JP2017074868A - Rotorcraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotorcraft that has high-energy efficiency used for running on a road.SOLUTION: In the rotorcraft (10), rotors (1a to 1d) are arranged asymmetrically relative to a rotation shaft (4) on a rotor face (R) and a center of gravity (G) of a rotor unit (1) is positioned apart from the rotation shaft (4) in a vertical direction relative to a normal line of the rotor face (R).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a rotary wing aircraft.

  The development and commercialization of unmanned aerial vehicles called UAV (Unmanned Aerial Vehicle) or Drone have been promoted since ancient times. In recent years, UAV has been actively commercialized in the private sector due to downsizing of sensors, communication, downsizing of control equipment, high performance, and the like.

  UAVs that have been commercialized in recent years are often multi-copter types composed of a plurality of rotors. Therefore, the UAV has a great advantage that stable hovering flight in which the position is stationary in the air is possible, and posture control from the stationary position in the air is easy.

  Applications of UAV include aerial photography using a camera mounted on the fuselage and transportation of small quantities of cargo. UAV can be applied to confirming the situation at disaster sites where it is difficult for people to enter, or to infrastructure inspections such as visual inspections of infrastructure equipment (bridges, electric wires, tunnels, etc.) located in high places and in the mountains. Applications have been proposed and put into practical use.

  In order to use such a multi-copter type UAV for such applications, long-time stable flight is required. Such flight stability is particularly required when the UAV flies near the wall. When a multicopter type UAV is flying near a wall, the airflow of the multicopter is likely to be disturbed by the wall. Then, due to the turbulence of the airflow, the UAV may collide with the wall when the balance is lost.

  A technique related to stable flight near the wall of a multicopter type UAV is disclosed in Non-Patent Document 1, for example. In the technique disclosed in Non-Patent Document 1, wheels that freely rotate are provided on both sides of a multicopter type UAV. This wheel also serves as a bumper that protects the UAV body against the wall and ceiling, and is larger in size than the UAV body. The UAV disclosed in Non-Patent Document 1 can fly stably without contacting the UAV body with the wall or ceiling by pressing the wheel against the wall or ceiling surface when flying near the wall or ceiling. . In addition, since the wheels freely rotate, the UAV can stably travel on the wall surface and the ceiling surface by moving the wheel while maintaining the state of being pressed against the wall surface and the ceiling surface. Further, the UAV can travel on the ground by moving the wheel by the propulsive force of the rotor of the multicopter when the wheel is in contact with the ground.

"Parrot's mini drone Rolling Spider runs freely from the ground to the ceiling!", [Online], [Search June 18, 2015], Internet <URL: http://www.parrot.com / jp / products / rolling-spider /〉

  Many conventional multi-copter type UAVs control the traveling direction by controlling the output balance of a plurality of rotors and directing the rotor surface in a slightly inclined direction from the vertically upward direction during flight. As described above, the UAV disclosed in Non-Patent Document 1 can travel on the ground surface, wall surface, ceiling surface, and the like by providing wheels. The UAV disclosed in Non-Patent Document 1 basically has a configuration in which the rotor surface is oriented in the vertical direction suitable for flight, like the conventional multicopter type UAV. When traveling on the ground with wheels, the UAV disclosed in Non-Patent Document 1 directs the rotor surface to a direction slightly inclined from the vertical upward direction, thereby providing a horizontal driving force necessary for ground traveling. It has gained.

  However, in the UAV disclosed in Non-Patent Document 1, since the inclination angle of the rotor surface with respect to the vertical direction is extremely small, most of the driving force generated by the rotor is the force of the component in the vertical direction. As a result, the force of the horizontal component necessary for traveling on the ground is reduced. That is, in the UAV disclosed in Non-Patent Document 1, when driving on the ground with wheels, the vertical force out of the driving force generated by the rotor is wasted. For this reason, there is a problem that the energy efficiency spent on the ground traveling is poor.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a rotary wing machine with high energy efficiency spent on the ground.

  In order to solve the above problems, a rotorcraft according to one aspect of the present invention provides a rotor unit in which one or a plurality of rotors are arranged so that the rotor surfaces are the same, and a rotational drive output of the rotor. An output control unit for controlling, a wheel unit, a connecting unit that connects the rotor unit and the wheel unit, and a rotorcraft capable of traveling on the ground by the thrust of the rotor unit, The connecting portion includes a rotating shaft, and the rotor unit rotates around the rotating shaft so that the orientation of the rotor surface changes between a traveling direction and a vertical direction. Are arranged asymmetrically with respect to the rotation axis, and the center of gravity of the rotor unit is located away from the rotation axis in a direction perpendicular to the normal of the rotor surface. The orientation of the rotor surface is directed in the traveling direction when the rotational drive of the rotor is stopped, and around the rotational axis according to the thrust of the rotor unit when the rotor is rotationally driven. It rotates and is directed from the running direction to the vertical direction side.

