JP2017186003A - Unmanned rotary wing aircraft, and gas storage body mounted on unmanned rotary wing aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned rotary wing aircraft that can be recovered by preventing it from sinking even when it drops in the river or the sea in an unexpected situation, and is excellent in maintainability, and a gas storage bag mounted on this.SOLUTION: An unmanned rotary wing aircraft includes a plurality of rotary wing parts 3 provided to a body part 2 which give lift force to the body part 2 by the rotation, and are arranged so as to be lined when seen from the direction that the body part 2 floats, and a gas storage body 4 attached to the body part 2 capable of storing gas inside. The gas storage body 4 includes a gas inflow port 42 into which gas flows when gas is stored in the gas storage body 4. The gas inflow port 42 is arranged at a position which is non-face-to-face with the body part 2 in a state that the gas storage body 4 is attached to the body part 2.SELECTED DRAWING: Figure 2

Description

The present invention relates to an unmanned rotary wing aircraft capable of moving up and down, forward and backward.

A small unmanned aerial vehicle in which a drive unit that generates an upward thrust is arranged at four positions from the center of the machine body, each drive unit having an inner rotor that is rotationally driven and an outer ring body that is rotatably held And the rotation center line is inclined so that a part of the ring body comes into contact with the horizontal plane, and the rotation drive shaft to the ring body is between the rotation drive shaft and the ring body of the rotor. Some have a clutch mechanism for intermittent power transmission. (For example, see Patent Document 1)

JP 2013-129301 A

In recent years, unmanned rotary wing aircraft as toys are rapidly spreading, and commercialization proposals have been made based on this technology. Correspondingly, in the structure of Patent Document 1, when the owner of a small unmanned aerial vehicle tries to fly over a complicated terrain place or a land where an overhead wire is installed, the movable rotor or ring body is high. Assume a case where an object is damaged, damaged, or self-injured by colliding with an object or building. Therefore, in order to avoid the occurrence of such a situation, there are restrictions on the flight airspace, such as increasing the flight altitude or selecting a windless land to fly, and at the same time, the owner is complicated and advanced The problem was that flight control was required.

Further, when flying for the purpose of photographing using a small unmanned aerial vehicle, in order to obtain a high-resolution image quality even from a high altitude, it was necessary to cope with an increase in the size of the lens. As a result, since the weight of the unmanned air vehicle increases, the air vehicle operating with the limited fuel and the battery has a problem that the flight time is shortened.

In addition, if the rotor breaks down due to unforeseen circumstances, the rotor may drop, so it must be made of a material that is hard to break down and difficult to deteriorate.

Moreover, since it does not have a sinking avoidance means, when it falls to the river or the sea surface, the case where it sinks is assumed. If it sinks, it was difficult to collect, and there was a problem that the collection cost and the time required for it would be long.

Further, since there is a risk that birds and the like are sucked by the wind generated by the rotation of the rotor and the ring body, it is necessary to confirm that no birds are flying around. Therefore, there has been a problem that restrictions on the flight route and the flight air space may occur.

The present invention has been made in view of the above circumstances, and is an unmanned aerial vehicle that minimizes damage to high-altitude equipment and buildings on the ground surface even when a situation such as a failure or a strong wind is caused, and is not easily damaged. It aims to provide (unmanned rotorcraft).

The unmanned rotorcraft of the present invention has a main body and a plurality of rotations arranged in the main body so as to be arranged when viewed from a direction in which the main body is lifted by rotation and the main body is lifted. A wing part, and a gas container that is provided in the main body part and can accommodate gas therein, and the gas container has a gas inlet through which gas flows when the gas container contains gas. And the gas inflow port is arranged at a position where the gas container is not facing the main body in a state where the gas container is attached to the main body.

According to this configuration, first, even if the water lands on the water, sinking can be avoided. Secondly, even if the vehicle collides with an altitude object, a structure, or the ground, it is possible to reduce the degree of damage to the collision partner and the degree of self-loss. Thirdly, since the gas container provided in the unmanned rotorcraft having such an effect does not block the gas inlet when the gas container is mounted on the main body, the unmanned rotorcraft or the main body The gas container can be filled with gas in a state where the gas container is mounted on the part, and maintenance can be improved by shortening the time required for gas replenishment. Fourthly, if the gas container is filled with a low-density gas such as helium gas, levitation force by the gas container can be imparted to the unmanned rotary wing machine. Reduce capacity consumption. Thereby, the flight time can be lengthened. Fifth, since the plurality of gas containers can be efficiently arranged around the unmanned rotorcraft and the probability of simultaneously damaging all the gas containers can be reduced, the above-mentioned effects are completely lost. In addition to avoiding this, it is possible to avoid an increase in cost by using a plurality of the same parts.

Plan view of unmanned rotorcraft in Embodiment 1 of the present invention FIG. 1 is a plan view of the shield part shown in FIG. AA sectional view of FIG. Block diagram of unmanned rotorcraft in Embodiment 1 of the present invention The top view of the gas container in Embodiment 1 of this invention BB sectional view of FIG. The top view of the gas container in Embodiment 2 of this invention

(Embodiment 1)
Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of an unmanned aerial vehicle (unmanned rotorcraft or unmanned aerial vehicle) according to Embodiment 1 of the present invention. FIG. 2 is a plan view showing a state in which the shield portion shown in FIG. 1 is removed. FIG. 3 is a cross-sectional view taken along line AA of FIG. FIG. 4 is a block diagram of the unmanned rotary wing aircraft according to Embodiment 1 of the present invention. FIG. 5 is a plan view of the gas container in the first embodiment of the present invention. 6 is a cross-sectional view taken along line BB in FIG. It should be noted that the unmanned rotorcraft of the present invention are exaggerated for the sake of clarity in all drawings, unlike the actual size and thickness.

First, FIG. 2 will be described. In FIG. 2, the unmanned rotary wing machine 1 of the present invention includes a main body portion 2, a rotary wing portion 3, and a gas container 4. The rotary wing part 3 includes a first rotary wing part 3a arranged at the upper right in the figure, a second rotary wing part 3b arranged at the upper left in the figure, and a third rotary wing part 3c arranged at the lower left in the figure. , And a fourth rotary wing portion 3d arranged at the lower right in the figure.

