping flight that always returns to a predetermined position while reducing energy consumption. The ratio of the time for performing the flapping operation and the time for not performing the flapping operation calculated by the ratio calculating unit is transmitted to the frequency / flapping angle calculating unit, and the frequency / flapping angle calculating unit performs flapping according to the ratio. The frequency f and flapping angle γ for performing are calculated.

  On the other hand, the wind detection sensor 712 detects a wind speed relative to the flapping apparatus. Information for specifying the wind speed detected by the wind detection sensor 712 is transmitted to the external force calculator. Further, the propulsive force calculation unit calculates what propulsive force the flapping apparatus can generate by the current flapping operation. Information on the propulsive force of the flapping device calculated by the propulsive force calculation unit and the force received from the outside by the flapping device calculated by the external force calculation unit is transmitted to the balance determination unit. The balance determination unit determines a balance state between the horizontal component of the external force and the propulsive force J, and transmits information for changing the posture to the posture change unit based on the balance state. In addition, information indicating how to change the flapping elevation angle θ is transmitted from the balance determination unit to the elevation angle control unit. Based on the information on the flapping elevation angle θ transmitted from the balance discriminating section, the elevation angle control section outputs information specifying how to flapping at any flapping elevation angle θ to the elevation angle changing mechanism 108. Thereby, the elevation angle changing mechanism 108 changes the flapping elevation angle θ of the flapping apparatus based on the information transmitted from the elevation angle control unit.

  The wind detection sensor 712 also transmits information for specifying the wind speed V to the elevation angle calculation unit. Thereby, the elevation angle calculation unit calculates what the flapping elevation angle θ should be, and transmits information on the flapping elevation angle θ to the elevation angle control unit. Also, the elevation angle calculation unit outputs information that can specify the flapping elevation angle θ to the frequency / flapping calculation unit. Information that can identify the flapping elevation angle θ and information that can identify the velocity V sensed by the wind detection sensor 712 transmitted from the elevation angle calculating unit is input to the frequency / flapping calculation unit. As a result, the frequency / flapping calculation unit transmits to the drive control unit information on what flapping operation the flapping apparatus should perform in order to hover, that is, flapping frequency f, flapping angle γ, and twist angle α. The drive control unit controls the drive unit using information on the flapping frequency f, the flapping angle γ, and the twist angle α calculated by the frequency / flapping calculation unit.

  Next, the hovering process will be described with reference to FIG. In the hovering process, first, in S1, the wind detection sensor 712 detects the value of the velocity V relative to the fluid flapping device. Next, in S2, a vector of the external force that the flapping apparatus receives from the surrounding fluid is calculated based on the speed V described above. Next, in S3, posture change control is executed.

  In the posture change control, as shown in FIG. 23, first, in S30, the vector of the propulsive force J of the flapping apparatus is compared with the horizontal component of the external force vector. Next, in S31, it is determined whether or not to turn right from the comparison result in S30 described above. When it should not turn right, in S33, control for turning left is executed. In S31, when turning right, a flapping method for turning right is executed in S32. The turning operation to the left or the turning operation to the right is as described above.

  Next, in S4, the value of the propulsive force J of the flapping device is calculated. Next, in S5, it is determined whether or not the horizontal force vector of the velocity V and the vector of the propulsive force J are the same in magnitude and reverse in direction. In S5, if the vector of the horizontal component of the speed V, that is, the vector of the external force and the vector of the propulsive force J are the same and the directions are not opposite, the processes of S1 to S4 are repeated. That is, by the processes of S1 to S5, the flapping apparatus is controlled to change its posture until the propulsive force J vector and the wind speed vector (external force vector) are balanced. Normally, the flapping apparatus has a symmetrical structure, and it is desirable to perform hovering by performing a symmetrical flapping operation, so that the direction of the fuselage axis 801 coincides with the direction of the wind speed vector of the speed V. As such, the flapping device changes posture.

  Next, in S6, it is determined whether or not the horizontal component of the speed V is larger than a predetermined value. In S6, if the magnitude of the horizontal component of the speed V is not greater than the predetermined value, the process of S7 is executed. In S6, the flapping method is selected according to the horizontal component of the velocity V. In S6, if the magnitude of the horizontal component of the speed V is greater than or equal to a predetermined value, the processes of S12 to S17 are executed. On the other hand, in S6, if the horizontal component of the speed V is not equal to or greater than the predetermined value, the processes of S7 to S11 are executed. That is, if the horizontal component of the velocity V is large, the flapping apparatus executes a process of performing a hovering operation that always performs the flapping operation. On the other hand, if the magnitude of the horizontal component of velocity V is larger than a predetermined value, the flapping device does not always flutter, but intermittently performs flapping for hovering, that is, flutters for a predetermined period. At the same time, the hovering process is executed by repeating the operation that does not perform the flapping operation at all for a predetermined period.