  According to one aspect of the present invention, there is an effect that energy efficiency spent on the ground traveling is high.

The structure of this rotary wing aircraft concerning Embodiment 1 of the present invention is shown, (a) is a top view, (b) is a perspective view, (c) is a front view, (d) is a side view. It is. It is the side view which showed roughly the attitude | position at the time of the ground run of the conventional rotary wing machine. It is a graph which shows the relationship between the angle (rotation efficiency) (energy efficiency) used for the driving | running | working of a rotary wing machine with respect to the driving force which a rotor makes with the rotating shaft of a rotor, and a horizontal direction. It is the side view which showed typically the attitude | position of the rotary wing aircraft concerning Embodiment 1 of this invention, (a) shows the attitude | position at the time of ground running, (b) shows the attitude | position at the time of wall surface contact, (c ) Indicates the posture when traveling on the wall. The structure of this rotary blade machine concerning Embodiment 2 of this invention is shown, (a) is a top view, (b) is a perspective view, (c) is a front view, (d) is a side view. It is. It is a block diagram which shows the system configuration | structure of the rotary wing machine which concerns on Embodiment 3 of this invention. It is a figure for demonstrating attitude | position control of the rotary wing aircraft which concerns on Embodiment 3 of this invention, (a) shows the attitude | position at the time of ground running, (b) is the transition which changes from a ground running attitude to a flight attitude. A posture is shown, and (c) shows a flight posture. It is a figure for demonstrating the attitude | position control of the rotary wing aircraft which concerns on Embodiment 4 of this invention, (a) shows the attitude | position at the time of ground running, (b) is the transition which changes from a ground running attitude to a flight attitude. A posture is shown, and (c) shows a flight posture.

Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail. FIG. 1 shows a configuration of a rotary wing machine 10 according to this embodiment. FIG. 1A is a top view, FIG. 1B is a perspective view, and FIG. FIG. 1D is a side view.

  As shown in FIGS. 1A to 1D, the rotary wing machine 10 includes a rotor unit 1, a wheel unit 2, and a connection unit 3 that connects the rotor unit 1 and the wheel unit 2. Yes. Since the rotary wing machine 10 is provided with the wheel portion 2, it can travel on the ground by the thrust of the rotor unit 1. Further, the rotary wing aircraft 10 can also fly in the air by the thrust of the rotor unit 1.

  Hereinafter, the rotary wing aircraft 10 capable of both ground traveling and air flight will be described. However, the rotary wing aircraft 10 according to the present embodiment only needs to be configured to be able to travel at least on the ground.

  The rotor unit 1 includes four rotors 1a to 1d. These rotors 1a to 1d are arranged so as to have the same rotor surface R. The “rotor surface R” here refers to a surface where wind is generated by the rotation of the propellers of the rotors 1a to 1d. It can be said that the “rotor surface R” is a surface perpendicular to the rotation axis of the propellers of the rotors 1a to 1d.

  The wheel unit 2 is provided for the rotary wing machine 10 to travel on the ground, and includes two wheel main bodies 2 a arranged in parallel to each other. In the vertical direction perpendicular to the ground, the dimensions of these wheel bodies 2 a are larger than the dimensions of the rotor unit 1.

  The connection unit 3 includes a rotation shaft 4. The rotor unit 1 is connected to the wheel unit 2 via the rotating shaft 4. The rotating shaft 4 functions as an axle that connects the two wheel bodies 2a. Here, the direction in which the rotary wing machine 10 travels on the ground is defined as the X direction, the direction in which the rotating shaft 4 extends is defined as the Y direction, and the vertical direction perpendicular to the ground is defined as the Z direction. It can be said that the X direction is a direction perpendicular to both the direction in which the rotating shaft 4 extends (Y direction) and the vertical direction (Z direction).

  The rotor unit 1 is connected to the wheel portion 2 so as to be rotatable about the rotation shaft 4. Thereby, the rotor unit 1 rotates about the rotation shaft 4 so that the direction of the rotor surface R changes between the X direction and the Z direction. The “direction of the rotor surface R (directing direction)” here refers to the normal direction of the rotor surface R. In other words, it is the direction of the rotation axis of the propellers of the rotors 1a to 1d constituting the rotor unit 1. The direction of the rotor surface R is the direction of the propulsive force generated by the rotors 1a to 1d.