The main body 2 includes a case portion 7, a support portion 8, a frame portion 9, a guide portion 10, and a shield portion 11 (shown in FIGS. 1 and 3).

The case part 7 is arranged in the center of the main body part 2.

The support portion 8 includes a first support portion 8a, a first support portion 8b, a third support portion 8c, and a fourth support portion 8d. The first support portion 8a extends upward from the case portion 7. The second support portion 8b extends from the case portion 7 to the left side. The third support portion 8 c extends downward from the case portion 7. The fourth support portion 8d extends from the case portion 7 to the right side.

The frame unit 9 includes a first frame unit 9a, a second frame unit 9b, a third frame unit 9c, and a fourth frame unit 9d. The first frame portion 9a extends from the case portion 7 to the upper right side. The second frame portion 9b extends from the case portion 7 to the upper left side. The third frame portion 9c extends from the case portion 7 to the lower left side. The fourth frame portion 9d extends from the case portion 7 to the lower right side.

The first rotary blade portion 3a is disposed at the tip of the first frame portion 9a and is connected to a built-in first motor 13a (shown in FIGS. 3 and 4). The 2nd rotary blade part 3b is arrange | positioned at the front-end | tip of the 2nd frame part 9b, and is connected to the 2nd motor 13b (illustrated in FIG. 4) incorporated. The third rotary blade portion 3c is disposed at the tip of the third frame portion 9c and is connected to a built-in third motor 13c (shown in FIG. 4). The 4th rotary blade part 3d is arrange | positioned at the front-end | tip of the 4th frame part 9d, and is connected to the built-in 4th motor 13d (illustrated in FIG. 4). The outermost shapes when the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d rotate are indicated by two-dot chain lines 14a, 14b, 14c, and 14d. Show. These two-dot chain lines 14a, 14b, 14c, and 14d have the same diameter, and the surrounding first support portion 8a, second support portion 8b, third support portion 8c, fourth support portion 8d, and guide portion 10 Has a gap C.

Further, as shown in the figure, the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d are arranged in a substantially planar manner (not overlapping). Has been placed.

The guide portion 10 is disposed so as to surround the outside of the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d. The tip of the portion 8a, the first support 8b and the tip, the third support 8c and the tip, and the tip of the fourth support 8d are connected. The guide portion 10 includes a first through hole 17 (shown by a broken line), a second through hole 18 (shown by a broken line), a third through hole 19 (shown by a broken line), and a fourth through hole 20 (shown by a broken line). ), Fifth through hole (not shown), sixth through hole 22 (shown in FIG. 3), seventh through hole (not shown), eighth through hole (not shown), Nine through holes 23 are provided. The fifth through hole is located below the first through hole 17. The seventh through hole is located symmetrically with the fifth through hole with the case 7 as the center. Further, the eighth through hole is in a position symmetrical to the sixth through hole 22 with the case 7 as the center.

The first rotary wing part 3a and the third rotary wing part 3c rotate clockwise. On the other hand, the 2nd rotary blade part 3b and the 4th rotary blade part 3d rotate counterclockwise. As a result, the counter-torque cancels out, and the unmanned rotorcraft 1 can fly without rotating. The first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d rotate to generate lift (thrust that rises). When the first rotary wing part 3a, the second rotary wing part 3b, the third rotary wing part 3c, and the fourth rotary wing part 3d rotate, the unmanned rotary wing machine 1 can float in the air, The first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d change the rotational speed so that the unmanned rotary blade 1 can be lifted or lowered, It can move backward and turn.

If the rotational speed of any one of the rotor blades 3a, 3b, 3c, 3d is made different from the rotational speed of the other rotor blades, the unmanned rotorcraft 1 is inclined. Can be moved in a substantially horizontal direction.

Four gas containers 4 having the same shape (4a, 4b, 4c, 4d) are connected and arranged along the outer periphery of the guide portion 10. The relationship between the gas container 4 and the rotor blade 3 is such that the outermost contour when the rotor blades 3a, 3b, 3c, and 3d are rotated extends over the plane formed by the two-dot chain lines 14a, 14b, 14c, and 14d. Has been placed. In the radial direction of the two-dot chain lines 14a, 14b, 14c, and 14d, the outermost contour of the gas container 4 is disposed so as to surround the outermost contour of all the rotary blade portions 3a, 3b, 3c, and 3d. Yes. Moreover, it arrange | positions so that the outermost shape of the gas container 4 may be located outside the outermost shape of all the rotary blade parts 3a, 3b, 3c, 3d. Moreover, since the gas container 4 can be easily deformed when an external force that is crushed when the gas is accommodated is applied, it also has a buffering function. For this reason, when the vehicle collides with an object, the object can be damaged or self-injury can be avoided. The gas container 4 may contain a gas such as air, and preferably a low-density gas such as helium gas. By filling helium gas or other low-density gas, levitation force can be applied to the main body 2 in addition to the buffer function, so even if it begins to fall due to unforeseen circumstances, the fall speed should be reduced. Thus, by reducing the collision acceleration to the ground or the like and reducing the impact force received by the unmanned rotorcraft 1, it is easy to avoid the self-loss.

The buffer function means that when an external force or impact force that is crushed by the gas container 4 in which the gas is accommodated is applied, the gas container 4 is easily crushed and elastically deformed. The external force and impact force transmitted to the main body 2 to which the container 4 is attached are reduced. If the transmission of the external force or impact force to the main body 2 is reduced, the self-loss can be avoided or the degree of the self-loss can be reduced.