  In S7, a flapping elevation angle θ, a flapping frequency f, and a flapping angle γ necessary for hovering using the velocity V data are calculated. Next, in S8, it is determined whether or not at least one of the flapping frequency f and the flapping angle γ has not changed or decreased, and whether or not the twist angle α cannot be changed. The case where the twist angle α cannot be changed means the case where the solution of the twist angle α cannot be calculated by the above-described formula for calculating the twist angle α.

  In S8, if at least one of the flapping frequency f and the flapping angle γ is increased and the twist angle α can be changed, the change in the twist angle α is performed in S9 after the change of the twist angle α is performed. The process is executed again, and a new flapping frequency f ′ and flapping angle γ ′ are calculated. That is, when flapping frequency f and flapping angle γ increase when flapping for hovering is executed, control is performed to change twist angle α so that flapping frequency f and flapping angle γ do not increase. The flapping frequency f ′ and flapping angle γ ′ that are equal to or smaller than the flapping frequency f and flapping angle γ are calculated. Therefore, in the present embodiment, as long as the twist angle α is calculated, it is possible to prevent the power consumption from increasing due to the increase of the flapping frequency f and the flapping angle γ.

  On the other hand, in S8, when at least one of the flapping frequency f and the flapping angle γ is not changed or decreased, or the twist angle α is changed so as to realize the flapping frequency f and the flapping angle γ. If this is not possible, the process of S10 is executed. In S10, the value of the flapping angle θ is changed, and in S11, the value of the flapping frequency f and / or the flapping angle γ is changed. Thereafter, the process of S1 is executed again.

  On the other hand, in S6, if the magnitude of the horizontal component of the speed V is equal to or greater than a predetermined value, the process of S12 is executed. In S12, control is executed such that a state of a twist angle α = 0, a flapping angle γ = 0, and a flapping frequency f = 0 is realized. Therefore, the flapping device hovers in the wind without driving the wings. Next, in S13, a process of calculating the flapping elevation angle θ necessary for hovering is executed. Next, in S14, a position shift vector per unit time is calculated using the position vector data of the flapping apparatus detected by the position sensor 1700. The position sensor 1700 may be any sensor that can detect the position vector of the flapping apparatus with respect to a reference position such as GPS (Global Positioning System).

  Next, in S15, a predetermined flapping method for compensating for the positional deviation of the flapping device that is blown by the wind when the flapping operation is stopped is determined, and the movement per unit time when the flapping device moves according to the flapping method. A quantity is calculated. Next, in S16, the ratio of the period for performing the predetermined flapping method and the period for stopping the wings is calculated. In S17, using the above-described ratio, the control for performing the predetermined flapping for the predetermined time and the twist angle α = 0, flapping γ = 0, flapping frequency f = 0, and the flapping elevation angle θ necessary for hovering are set. Repeat the control realized. That is, the flapping device returns to the position before being blown by the wind by intermittent flapping. Thereby, the flapping apparatus can realize hovering while reducing power consumption. Thereafter, the process of S1 is executed.

  Note that the twist angle changing unit in FIG. 21 is not necessary, that is, the flapping apparatus can be moved even if the processes of S7 and S8 in FIG. 22 are not executed.

  It should be understood that the embodiments and examples disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  ADVANTAGE OF THE INVENTION According to this invention, the moving apparatus which can flapping and hover freely in space can be provided.