  The rotary wing machine 10 according to the present embodiment is characterized in the positional relationship between the rotor unit 1 and the rotary shaft 4 as viewed from a direction perpendicular to the rotor surface R (rotational axis direction of the propellers of the rotors 1a to 1d). . As shown in FIG. 1C, on the rotor surface R, the rotors 1 a to 1 d are disposed asymmetrically with respect to the rotation shaft 4. Further, the center of gravity G of the rotor unit 1 is located away from the rotating shaft 4 in a direction perpendicular to the normal line of the rotor surface R.

  FIG. 2 is a side view schematically showing the posture of the conventional rotary wing aircraft 100 when traveling on the ground. As shown in FIG. 2, in the conventional rotary wing machine 100, the rotor unit 101 including the four rotors having the rotors 101 a and 101 b is connected to the wheel unit 102 via the rotation shaft 104. The four rotors including the rotors 101 a and 101 b are arranged symmetrically with respect to the rotation axis 4. Further, the center of gravity G of the rotor unit 101 is located at a position shifted from the rotating shaft 104 in the direction of the rotor surface on the side opposite to the rotor. Thus, in the conventional rotary wing machine 100, the rotor unit 101 is connected to the rotating shaft 104 at a position shifted from the center of gravity G in the normal direction of the rotor surface R. For this reason, when the rotor unit 101 is not rotationally driven, the center of gravity G is located directly below the rotation shaft 104, and the rotor unit 101 is stable with the rotor surface parallel to the ground.

  As shown in FIG. 2, in the conventional rotary wing machine 100, the rotor unit 101 is tilted to some extent by rotational driving, and a part of the outputs of the four rotors having the rotors 101a and 101b is used for horizontal acceleration. Yes. The rotor is rotationally driven in a state where the rotor surface of the rotor unit 101 is oriented in a direction slightly inclined from the Z direction. And the propulsive force F generate | occur | produces in the rotary wing machine 100 with the flow of the air which generate | occur | produces by this rotational drive. And the component Fx of the X direction of the thrust F is obtained as a thrust required for ground driving | running | working. Since the inclination angle of the rotor surface with respect to the Z direction is extremely small, the component Fz in the Z direction is larger than the component Fx in the X direction. As a result, most of the propulsive force (driving force) F generated by the rotor unit 101 becomes the force of the component Fz in the vertical direction, and the component Fx in the X direction necessary for traveling on the ground becomes small.

  FIG. 3 is a graph showing the relationship between the angle formed between the rotation axis of the rotor and the horizontal direction (X direction) and the efficiency (energy efficiency) of the energy used for running the rotorcraft with respect to the driving force generated by the rotor. is there. Here, it can be said that the direction of the rotating shaft of the rotor is the direction of the propulsive force generated by the rotor.

  From the graph of FIG. 3, the influence on the energy efficiency necessary for ground traveling has little influence on the apparent weight of the rotor unit and the rolling resistance being reduced by the vertical component Fz of the propulsive force generated by the rotor. I understand that. Beyond this effect, it can be seen that the energy efficiency required for running on the ground affects the angle between the rotation axis of the rotor and the horizontal direction (X direction).

  As shown in FIG. 3, the total energy efficiency is overwhelmingly improved as the angle between the direction of the propulsive force of the rotor (that is, the direction of the rotation axis of the rotor) and the horizontal direction approaches zero. Therefore, in order to realize more efficient ground traveling, it is preferable that the direction of the propulsive force of the rotor (that is, the direction of the rotor surface) matches the horizontal direction as much as possible. In addition, when the direction of the propulsive force of the rotor matches the horizontal direction, energy efficiency is good not only for traveling on the ground but also for rotation around the rotation axis of the rotor unit.

  In the conventional rotary wing machine 100, in order to make the direction of the thrust of the rotor coincide with the horizontal direction, it is necessary to control the inclination of the rotor surface by controlling the output balance of the four rotors including the rotors 101a and 101b. is there.

  Here, according to the rotary wing machine 10 according to the present embodiment, the rotors 1 a to 1 d are disposed asymmetrically with respect to the rotation shaft 4 on the rotor surface R. Further, on the rotor surface R, the center of gravity G of the rotor unit 1 is located away from the rotating shaft 4 in a direction perpendicular to the normal line of the rotor surface R. For this reason, when the rotor unit 1 is not rotationally driven, the normal line of the rotor surface R of the rotor unit 1 rotates and is directed in the X direction, and the center of gravity G is positioned away from the rotating shaft 4 vertically downward. . Further, the rotor surface R in the rotary wing machine 10 is rotated around the rotation axis 4 according to the thrust of the rotor unit 1 when the rotors 1a to 1d are driven to rotate, and from the X direction to the Z direction side. Orient. It can be said that the direction of the normal line of the rotor surface R is the thrust direction of the rotor unit 1.