Next, a description will be given with reference to FIGS. The shield part 11 has an opening 25. More specifically, the first shield part 11a having the first opening 25a, the second shield part 11b having the second opening 25b, and the third shield part 11c having the third opening 25c. A fourth shield 11d having a fourth opening 25d, a fifth shield 11e (shown in FIG. 3) having a fifth opening 25e (shown in FIG. 3), and a sixth opening A sixth shield portion 11f (shown in FIG. 3) having a portion 25f (shown in FIG. 3), a seventh shield portion (not shown) having a seventh opening (not shown), and an eighth And an eighth shield part (not shown) having an opening part (not shown). The opening 25 is formed in a mesh shape so that the wind can easily pass therethrough and a bird's foot or a human finger cannot be inserted deeply. The shield part 11 is separated from the rotary blade part 3 by a predetermined distance so as not to touch. The first shield part 11a is attached to the main body part 2 so as to cover the upper side (suction) side of the first rotary blade part 3a. The second shield part 11b is attached to the main body part 2 so as to cover the upper side (suction) side of the second rotary blade part 3b. The third shield part 11c is attached to the main body part 2 so as to cover the upper side (suction) side of the third rotary blade part 3c. The fourth shield part 11d is attached to the main body part 2 so as to cover the suction side (the front side in FIG. 1 and the upper side in FIG. 3) of the fourth rotary blade part 3d. The fifth shield part 11e is attached to the main body part 2 so as to cover the discharge side of the first rotary blade part 3a. The sixth shield part 11f is attached to the main body part 2 so as to cover the discharge side (the back side in FIG. 1 and the lower side in FIG. 3) of the first rotary blade part 3b. The seventh shield part (not shown) is attached to the main body part 2 so as to cover the lower side (discharge) side of the third rotary blade part 3c. The eighth shield part (not shown) is attached to the main body part 2 so as to cover the lower side (discharge) side of the first rotary blade part 3d.

As for the gas container 4, the gas container 4 b disposed on the left side of the case portion 7 in FIG. 3 will be described. The gas containing body 4b includes a first gas containing bag 40, a second gas containing bag 41, a first gas inlet 42, a second gas inlet 43, and a tenth gas. It has a through hole 44, an eleventh through hole 45, and a twelfth through hole 46. As described above, since the gas container 4b is disposed on the outer peripheral side of the guide portion 10, the tenth through hole 44 is the second through hole 18, and the eleventh through hole 45 is the sixth through hole. 22 and the twelfth through hole 46 are arranged to face the ninth through hole 23. The gas container 4 is fixed to the main body 2 by a band 47. Specifically, a band 47 b is passed through the tenth through hole 44 and the second through hole 18, and a band 47 e is passed through the eleventh through hole 45 and the sixth through hole 22. The container 4a is held and fixed by the guide portion 10. Here, only the gas container 4b has been described. However, the guide part 10 has four sides, and the gas containers 4a, 4c, and 4d arranged on the respective sides are held and fixed by the bands 47a, 47c, 47d, and the like. Since it is the same as the holding method of the body 4b, description is abbreviate | omitted.

When the first rotor blade 3a, the second rotor blade 3b, the third rotor blade 3c, and the fourth rotor blade 3d rotate in a predetermined direction, the rotor blades 3a, 3b, 3c, 3d sucks the wind from above as indicated by arrow D and discharges the wind downward as indicated by arrow E, so that the unmanned rotary wing machine 1 is given lift as indicated by arrow F.

Here, the flight method will be described with reference to FIG. When the rotary blade portion 3 is operated, the first rotary blade portion 3a and the third rotary blade portion 3c rotate in the clockwise direction. On the other hand, the 2nd rotary blade part 3b and the 4th rotary blade part 3d rotate counterclockwise. The counter torque is canceled and the unmanned rotary wing machine 1 is prevented from turning. A state in which the first rotating blade portion 3a and the second rotating blade portion 3c rotate in the clockwise direction, and the second rotating blade portion 3b and the fourth rotating blade portion 3d rotate in the counterclockwise direction is a normal rotating state. I will say. When all of the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d are rotated in the normal rotation state at the first predetermined rotation speed, The first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d suck the wind from above as indicated by an arrow D (shown in FIG. 3). By discharging the wind downward as shown in E (shown in FIG. 3), the unmanned rotary wing machine 1 is given a lift indicated by an arrow F (shown in FIG. 3). The unmanned rotary wing machine 1 ascends in the vertical direction from the ground (refers to the front side in the drawings in FIGS. 1 and 2 and points in the direction of arrow F in FIG. 3). This rotational state will be referred to as a first rotational state. From the first rotating state of the unmanned rotor blade 1, all of the first rotating blade portion 3a, the second rotating blade portion 3b, the third rotating blade portion 3c, and the fourth rotating blade portion 3d are in the normal rotating state. And when it rotates with the 2nd predetermined number of rotations smaller than the 1st predetermined number of rotations, unmanned rotary vane machine 1 stops in the air. This rotational state will be referred to as a second rotational state. From the second rotating state of the unmanned rotor blade 1, all of the first rotating blade portion 3a, the second rotating blade portion 3b, the third rotating blade portion 3c, and the fourth rotating blade portion 3d are in the normal rotating state. And when it rotates at a third predetermined rotational speed smaller than the second predetermined rotational speed, it starts to descend. This rotational state will be referred to as a third rotational state. Even if all of the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d stop, they start to descend. This state is referred to as a stopped state. From the state in which the unmanned airplane 1 is floating in the air, the rotational speed of the first rotary wing 3a and the second rotary wing 3b are in the normal rotational state, and the respective rotational speeds are set to the fourth predetermined rotational speed. When the rotation speed of the third rotary blade portion 3c and the fourth rotary blade portion 3d are in the normal rotation state and the respective rotation speeds are set to the fifth predetermined rotation speed, the rotation speed is higher than the fourth predetermined rotation speed. If the predetermined number of rotations 5 is large, the vehicle moves forward (in FIGS. 1 and 2 indicates the upper direction in the figure), and if the fifth predetermined rotation number is smaller than the fourth predetermined rotation number, the vehicle moves backward (FIGS. 1 and 2). Then, it points in the lower direction in the figure). The rotational speed of the first rotary blade section 3a and the fourth rotary blade section 3d are in the normal rotational state, and each rotational speed is set to a fourth predetermined rotational speed. When the third rotating blade portion 3c is in a normal rotation state and the respective rotation speeds are set to the fifth predetermined rotation speed, if the fifth predetermined rotation speed is larger than the fourth predetermined rotation speed, the rightward rotation is performed ( 1 and 2 indicate the direction on the right side in the drawing), and if the fifth predetermined rotation number is smaller than the fourth predetermined rotation number, the vehicle moves left (in FIGS. 1 and 2 indicates the left direction in the drawing).