It is a figure which shows the flapping apparatus of embodiment, (a) is the partial front view, (b) is the partial side view. It is a graph which shows the relationship between the flapping motion of the flapping apparatus of embodiment, and the phase of flapping motion. It is a figure which shows the 1st state of the flapping operation | movement of the flapping apparatus of embodiment. It is a figure which shows the 2nd state of the flapping operation | movement of the flapping apparatus of the form of embodiment. It is a figure which shows the 3rd state of the flapping operation | movement in the flapping apparatus of embodiment. It is a figure which shows the 4th state of the flapping operation | movement in the flapping apparatus of embodiment. It is a figure which shows the 5th state of the flapping operation | movement in the flapping apparatus of embodiment. It is a figure which shows the 6th state of the flapping operation | movement in the flapping apparatus of embodiment. It is a figure which shows the 7th state of the flapping operation | movement in the flapping apparatus of embodiment. It is a figure which shows the 8th state of the flapping operation | movement in the flapping apparatus of embodiment. It is a front schematic diagram which shows the modification of the flapping apparatus of embodiment. It is a front schematic diagram which shows the other modification of the flapping apparatus of embodiment. It is a front schematic diagram which shows the other modification of the flapping apparatus of embodiment. It is a plane schematic diagram which shows the structure of the flapping apparatus shown in FIG. It is a 1st graph which shows the change with respect to the phase of each flapping motion of the force which acts on a wing | wing, and each angle. It is a 2nd graph which shows the change with respect to the phase of each flapping motion of the force which acts on a wing | wing, and each angle. It is a figure which shows the relationship between two wing shafts when the front wing shaft and the rear wing shaft are directed outward by an angle ε from a position parallel to each other. It is a graph for demonstrating control of flapping elevation angle (theta) and flapping angle (gamma) when a flapping apparatus maintains hovering in the state which received the wind of speed V from the front. It is a graph which shows control of flapping elevation angle (theta) and frequency f when a flapping apparatus maintains hovering in the state which received the wind of speed V from the front. Control of flapping elevation angle θ when flapping apparatus maintains hovering while receiving wind of velocity V from the front, propulsive force J during sailing, propulsive force J generated in flapping apparatus by intermittent flapping operation, and intermittent It is a graph which shows the relationship between each of the levitation force A which arises in a flapping apparatus by typical flapping operation, and the speed V. It is a block diagram for demonstrating the system configuration | structure of a flapping apparatus. It is a flowchart for demonstrating a hovering process. It is a flowchart for demonstrating a hovering process.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Support structure, 21 Right actuator, 22 Left actuator, 31 Right feather, 32 Left feather, 311 Right feather main axis, 312 Right feather branch, 313 Right feather membrane, 321 Left feather main axis, 322 Left feather branch, 323 Left feather membrane, 4, 41 Control device, 51 Acceleration sensor, 52 Angular acceleration sensor, 6 Power supply, 101, 102, 301, 302, 401 Rotary actuator, 103, 303 Front wing shaft, 104, 304 Rear wing shaft, 105, 305, 404 , 504,700 Body, 106,306,714 wing membrane, 107,307 tip of wing, 108 elevation control mechanism, 201 front wing axis amplitude, 202 rear wing axis amplitude, 402 center of rotation, 403,503 , 603 Feather shaft, 501, 601 Linear actuator, 502, 602 Hinge, 701 Ultrasonic sensor, 702 Infrared Sensor, 703 Acceleration sensor, 704 Angular acceleration sensor, 705 Flapping control unit, 706 Actuator, 707 Center of gravity control unit, 708 Memory unit, 709 Communication control unit, 710 Antenna unit, 711 Power supply unit, 901 Front wing shaft, 902 Rear wing shaft , 903 The vibration axis of the front wing shaft, 904 The vibration axis of the rear wing shaft, 905 The root of the wing shaft, 906 The tip of the wing shaft, 1063 The upper body part, 1064 The lower body part.

Claims (8)