  When the rotors 1a to 1d are rotationally driven in such a state that the normal line of the rotor surface R is directed in the X direction, the rotary wing machine 10 travels on the ground. Therefore, it is possible to realize the rotary wing machine 10 with high energy efficiency spent on the ground traveling.

  Here, the rotor unit 1 is connected to the wheel portion 2 so as to freely rotate about the rotation shaft 4. The direction of the normal line of the rotor surface R is adjusted by the balance between the output of the rotors 1a to 1d and gravity.

  4A and 4B are side views schematically showing the posture of the rotary wing machine 10 according to the present embodiment. FIG. 4A shows the posture when traveling on the ground, and FIG. 4B shows the wall surface contact. FIG. 4 (c) shows the posture when traveling on the wall surface.

  The direction of the normal line of the rotor surface R is directed in the X direction when the rotational driving of the rotors 1a to 1d is stopped. At this time, the center of gravity G of the rotor unit 1 is at a lower position in the Z direction of the rotating shaft 4. Then, as shown in FIG. 4A, when the rotary wing machine 10 is traveling on the ground, the rotors 1a to 1d are driven to rotate so that the direction of the rotor surface R is substantially coincident with the X direction. Be controlled. At this time, the thrust F of the rotor unit 1 is substantially in the X direction.

  And when the rotary wing machine 10 contacts a wall or an obstacle, the rotational output of the rotors 1a to 1d is increased. Thereby, the thrust F of the rotor unit 1 becomes large. Then, as shown in FIG. 4B, as the thrust F of the rotor unit 1 increases, the direction of the rotor surface R of the rotor unit 1 rotates around the rotation axis 4 and tilts. Then, as shown in FIG. 4C, when the thrust F of the rotor unit 1 is further increased, the orientation of the rotor surface R approaches the Z direction. As a result, a component in the Z direction is generated in the thrust F of the rotor unit 1, and the rotary wing machine 10 can travel on the wall surface and obstacles.

  In the rotary wing machine 10, the rotors 1 a to 1 d are disposed asymmetrically with respect to the rotating shaft 4 on the rotor surface R, and the center of gravity G of the rotor unit 1 is normal to the rotor surface R from the rotating shaft 4. Therefore, it is possible to automatically control the direction of the rotor surface R according to the thrust of the rotor unit 1. Therefore, by including easy rotation control of the rotor unit 1, it is possible to travel from the ground including obstacles and overcoming walls.

  Further, in the rotary wing machine 10, the rotor unit 1 is a multi-rotor unit including four rotors 1a to 1d. The rotary wing machine 10 incorporates an output control unit (not shown) that controls the rotational drive outputs of the four rotors 1a to 1d. The directivity direction of the rotor surface R is controlled by adjusting the balance of the rotational drive output between the rotors 1a to 1d by the output control unit. Thus, when the rotor unit 1 is a multi-rotor unit, the rotational torque generated in the rotary wing machine 10 can be canceled.

  In the configuration shown in FIGS. 1A to 1D, the rotor unit 1 includes four rotors 1a to 1d. However, in the rotary wing machine 10 according to the present embodiment, the number of rotors of the rotor unit 1 is not limited to four, and may be at least the number of rotors capable of traveling on the ground.

  However, it is desirable that the number of rotors of the rotor unit 1 is an even number in order to cancel the rotational torque generated around the rotor axis generated in the rotary wing machine 10. As a result, even if the acceleration in the X direction is changed while traveling on the ground, the direction of the thrust of the rotor can be maintained substantially horizontal by maintaining the output balance according to the position of the rotor. This makes it possible to suppress energy loss even during acceleration when traveling on the ground. For example, the number of rotors may be six or eight.

  In the rotary wing machine 10 according to the present embodiment, the rotating shaft 4 to which the rotor unit 1 is connected functions as an axle of the wheel unit 2. However, the rotating shaft 4 to which the rotor unit 1 is connected may be provided separately from the axle of the wheel unit 2.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. 5A and 5B show the configuration of the rotary wing machine 10A according to the present embodiment. FIG. 5A is a top view, FIG. 5B is a perspective view, and FIG. 5C is a front view. FIG. 5D is a side view. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  The rotorcraft 10A according to the present embodiment is different from the first embodiment in that the rotor unit 1A includes one main rotor 1e.