In the third rotating state and the stopped state in which the unmanned rotary wing machine 1 is lowered, the levitation force by the gas container 4 is large, so that the lowering speed is slower than the state in which the gas container 4 is not mounted. In order to increase the descending speed at this time, all the rotation directions of the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, and the fourth rotary blade portion 3d are reversely rotated. Then, since the suction side and the discharge side are reversed, the lift force by each rotary blade section 3 is eliminated and a descending force is generated, so that it can be lowered quickly. As described above, all of the first rotating blade portion 3a, the second rotating blade portion 3c, the second rotating blade portion 3b, and the fourth rotating blade portion 3d are reversely rotated with respect to the normal rotating state. This state is called a reverse rotation state.

In addition, although it demonstrated as a structure which reversely rotates the 1st rotary blade part 3a, the 2nd rotary blade part 3c, the 2nd rotary blade part 3b, and the 4th rotary blade part 3d, these speeds up, Apart from the first rotor blade 3a, the second rotor blade 3c, the second rotor blade 3b, and the fourth rotor blade 3d, air is discharged in the direction opposite to the arrow D when descending. A means for generating a descending force by other means, such as providing fifth and sixth rotor blades, may be used.

FIG. 4 will be described. The case unit 7 illustrated in FIGS. 1 to 3 includes a control unit 50, a wireless signal transmission / reception unit 51, a battery 52, a camera unit 53, a lighting unit 54, a storage unit 55, a mounting state detection unit 56, Have

The control unit 50 includes a radio signal transmission / reception unit 51, a battery 52, a camera unit 53, a lighting unit 54, a storage unit 55, a mounting state detection unit 56, a first motor 13a, a second motor 13b, The third motor 13c and the fourth motor 13d are connected.

The wireless signal transmission / reception unit 51 receives a GPS signal, receives a control signal transmitted from a wireless base station and controls the device, transmits image information captured by the camera unit 53, battery remaining capacity information, and the like. It is something to do. The control unit 50 controls signal transmission / reception and signal processing.

The battery 52 is controlled by the control unit 50 by the wireless signal transmission / reception unit 51, the camera unit 53, the lighting unit 54, the first motor 13a, the second motor 13b, the third motor 13c, the fourth motor 13d, the storage unit 55, and the wearing state detection unit. 56 is supplied with power.

The camera unit 53 takes a moving image or a still image under the control of the control unit 50. A part is exposed from the case part 7 and is arranged so as not to overlap the shield part 11. In addition, the size, topography, and images of prestored objects such as the size of vehicles, the size of traffic lights, guards, and other equipment, the width of roads or crosswalks on roads, the width of tracks, and map information And the flight altitude of the unmanned rotorcraft 1 is detected.

The lighting unit 54 uses an LED as a light source and blinks under the control of the control unit 50. By blinking and lighting, it is possible to notify that a person on the ground is flying.

The storage unit 55 stores received radio signal information, image information, and the like.

The mounting state detection unit 56 detects that the shield unit 11 is mounted at a predetermined position. If the mounting state detection unit 56 detects that the shield unit 11 is mounted, the motor 13 can be operated. If the shield part 11 is not attached, the motor 13 becomes inoperable.

The first motor 13a, the second motor 13b, the third motor 13c, and the fourth motor 13d are respectively a first rotary blade portion 3a, a second rotary blade portion 3b, a third rotary blade portion 3c, and a fourth rotation. The rotational speed is controlled by the controller 50 connected to the wing 3d. When the rotational speed is increased or decreased, the lift force generated by each of the rotary blade portions 3a, 3b, 3c, and 3d changes. For example, the received or stored flight route information is compared with the flight information (position or altitude) actually flying, and if the flight route information is off, the first motor 13a, second The rotational speeds of the motor 13b, the third motor 13c, and the fourth motor 13d are controlled.

FIG. 5 will be described. The gas container 4 shown in FIG. 5 includes a first sheet member 58 and a second sheet member 59 (FIGS. 1 to 59), which are film-like sheet materials made of materials such as polyethylene terephthalate, polyester, polypropylene, and vinyl chloride resin. FIG. 3 shows a state in which they are stacked. The first sheet member 58 and the second sheet member 59 have a substantially rectangular shape with the same outer shape. The material of the first sheet member 58 and the second sheet member 59 is preferably a material that can be formed with a small thickness and has a gas barrier property. The gas container 4 includes a first sheet member 58, a second sheet member 59, a first gas inlet 42, a second gas inlet 43, a tenth through hole 44, and an eleventh hole. Through-hole 45 and a twelfth through-hole 46 (long hole). The first gas inlet 42 and the second gas inlet 43 are provided in the first sheet member 58. In order to form an air chamber for storing gas by integrating both the sheet members 58 and 59, the coupling portion 60 is provided in a state where the first sheet member 58 and the second sheet member 59 are overlapped. The coupling portion 60 includes a first broken line portion 60a, a second broken line portion 60b, a third broken line portion 60c, a fourth broken line portion 60d, a fifth broken line portion 60e, and a sixth broken line portion 60f. . When ultrasonic welding is performed along these broken line portions 60a, 60b, 60c, 60d, 60e, and 60f, both sheet members 58 and 59 are integrated. A region inside the first broken line portion 60a is a sealed space. When the gas is introduced from the first gas inlet 42, the first sheet member 58 and the second sheet member 59 are separated from each other in the region inside the first broken line portion 60a, and the first sheet member 58 is separated. The gas is stored and inflated between the second sheet member 59 and the second sheet member 59 to form the first gas containing bag 40. Similarly, the area inside the second broken line portion 60b is also a sealed space. When gas flows in from the second gas inlet 43, the first sheet member 58 and the second sheet member 59 in the region inside the second broken line portion 60b are separated from each other, and the first sheet member 58 is separated. The gas is stored and inflated between the second sheet member 59 and the second sheet member 59 to form a second gas storage bag 41 in which the gas is stored. Such a gas container 4 can be connected by connecting the first left end side and the second right end side by ultrasonic welding or the like. By repeating this method four times, four gas containing bags 4a are connected. 4b, 4c, 4d can be connected. The connected state is shown in FIGS.