A wing that flutters in a space where fluid exists,
A drive unit that causes the wings to flapping,
A flapping control unit for controlling the driving unit;
A body portion on which the drive unit and the flapping control unit are mounted;
An elevation angle changing mechanism that is provided in the body part and changes a flapping elevation angle of the wing part by changing a posture of the driving unit with respect to the body part;
A moving device comprising a detector for detecting a physical quantity of the fluid,
The flapping control unit
Using the physical quantity of the fluid detected by the detector, the velocity vector of the fluid and the vector of the external force received by the moving device are calculated, and the vector of the horizontal component of the external force and the propulsive force vector of the moving device are calculated. After performing control for balancing, according to the speed vector, the elevation angle control mechanism is controlled so that the flapping elevation angle necessary for hovering is realized, and further, among the flapping frequency and flapping angle of the drive unit A mobile device that executes control for maintaining the hovering state by changing at least one of the two. The wings are
One wing shaft connected to the drive unit;
Separately from the one side wing shaft portion, the other side wing shaft portion connected to the drive,
Including at least a wing body portion formed between the one side wing shaft portion and the other side wing shaft portion;
The drive unit is
A one-side drive unit that causes the one-side wing shaft part to perform a first periodic motion;
Independently of the one side drive part, the other side drive part for causing the other side wing shaft part to perform a second periodic motion, and
The flapping control unit controls the one side driving unit and the other side driving unit separately in the hovering state, thereby preventing the flapping frequency and the flapping angle from increasing. The moving device according to claim 1, wherein a twist angle formed by a virtual plane and a distal end portion of the wing main body portion connecting a distal end of the wing shaft portion and a distal end of the other wing shaft portion is changed.   2. The flapping control unit according to claim 1, wherein when the velocity vector is greater than or equal to a predetermined value, the flapping elevation angle is fixed to a value that can be hovered, and control for stopping the flapping operation of the wing is performed. Mobile device.   The mobile device according to claim 3, wherein the flapping control unit executes control for causing the wing unit to intermittently perform flapping operations for at least a predetermined period. A wing that flutters in a space where fluid exists,
A drive unit that causes the wings to flapping,
A flapping control unit for controlling the driving unit;
A body portion on which the drive unit and the flapping control unit are mounted;
An elevation angle changing mechanism that is provided in the body part and changes a flapping elevation angle of the wing part by changing a posture of the driving unit with respect to the body part;
A moving device comprising a detector for detecting a physical quantity of the fluid,
The flapping control unit
An external force calculation unit that calculates a vector of an external force received by the moving device using a physical quantity of the fluid detected by the detector;
A propulsive force calculation unit for calculating a propulsive force vector of the mobile device;
A balance determination unit that determines whether or not the vector of the propulsive force and the vector of the horizontal component of the external force are balanced;
A posture changing unit that changes the posture of the flapping apparatus so that the vector of the propulsive force and the vector of the horizontal component of the external force are balanced;
A velocity vector calculation unit that calculates a velocity vector of the fluid with respect to the moving device using a physical quantity of the fluid detected by the detector;
An elevation angle calculation unit that calculates a flapping elevation angle necessary for the mobile device to hover using the velocity vector;
An elevation angle control unit that controls the elevation angle changing mechanism so that the flapping elevation angle is realized when the balance determination unit determines that it is in a balanced state;
A frequency / flapping angle calculation unit for calculating the flapping frequency and flapping angle of the wing necessary for hovering using the velocity vector and the flapping elevation angle;
A drive control unit that controls the drive unit to perform a flapping operation at the flapping frequency and the flapping angle required for the wing to hover when the determination unit determines that the balance is in a balanced state; Including mobile devices. The wings are
One wing shaft connected to the drive unit;
Separately from the one side wing shaft portion, the other side wing shaft portion connected to the drive,
Including at least a wing body portion formed between the one side wing shaft portion and the other side wing shaft portion;
The drive unit is
A one-side drive unit that causes the one-side wing shaft part to perform a first periodic motion;
Independently of the one side drive part, the other side drive part for causing the other side wing shaft part to perform a second periodic motion, and
The flapping control unit
A twist angle changing unit that changes a twist angle formed by a tip of the wing body and a virtual plane connecting the tip of the one side wing shaft and the tip of the other side wing shaft;
The twist angle changing section is
A discriminator for discriminating whether or not the flapping frequency and the flapping angle have increased compared to before;
When the determination unit determines that the flapping frequency and the flapping angle have increased compared to before, a twist angle calculation that calculates a twist angle so that each increase in the flapping frequency and the flapping angle is reduced. And
A frequency / flapping angle changing unit for changing the flapping frequency and the flapping angle corresponding to the twist angle calculated by the twist angle calculating unit;
The said drive control part controls the said drive part so that the twist angle computed by the said twist angle calculation part, and the flapping frequency and flapping angle changed by the said frequency / change part are implement | achieved. Mobile device. The elevation angle control unit controls the elevation angle changing mechanism, fixes the flapping elevation angle to a predetermined value that can be hovered,
When the fluid velocity vector is greater than or equal to a predetermined value, the drive control unit connects the tip of the one-side wing shaft to the tip of the other-side wing shaft at least for a certain period. The moving device according to claim 5, wherein the driving unit is controlled so that each of a twist angle formed by a part and a virtual plane, the flapping angle, and the flapping frequency are set to zero. The flapping control unit
When each of the twist angle, the flapping angle, and the flapping frequency is zero, using the physical quantity of the fluid detected by the detection unit or a signal transmitted from an external device, A position shift calculation unit for calculating a position shift vector;
A flapping method determination unit for determining a predetermined flapping method for proceeding in the direction opposite to the positional deviation vector;
A movement determining unit that determines a movement vector that can specify a movement amount and a movement direction obtained by the predetermined flapping operation;
A ratio calculation unit that calculates a ratio of a time during which the wing part performs the predetermined flapping method and a time during which the wing part stops so that a sum of the positional deviation vector and the movement vector becomes zero; Including
The moving device according to claim 7, wherein the drive control unit controls the drive unit to cause the wing unit to intermittently execute the predetermined flapping method based on the ratio.

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