  As shown in FIGS. 5A to 5D, in the rotorcraft 10 </ b> A according to the present embodiment, the rotor 1 e is disposed asymmetrically with respect to the rotation shaft 4 on the rotor surface R. The center of gravity G of the rotor unit 1A is on the axis of the main rotor 1e, and is located away from the rotating shaft 4 in a direction perpendicular to the normal line of the rotor surface R.

  For this reason, when the rotor unit 1A is not rotationally driven, the normal line of the rotor surface R of the rotor unit 1A rotates and points in the X direction. In addition, the rotor surface R in the rotary wing machine 10A is rotated around the rotation axis 4 according to the thrust of the rotor unit 1A when the rotor 1e is driven to rotate, and is directed from the X direction to the Z direction. .

  When the rotor 1e is rotationally driven in such a state that the normal line of the rotor surface R is directed in the X direction, the rotary wing machine 10A travels on the ground. Therefore, it is possible to realize the rotary wing aircraft 10A having high energy efficiency spent on the ground traveling.

  Further, the rotor unit 1A of the rotary wing machine 10A according to the present embodiment includes a sub-rotor 3f. The sub-rotor 3f is an auxiliary rotor for canceling torque generated around the axis of the main rotor 1e.

[Embodiment 3]
The following will describe still another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In this embodiment, a control system for a rotorcraft will be described. FIG. 6 is a block diagram showing a system configuration of the rotary wing aircraft according to the present embodiment. FIG. 6 shows a system configuration of a rotorcraft in which the rotor unit includes four rotors.

  The system 10S (output control unit) of the rotorcraft according to this embodiment controls the rotational drive output of the rotor of the rotor unit, and controls the attitude of the rotorcraft and the ground traveling speed based on the control. As shown in FIG. 6, the system 10S includes a host control CPU 5, a flight controller 6, four ESCs 7, four motors 8, a gyro / acceleration sensor 9, a sensor 11, and a camera 12. It has become. Each motor 8 rotationally drives each rotor, and each ESC (Electric Speed Controller) 7 controls each motor 8. The gyro / acceleration sensor 9 is a sensor that detects the attitude of the rotorcraft itself. The sensor 11 is added according to the usage purpose in order to detect an obstacle in the surrounding environment, to recognize the self position, to detect an inspection target, and the like. The camera 12 is provided for detecting the external environment. Moreover, the communication unit 13 detects the command from the information terminal which can communicate with the rotary wing machine, and receives a command from an application of a smartphone wirelessly connected to the rotary wing machine, for example.

  The flight controller 6 is connected to the ESC 7 and adjusts the thrust generated by each rotor. The flight controller 6 is also connected to a gyro / acceleration sensor 9. The system 10S detects the attitude of the rotorcraft from the gyro / acceleration sensor 9. Then, based on the detection result by the gyro / acceleration sensor 9, the flight controller 6 controls the attitude of the rotorcraft by adjusting the thrust generated by each rotor. Further, the rotorcraft according to the present embodiment is equipped with a battery as a power source necessary for the ESC 7 and each control device.

  The host control CPU 5 is connected to the flight controller 6, the sensor 11, and the camera 12. The system 10S performs self-position control of the rotary wing aircraft by the host control CPU 5 judging the external situation based on the detection results of the sensor 11 and the camera 12, and sending a command of the attitude of the rotary wing aircraft to the flight controller 6. .

  Here, the system 10S may be configured to collectively control the rotational drive output of each rotor. “Batch control” refers to controlling the rotational driving force of each rotor using one control value. Thereby, the complication of the configuration of the system 10S can be prevented.

  As a specific example of the collective control, there is a microcomputer control of rotational drive outputs of a plurality of rotors. In such control, the microcomputer adjusts one control value in response to a command from the outside such as remote control operation or artificial intelligence. And the control which gives the rotational drive output corresponding to the control value to each rotor is performed. For example, when the control value is an output ratio between a plurality of rotors, if the control value is set to double, control is performed to collectively double the output ratio between the rotors.

  Next, the attitude control of the rotorcraft by the system 10S will be described based on FIG. 7A and 7B are diagrams for explaining the attitude control of the rotary wing aircraft according to the present embodiment. FIG. 7A shows the attitude when traveling on the ground, and FIG. 7B shows the attitude when traveling on the ground. FIG. 7 (c) shows the flight posture.