When the first sheet member 58 and the second sheet member 59 are joined, other methods such as the use of an adhesive or a pressure sensitive adhesive may be used as a method other than the ultrasonic welding.

The twelfth through hole 46 is a hole through which air passes, and is disposed opposite to the ninth through hole 23 as described above. During flight, it may hit strong winds in the sky. When hit by this strong wind, the unmanned rotorcraft 1 may be swept away from the scheduled flight route. Therefore, in order to prevent the unmanned rotary wing machine 1 from being blown even when wind hits it, the wind that has hit the unmanned rotary wing machine 1 passes through the twelfth through hole 46 and the ninth through hole 23, It is designed to reduce the effects of wind. Although only one ninth through hole 23 is illustrated in FIG. 3, a plurality of ninth through holes 23 are provided in the guide 10.

In the present embodiment, the gas container 4 is provided with a plurality of through holes, the guide part 10 is also provided with a plurality of through holes, and the gas container 4 is fixed to the guide part 10 by a band 47 passing through both. The method of holding the gas container 4 in the guide part 10 such as providing a holding part in the guide part 10, providing a locking part in the gas container 4, and engaging the holding part and the locking is appropriately changed. It doesn't matter.

FIG. 6 will be described. Since the first gas inlet 42 and the second gas inlet 43 have the same shape, one gas inlet 42 will be described in detail. The first gas inlet 42 includes a sleeve 65 provided on the first sheet member 58 that forms the front side of the gas container 4, a tube 66, and a lid 67.

The sleeve 65 is formed of a resin material or a metal material, and includes a bottomed hole 70 and an orthogonal hole 71 that passes through the bottomed hole 70 while being orthogonal to the bottomed hole 70.

The lid 67 closes the entrance of the bottomed hole 70 of the sleeve 65.

The cylindrical tube 66 is made of an elastic material such as rubber, and is inserted from the bottom side of the sleeve 65 and attached to the sleeve 65 to elastically close the orthogonal hole 71, and the opposite end forms the back side of the gas container 4. It faces the second sheet member 59.

The sleeve 65 including the tube 66 is attached to the first gas storage bag 40 to such an extent that the tube 66 is buried in the first gas storage bag 40. Thereafter, the contact portion between the first sheet member 58 and the sleeve 65 is bonded and fixed.

A method for enclosing gas in the first gas containing bag 40 will be described. Since the first gas inlet 42 is not facing the main body 2, the lid 67 can be removed to allow gas to flow in the main body 2 regardless of whether the first gas inlet 42 is mounted or not mounted. When the gas container 4 is attached to the main body 2 or not attached, the lid 67 is removed, and gas is fed from the inlet of the bottomed hole 70 using a gas inflow device (not shown). The tube 66 facing the orthogonal hole 71 partially swells, and a gap is generated between the sleeve 65 and the tube 66. Gas is fed into the first gas storage bag 40 through this gap, and the gas flow at this time is indicated by an arrow G. When the operation of the gas inflow device is stopped, the expansion of the tube 66 is stopped, and the tube 66 is elastically restored so as to block the orthogonal hole 71. Since the gas cannot pass when the orthogonal hole 71 is blocked, the contained gas does not leak. By such an operation, gas can flow into the first gas storage bag 40, and the filled gas is prevented from leaking. The same applies to the case where the gas flows into the second gas containing bag 41, and a description thereof will be omitted.

The above is the description of the configuration of the unmanned rotary wing machine 1.

Next, the operation will be described. In the unmanned rotary wing machine 1 of the present invention, when the power is turned on, if all the shield parts are attached, the attachment state detection part 56 detects that all the shield parts are normally attached. Thus, the first rotary blade portion 3a, the second rotary blade portion 3b, the third rotary blade portion 3c, the fourth rotary blade portion 3d, and the like can be operated. If the shield part 11 is not attached when the power is turned on, the attachment state detection part 56 detects that at least one of the shield parts 11 is not normally attached, and all the rotary blade parts 3a, 3b, 3c and 3d become inoperable. In addition, when the power is turned on, the flight route can be input by making a wireless connection or a wired connection from the outside. The storage unit 55 can store a flight route.

When the flight operation is instructed from the radio base station, the control unit 50 controls the rotational speed of each motor 13a, 13b, 13c, 13d, and performs ascending, descending, moving forward, backward, and turning based on the stored flight route. Make a flight. Whether or not the unmanned rotorcraft 1 of the present invention is in flight on the planned flight route can know the position of the aircraft based on the received signal received from the GPS satellite and the captured image information. Judgment is made by comparing the calculated flight route. If it deviates from the planned flight route, the number of rotations of each motor 13 increases or decreases to return to the planned flight route. The moving image and the still image information captured during the flight can be stored in the storage unit 55, or can be transmitted from the wireless signal transmission / reception unit 51 to the wireless base station without being stored in the storage unit 55.

Next, the effect of the present invention will be described. When blown by strong winds during flight, the wind hits the unmanned rotorcraft 1 by the wind passing through the twelfth through hole 46 and the ninth through hole 23 provided in the gas container 4. Can be made smaller. If the flight posture is still disturbed and the flight rules are not met, it may be possible to hit a nearby altitude object such as an overhead wire. Even if it collides with an altitude object, the gas container 4 collides first. The gas container 4 that plays a role of a buffer function, such as being easily deformed when an external force is applied to the gas container 4 that contains gas. This can reduce or minimize damage to the equipment.

Moreover, since it attaches so that the gas container 4 without an unnecessary protrusion part may surround the rotary blade parts 3a, 3b, 3c, and 3d, it is also a structure that is not easily caught by an overhead wire or a tree.

Moreover, since the levitation force can be imparted by filling the gas container 4 with a low density gas such as helium gas, the power for driving the motor can be reduced and the power consumption can be reduced. As a result, the flight time is advantageous.