When the system 10S collectively controls the rotational drive output of each rotor, the directivity direction of the rotor surface R is determined corresponding to the rotational drive output values of the four rotors 1a to 1d. The thrust F generated by the rotors 1a to 1d is decomposed into a component Fz in the vertical direction (Z direction) and a component Fx in the X direction. Here, if the angle between the ground and the rotor surface R is θ,
Fx = F × cos θ
Fz = F × sin θ
It becomes.

  Further, the gravity of the rotary wing machine 10B is mg, where m is the mass of the rotary wing machine 10B.

  When the thrust F is sufficiently weak, the angle θ is substantially 0 ° as shown in FIG. And since the value of thrust F is also small, the influence which the component Fz has on the rotary wing machine 10B is smaller than the gravity mg of the rotary wing machine 10B. Therefore, the rotary wing aircraft 10 </ b> B travels on the ground by receiving the component Fx in the X direction while the wheel unit 2 is in contact with the ground.

  As the rotational drive output of the rotors 1a to 1d increases, the vertical component Fz of the thrust F increases. And in the transition attitude | position which changes from a ground running attitude | position to a flight attitude | position as shown in FIG.7 (b), it becomes magnitude | size (Fxsin (theta)) = mg of a component Fz.

  When the rotational drive outputs of the rotors 1a to 1d are further increased, the influence of the component Fz on the rotary wing machine 10B becomes larger than the gravity mg of the rotary wing machine 10B (F × sin θ> mg). As a result, as shown in FIG. 7C, the rotary wing aircraft 10B flies in an oblique direction from the ground.

  Here, when F × sin θ> mg, when the rotary wing machine 10B is in contact with the wall surface, the component Fx in the X direction is canceled. As a result, the rotary wing machine 10B travels on the wall surface under the force of Fsin θ-mg in a state where the wheel unit 2 is in contact with the wall surface.

  Further, the system 10S may be configured to individually control the rotational drive outputs of the rotors 1a to 1d. By individually controlling the rotational drive outputs of the rotors 1a to 1d, the rotational drive output values of the four rotors 1a to 1d and the directivity direction of the rotor surface R can be freely set. The degree of freedom in setting the rotational drive output values of the rotors 1a to 1d and the corresponding directivity direction of the rotor surface is improved. Further, since the rotational drive outputs of the rotors 1a to 1d are individually controlled, it is possible to change the direction when traveling on the ground and to control the attitude in the air.

[Embodiment 4]
The following will describe still another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  The rotorcraft 10C according to the present embodiment is different from the first to third embodiments in that it has a mechanism that individually reverses the direction of thrust of each rotor of the rotor unit. Such a mechanism is realized, for example, by the system 10S described in the third embodiment individually controlling the rotational drive outputs of the rotors 1a to 1d.

  As shown in FIG. 8, in the rotary wing aircraft 10C, just before takeoff, the rotational drive directions of some of the rotors 1a and 1d are opposite to the rotational drive directions of the other rotors 1b and 1c. To be controlled. Thereby, the direction of thrust of the rotors 1a and 1d arranged above the rotating shaft 4 and the direction of thrust of the rotors 1b and 1c arranged below the rotating shaft 4 are opposite to each other. . Thereby, for example, the rotary wing aircraft 10C can take off vertically without having to slide in the horizontal direction.

  When the rotational drive outputs of the rotors 1a and 1d and the rotational drive outputs of the rotors 1b and 1c are the same value, the thrust generated by the rotors 1a and 1d is -F, while the thrust generated by the rotors 1b and 1c is F It becomes. As a result, in the rotary wing machine 10C, the directivity of the rotor surface R changes while the thrust generated by the rotors 1a to 1d is maintained at 0 (see (a) and (b) of FIG. 8). In this process, since the component in the X direction of the thrust generated by the rotors 1a to 1d is 0, the rotary wing machine 10C remains stationary without traveling on the ground.

  Then, when the directivity direction of the rotor surface R is close to the direction perpendicular to the ground (when the rotor surface R is parallel to the ground), the rotational drive direction of the rotors 1a and 1d is the rotation of the rotors 1b and 1c. Control in the same direction as the drive direction. At this time, the thrust generated by the rotors 1a and 1d and the thrust generated by the rotors 1b and 1c are both F. Then, by increasing the thrust F while maintaining the directivity direction of the rotor surface R to be perpendicular to the ground, the rotary wing aircraft 10C can fly directly from a stationary position on the ground. Therefore, in the rotary wing aircraft 10 </ b> C according to the present embodiment, the sliding until the transition from the ground running state to the flying state becomes unnecessary. As a result, it is possible to take off even if there is no sliding area of the rotary wing aircraft 10C on the ground. Further, by controlling so that the gravity of the rotary wing machine 10C is equal to the thrust F, the rotary wing machine 10C can be hovered in the air.

  In addition, the rotary wing machine 10C can reverse the direction of thrust generated by the rotors 1a to 1d while rotating on the ground while traveling on the ground. Thereby, deceleration operation can be performed instantaneously without changing the orientation of the main body of the rotary wing machine 10C. For this reason, the collision with the obstacle and wall of the rotary wing aircraft 10C during traveling on the ground can be prevented.

  Furthermore, since the retreating operation of the rotary wing machine 10C becomes easy, the self-position of the rotary wing machine 10C can be quickly and finely corrected.

  In the above-described example, the mechanism for individually reversing the direction of thrust of each rotor of the rotor unit has been realized by changing the rotational drive directions of the rotors 1a to 1d. However, the present invention is not limited to this, and the mechanism for individually reversing the direction of thrust of each rotor of the rotor unit can also be realized by changing the pitch of the rotors 1a to 1d.

[Summary]
A rotary wing machine 10 according to aspect 1 of the present invention provides a rotor unit 1 in which one or a plurality of rotors 1a to 1d are arranged so that the rotor surfaces R are the same, and rotational drive outputs of the rotors 1a to 1d. An output control unit (system 10S) to be controlled, a wheel unit 2, and a connection unit 3 that connects the rotor unit 1 and the wheel unit 2 are provided, and can travel on the ground by the thrust of the rotor unit 1. In the rotary blade 10, the connection portion 3 includes a rotation shaft 4, and the rotor unit 1 is configured so that the rotor surface R is oriented from the traveling direction to the vertical direction around the rotation shaft 4. In the rotor surface R, the rotors 1a to 1d are disposed asymmetrically with respect to the rotating shaft 4, and the center of gravity G of the rotor unit 1 is The rotor shaft R is located away from the rotary shaft 4 in a direction perpendicular to the normal line of the rotor surface R. The direction of the rotor surface R is determined by the traveling direction (X when the rotational drive of the rotors 1a to 1d is stopped). When the rotors 1a to 1d are driven to rotate, the rotor unit 1 rotates around the rotation shaft 4 according to the thrust of the rotor unit 1 and travels from the traveling direction (X direction) to the vertical direction (Y direction). ) Side-oriented configuration. "The connecting portion includes a rotating shaft, and the rotor unit rotates about the rotating shaft so that the orientation of the rotor surface changes between the traveling direction and the vertical direction" The connecting portion includes a rotation shaft, and the direction of the rotor surface rotates around the rotation shaft with a degree of freedom of rotation from the running direction to the vertical direction.

  According to the above configuration, since the rotation of the rotor is stopped and the rotor surface is oriented in the traveling direction, when the rotor is driven to rotate from the state where the rotation of the rotor is stopped, the rotor blades are rotated. The machine travels on the ground. Therefore, according to the above configuration, it is possible to realize a rotary wing aircraft that has high energy efficiency for ground travel.

  The rotor unit 1 is connected to the wheel portion 2 so as to freely rotate about the rotation shaft 4. Therefore, the direction of the normal line of the rotor surface R is adjusted by the balance between the outputs of the rotors 1a to 1d and gravity.

  In the rotary wing machine 10 according to aspect 2 of the present invention, in the aspect 1, the rotor surface R is oriented so that the center of gravity G of the rotor unit 1 is the rotational axis when the rotational drive of the rotors 1a to 1d is stopped. When the rotors 1a to 1d are driven to rotate in the state of being located below the vertical direction (Y direction) of 4 and directed in the traveling direction (X direction), the rotor unit 1 generates the thrust. It is preferable that the configuration is directed from the traveling direction (X direction) to the vertical direction (Y direction) according to the rotational force of the rotor unit 1 around the rotation shaft 4.

  According to the above configuration, in a state where the rotational drive of the rotor is stopped, the orientation of the rotor surface is oriented in the traveling direction in a state where the center of gravity of the rotor unit is at a lower position in the vertical direction of the rotation shaft. doing. Therefore, according to the above configuration, when the rotor is rotationally driven from the state where the rotational driving of the rotor is stopped, the rotary wing aircraft travels on the ground. Therefore, according to the above configuration, it is possible to realize a rotary wing aircraft that has high energy efficiency for ground travel.