Also, if any of the motors 13a, 13b, 13c, 13d, etc. break down due to unforeseen circumstances, or if the remaining capacity of the battery 52 is insufficient and cannot be rotated at a predetermined rotational speed, each rotation The lift due to the movement of the wings 3a, 3b, 3c, 3d decreases and begins to drop, but the gas container 4 imparts a levitation force to the main body 2 so that The collision speed can be reduced. As a result, damage to the impacted object can be minimized, and the impact force on the aircraft can be mitigated, thereby avoiding self-loss. When dropped on the water, the unmanned rotary wing machine 1 can be floated on the water without being submerged, so that it can be easily searched and collected. As described above, since the damage generated at the time of collision can be reduced, the rigidity improvement accompanying the cost increase can be minimized in order to prevent the damage.

Moreover, since it is the structure which avoids interference with the airflow and gas container 4 which arise when each rotary blade part 3a, 3b, 3c, 3d rotates, the structure of the conventional unmanned rotorcraft which does not have the gas container 4 Can be shared and shared. As a result, the feasibility of the structure of the unmanned rotary wing machine 1 described in the embodiment of the present invention is extremely easy, so that advanced technical development is not required, and cost increase can be realized with a minimum.

Further, since the main body 2 having the electrical parts and the gas container 4 can be separated by simply releasing the fixing by the band 47, work efficiency can be increased (reducing work time) by carrying out maintenance work. it can. In addition, it is easy to replace parts generated as necessary, gas can easily be introduced into the gas container 4, and safety is ensured so that the rotor blades 3a, 3b, 3c, and 3d cannot be touched during operation. Maintenance can be improved, such as consideration for

For example, even if the first gas storage bag 40 of the gas container 4a is broken, the second gas storage bag 41 of the gas container 4a or the first gas storage bags of the other gas containers 4b, 4c, 4d, Since the second gas containing bag 41 remains while containing the gas, it is possible to avoid a rapid decrease in levitation force and prevent a rapid drop, so that the reduction in the above-described effect can be minimized. it can.

In this embodiment, the number of rotor blades is described as a structure composed of four. For example, when the rotor blades are composed of six, the outer shape of the guide part is substantially hexagonal, When the number of the wing parts is eight, the number of the rotary wing parts is not limited to the number described in the present embodiment, for example, the outer shape of the guide part is substantially octagonal. Further, when the guide portion is not provided, the shape is not limited to the shape described in the first embodiment, for example, it is only necessary to prevent the gas container from interfering with each rotary blade portion by an alternative means.

Moreover, in this embodiment, although the gas container described as the aspect which formed the several gas bag from one component, the volume of accommodation gas is provided by the structure which provides another member in the both ends of two film sheets, and plugs both ends. It is not limited to the shape described in the present embodiment, for example, or may increase or decrease the number of gas bags.

In addition, the gas container is damaged by hitting an obstacle that is blown by a bird or wind, and the film that is not easily damaged is avoided in order to avoid that the stored gas leaks and the levitation force decreases. A sheet is selected. If an elastic material such as synthetic rubber is used as an alternative, it will burst if it is damaged, losing the total amount of gas contained. Therefore, when an elastic material is used, consideration should be given to a material that does not burst with an easy external force or an appropriate thickness.

Moreover, it demonstrated as the aspect which provided multiple gas containers. The purpose is to allow the remaining gas container to continue to impart levitation force to the main body even if one gas container is damaged. In addition, it is obvious that the cost is easier to reduce in the configuration in which the same number of the same parts is provided than the configuration in which a plurality of parts having different shapes are provided.

Further, although the shield part is provided on both the suction side and the discharge side of the rotor blade part, it may be provided at least on the suction side where foreign substances are easily sucked.

In addition, the gas inlet is located on the outer side opposite to the side facing the main body. However, if there are design restrictions or design restrictions, the main body should not be exposed to the outside. Faced to face the body, facing the body and facing the hole, etc. in the body so that the gas inlet is not blocked, or placed in a position where there are no parts that make up the body Good. That is, the gas inflow port may be prevented from being blocked by facing the main body.

Moreover, it demonstrated as a structure where the same gas accommodation bag can be arrange | positioned around the main-body part. A configuration in which a plurality of the same parts can be provided facilitates cost reduction due to mass merit. In arranging a plurality of gas containing bags, it is only necessary to hold the rotor blades so as not to be sucked into the rotor blades when the rotor blades are operated so that the suction of air by the rotor blades is not hindered.

The gas inlet is located on the outer side opposite to the side facing the main body. However, if there are design restrictions or design restrictions, the main body should not be exposed to the outside. Faced to face the body, facing the body and facing the hole, etc. in the body so that the gas inlet is not blocked, or placed in a position where there are no parts that make up the body And it is good for a gas inflow port not to face a main-body part. That is, the gas inflow port may be prevented from being blocked by facing the main body. By preventing the gas inlet from being blocked, the gas can be replenished even when the gas containing bag is removed from the main body, so that the working time can be shortened and the maintainability is improved.

(Embodiment 2)
Hereinafter, the unmanned rotorcraft according to the second embodiment will be described. In the second embodiment, a configuration in which the gas containing bag described in the first embodiment is created in different forms will be described with reference to the drawings. FIG. 7 is a plan view of the gas containing bag in the second embodiment of the present invention.

In FIG. 7, the gas container 80 has a film-like fifth sheet member 81 made of a material such as polyethylene terephthalate, polyester, or vinyl chloride resin formed in an annular shape (or a tubular shape or a tubular shape). In the figure, it is shown in a flat state. Moreover, since it is tubular, the upper side and the lower side in the figure are connected, and the right side and the left side are open. The material of the fifth sheet member 81 is preferably a material having gas barrier properties like the first sheet member 58 and the second sheet member 59 described above. The gas container 80 includes a fifth sheet member 81, a third gas inlet 82, a fourth gas inlet 83, a fifteenth through hole 84, a sixteenth through hole 85, and a seventeenth. Through-holes 86 (long holes). The third gas inlet 82 and the fourth gas inlet 83 are provided only on the front side of the fifth sheet member 81 in the figure, and the third gas inlet 84 and the fourth gas inlet 83 Since the structure is the same as that of the first gas inlet 42 and the second gas inlet 43 (the cross section is the same), the description is omitted. A coupling portion 87 for storing gas in the fifth sheet member 81 to form an air chamber is provided. A first closing portion 87a for closing one end (right side in the drawing) of the fifth sheet member 81; and a second closing portion 87b for closing the other end (left side in the drawing) of the fifth sheet member 81. The first closing part 87a and the second closing part 87b are shown by broken lines. When ultrasonic welding is performed along the broken line portions 87c and 87d, the 87e around the fifteenth through hole 84, and the 87f around the sixteenth through hole 85 near the center of the fifth sheet member 81, The first sheet closing portion 87a, the second closing portion 87b, and the broken line portions 87c, 87d, 87e, and 87f make the fifth sheet member 81 integral with each other. The inside of the region surrounded by the upper side of the fifth sheet member 81 in the drawing, the first closing portion 87a, the second closing portion 87b, the broken line portion 87c, and the broken line portion 87e is a sealed space. When the gas is introduced from the third gas inlet 82, the inner surface side of the fifth sheet member 81 is separated to store and swell the gas, thereby forming a third gas storage bag 90 in which the gas is stored. Similarly, the lower side of the fifth sheet member 81 in the drawing, and the inside of the region surrounded by the first closing portion 87a, the second closing portion 87b, the broken line portion 87d, and the broken line portion 87f is a sealed space. When the gas is introduced from the fourth gas inlet 83, the inner surface side of the fifth sheet member 81 is separated to store and swell the gas, thereby forming a third gas storage bag 91 in which the gas is stored.

Note that as described in the first embodiment, other methods such as the use of an adhesive or a pressure sensitive adhesive may be used as the bonding method, as described in the first embodiment.

The fifteenth through hole 84 has the same shape and the same function as the tenth through hole 44. The sixteenth through hole 85 has the same shape and the same function as the eleventh through hole 45. The seventeenth through hole 86 has the same shape and the same function as the twelfth through hole 46. Such a gas container 80 is formed of a plurality of sheet members, such as being connected by connecting the first left end side and the second right end side by ultrasonic welding or the like, or a tubular sheet member. The only difference is whether they are formed, and they can be replaced while having the same function as the gas container 4 described in the first embodiment. As a method for manufacturing the gas containing bag, the configuration described in Embodiment 1 or the configuration described in Embodiment 2 may be selected depending on the size, cost, and the like.

The invention described in the first and second embodiments will be summarized below.

1st invention is an unmanned rotary wing machine, Comprising: The rotary wing | blade part which generate | occur | produces a levitation | floating force when it rotates, and a gas container are provided.

According to this configuration, if the rotational speed of the rotor blades decreases due to unforeseen circumstances, it will begin to drop, but if the gas container is filled with a low-density gas such as helium gas, the unmanned airplane is given buoyancy. Therefore, the collision speed when colliding with the ground can be reduced.

According to a second invention, in the first invention, the gas container is arranged such that an outermost shape of the gas container is positioned outside an outermost shape of the rotary blade portion.

According to a third invention, in the first invention, the gas container is arranged so that an outermost shape of the gas container surrounds an outer side of an outermost shape of the rotary blade portion.

A fourth invention is an unmanned rotary wing machine, and is arranged to be arranged when viewed from a direction in which the main body part is provided with the main body part and the main body part is lifted by rotation and the main body part floats. A plurality of rotor blades, and a gas container that is provided in the main body part and can accommodate gas therein, and the main body part is moved from the direction in which the rotor blades rotate and the main body part floats. When viewed, the outer shape of the gas-containing bag is arranged in a plurality so as to be located outside the circle forming the outermost shape when the rotary blade portion rotates, or the outermost shape when the rotary blade portion rotates Are arranged so as to surround the outside of the circle forming the circle.

According to the second to fourth aspects of the present invention, the rotating rotor blades and the rotating blades are supported when the aircraft is likely to come off the scheduled flight course due to the influence of wind or the like and collide with an altitude object during flight. The gas container can be made to collide with the container prior to the main body portion to be performed.

In addition, the gas containing bag containing the gas, if force is applied from the outside, will perform a buffering function by deforming, so that it will be off the planned flight course due to the influence of wind, etc. If it is likely to collide with the ground, etc., the impact of damage to the self-damage or equipment can be reduced by colliding the gas-containing bag against the altitude equipment, structure, or ground prior to the rotating rotor blade. It can be reduced.

Further, since the rotational speed can be reduced by the amount of the levitation force by the gas container as compared with the case where it is raised by the operation of the rotary blade portion, the power consumption can be reduced. That is, if the gas container is filled with a low-density gas such as helium gas, the unmanned rotary wing machine can be given buoyancy by the gas container, so the capacity of the power supply unit that supplies power to the rotary wing part can be increased. Reduce consumption. Thereby, the flight time can be lengthened.

Further, it is possible to avoid the interference between the gas flow and the air flow generated by the rotation of the rotating blade portion.

In addition, sinking can be avoided even if it lands on the water. Furthermore, since the plurality of gas containing bags can be efficiently arranged around the unmanned rotary wing machine and the probability of simultaneously damaging all the gas containing bags can be reduced, the above-mentioned effect is completely lost. It can be avoided.

According to a fifth invention, in any one of the first to fourth inventions, the gas container has a gas bag portion, and includes a coupling portion that divides the gas bag portion into a plurality of portions. It is.

According to this configuration, in order to reduce the probability of damaging all of the gas storage bags that impart buoyancy, a plurality of gas storage bags can be provided without increasing the number of components.
Moreover, since the several gas bag part was integrally formed, it can avoid scattering each.

According to a sixth invention, in any one of the first to fifth inventions, the gas container includes a first sheet member, a second sheet member overlaid on the first sheet member, A first sheet member; a coupling portion that couples the first sheet member and the second sheet member; and a first gas inflow port provided between the coupling portions. The gas inlet is disposed at a position where it is not opposed to the unmanned rotor blade when it is mounted on the unmanned rotor blade.