  The rotary wing machine 10 according to aspect 3 of the present invention is the above-described aspect 1 or 2, wherein the wheel portion 2 is in contact with the wall surface, and the direction of the rotor surface R is vertical (Y direction) from the traveling direction (X direction). It is preferable to travel on the wall surface by the thrust of the rotor unit 1 in a state of being directed to the) side.

  According to said structure, the rotary wing machine which can drive | work a wall surface efficiently is realizable.

  It is preferable that the rotary wing machine 10 which concerns on aspect 4 of this invention is the structure which is the multirotor unit with which the said rotor unit 1 was provided with several rotor 1a-1d in the said aspects 1-3.

  According to said structure, since the said rotor unit is a multi-rotor unit provided with the several rotor, the rotational torque which generate | occur | produces in a rotary wing machine can be canceled, for example.

  The rotary wing machine 10 according to aspect 5 of the present invention may be configured such that, in the aspect 4, the output control unit (system 10S) collectively controls the rotational drive outputs of the plurality of rotors 1a to 1d. .

  According to the above configuration, since the output control unit is configured to collectively control the rotational drive outputs of the plurality of rotors, it is possible to prevent the configuration of the output control unit from becoming complicated.

  In addition, the rotary wing machine 10 according to aspect 6 of the present invention is configured so that, in the aspect 4, the output control unit (system 10S) individually controls the rotational drive outputs of the plurality of rotors 1a to 1d. May be.

  According to the above configuration, the output control unit is configured to individually control the rotational drive output of each of the plurality of rotors, so that the rotational drive output value of the rotor and the corresponding orientation direction of the rotor surface can be freely set. The degree is improved.

  In the rotary wing machine 10 according to aspect 7 of the present invention, in the aspect 6, the output control unit (system 10S) is different in the rotational drive directions of some of the rotors 1a and 1d among the plurality of rotors 1a to 1d It is preferable that the rotor 1b and the rotor 1b be controlled so as to be in the direction opposite to the rotational drive direction.

  According to the above configuration, the direction of the thrust generated by the part of the rotors and the direction of the thrust generated by the other rotors are opposite to each other. Thereby, according to said structure, 10 C of rotary wing machines can take off without sliding, for example.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

1 Rotor unit 1a, 1b, 1c, 1d Rotor 1e Main rotor (rotor)
2 Wheel unit 3 Connection unit 4 Rotating shaft 10, 10A, 10B, 10C, 100 Rotor blade 10S system (output control unit)

Claims (7)

A rotor unit in which one or more rotors are arranged so that the rotor surfaces are the same;
An output control unit for controlling the rotational drive output of the rotor;
Wheels,
A connecting portion for connecting the rotor unit and the wheel portion;
A rotorcraft capable of traveling on the ground by the thrust of the rotor unit,
The connecting portion includes a rotating shaft, and the rotor unit rotates about the rotating shaft so that the orientation of the rotor surface changes from the traveling direction to the vertical direction,
In the rotor surface,
The rotor is disposed asymmetrically with respect to the rotation axis,
The center of gravity of the rotor unit is located away from the rotation axis in a direction perpendicular to the normal of the rotor surface,
The direction of the rotor surface is
When the rotational drive of the rotor stops, it is oriented in the running direction,
A rotary wing machine characterized in that, when the rotor is driven to rotate, the rotor unit rotates around the rotation axis in accordance with the thrust of the rotor unit and is directed from the traveling direction to the vertical direction side. The direction of the rotor surface is
When the rotational drive of the rotor is stopped, the rotor unit is directed in the running direction with the center of gravity of the rotor unit being at the lower position in the vertical direction of the rotating shaft,
The rotor is directed from the running direction to the vertical direction according to the rotational force of the rotor unit centered on the rotational axis generated by the thrust of the rotor unit when the rotor is rotationally driven. The rotary wing machine according to 1.   3. The vehicle according to claim 1, wherein the wheel portion is in contact with the wall surface and travels on the wall surface by the thrust of the rotor unit in a state where the direction of the rotor surface is directed from the traveling direction to the vertical direction. Rotorcraft.   The rotor unit according to claim 1, wherein the rotor unit is a multi-rotor unit including a plurality of rotors.   5. The rotary wing machine according to claim 4, wherein the output control unit collectively controls the rotational drive output of each of the plurality of rotors.   The rotary wing machine according to claim 4, wherein the output control unit individually controls the rotational drive output of each of the plurality of rotors.   The rotor according to claim 6, wherein the output control unit controls the rotational drive direction of some of the plurality of rotors to be opposite to the rotational drive direction of the other rotors. Machine.

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