According to this configuration, since the gas inlet is not blocked, the gas accommodating portion can be filled with the gas in a state where the gas accommodating portion is attached to the unmanned rotating wing portion or the main body portion.

The seventh invention is an unmanned rotary wing machine, and is arranged to be arranged when viewed from a main body portion and a rotation direction that is provided in the main body portion and imparts lift to the main body portion by rotation and the main body portion floats. A plurality of rotor blades and a gas container that is provided in the main body part and can accommodate gas therein, and the gas container receives gas when the gas container contains gas. The gas inlet is disposed at a position facing the main body when the gas container is attached to the main body.

According to this configuration, first, even if the water lands on the water, sinking can be avoided. Secondly, even if the vehicle collides with an altitude object, a structure, or the ground, it is possible to reduce the degree of damage to the collision partner and the degree of self-loss. Thirdly, since the gas container provided in the unmanned rotorcraft having such an effect does not block the gas inlet when the gas container is mounted on the main body, the unmanned rotorcraft or the main body The gas container can be filled with gas in a state where the gas container is mounted on the part, and maintenance can be improved by shortening the time required for gas replenishment. Fourthly, if the gas container is filled with a low-density gas such as helium gas, levitation force by the gas container can be imparted to the unmanned rotary wing machine. Reduce capacity consumption. Thereby, the flight time can be lengthened. Fifth, since the plurality of gas containers can be efficiently arranged around the unmanned rotorcraft and the probability of simultaneously damaging all the gas containers can be reduced, the above-mentioned effects are completely lost. In addition to avoiding this, it is possible to avoid an increase in cost by using a plurality of the same parts.

In an eighth aspect based on the first aspect, a shield portion having an opening through which wind passes is provided, and the shield portion is disposed so as to cover the rotor blade portion.

According to this configuration, when performing operation confirmation or maintenance on the ground, it is possible to avoid the occurrence of injuries such as inadvertently bringing a hand close to the rotating rotary wing portion to cut a finger. In addition, it is possible to avoid a bird from colliding with the rotary wing during the flight and damaging the bird or being damaged.

According to a ninth aspect of the present invention, a rotating blade portion that generates lift when rotated and a shield having an opening through which wind passes are provided, and the shield portion is disposed so as to cover the rotating blade portion.

According to this configuration, when performing operation confirmation or maintenance on the ground, it is possible to avoid the occurrence of injuries such as inadvertently bringing a hand close to the rotating rotary wing portion to cut a finger. In addition, it is possible to avoid a bird from colliding with the rotary wing during the flight and damaging the bird or being damaged.

According to a tenth aspect of the present invention, in the eighth or ninth aspect of the invention, control is performed so that the rotary blade portion is operable when the shield portion is attached at a predetermined position.

According to this configuration, when checking the operation and performing maintenance on the ground, if the shield member is removed, the rotating wings will not operate. Can be avoided reliably.

An eleventh invention is a gas container, which is a gas container to be mounted on an unmanned rotorcraft having a rotor blade that generates a levitation force when rotated, and includes the first sheet member and the first member A second sheet member stacked on the sheet member, a first gas bag portion formed between the first sheet member and the second sheet member, and the first gas bag portion. A first gas inflow port provided, and the first gas inflow port is disposed at a position facing the unmanned rotary wing machine when it is mounted on the unmanned rotary wing machine. is there.

According to this configuration, the first gas inflow port is in a non-facing state with respect to the main body portion, so that the gas can be allowed to flow in either the main body portion or the non-mounted state.

Further, the main body portion has a holding portion, and the holding portion detachably holds the engaging portion provided on the outer surface of the gas container, so that the gas container is damaged and needs to be replaced. In such a case, it is possible to replace it by simply releasing the holding of the locking portion.

In addition, since the gas container has a gas inlet and is provided with an elastic member that is tightly fixed to the gas inlet, the gas can be sealed in the gas container with a simple configuration, and then the backflow from the gas inlet. And it can be prevented from leaking.

A twelfth aspect of the invention is an unmanned rotary wing machine, which is provided on a main body and the main body, and is arranged when viewed from a direction in which the main body is lifted by rotation and the main body floats. A plurality of rotor blades arranged and a gas container provided in the main body and capable of containing gas therein, and in a direction opposite to the direction of lift generated by the rotation of the rotor blades An opposite force generating means for generating a force is provided.

According to this configuration, first, even if the water lands on the water, sinking can be avoided. Secondly, even if the vehicle collides with an altitude object, a structure, or the ground, it is possible to reduce the degree of damage to the collision partner and the degree of self-loss. Thirdly, if the gas containing bag is filled with a low density gas such as helium gas, the buoyancy by the gas containing bag can be imparted to the unmanned airplane, so the capacity of the power supply unit that supplies power to the rotor blades can be increased. Reduce consumption. Thereby, the flight time can be lengthened. Fourthly, if the gas containing bag is filled with a low density gas such as helium gas, the buoyancy by the gas containing bag can be imparted to the unmanned airplane. Reduce consumption. Thereby, the flight time can be lengthened. Fifth, when trying to lower the unmanned rotary wing machine, it can be lowered smoothly and quickly.

In a thirteenth aspect based on the seventh aspect, the outer shape of the gas container when the main body is viewed from the direction in which the main body is lifted by rotation of the main rotor, A plurality are arranged so as to be located outside the circle that forms the outermost shape when rotated, or a plurality are arranged so as to surround the outer side of the circle that forms the outermost shape when the rotating blade portion rotates.

According to this configuration, during flight, if it is likely to come off the planned flight course due to the influence of wind, etc. and collide with an altitude object, the rotating rotor blades and the main body that supports the rotor blades are preceded. The gas container can collide with the container.

According to a fourteenth aspect of the present invention, in the fourth or seventh aspect of the present invention, there is provided counter force generating means for generating a force in a direction opposite to a direction of lift generated by the rotation of the rotary blade portion.

According to this configuration, when the unmanned rotary wing machine is to be lowered, it can be smoothly and quickly lowered.

In a fifteenth aspect of the present invention based on any one of the fourth, seventh, or twelfth to fourteenth aspects, the gas container is the main body provided between the gas container and the rotary blade section. It is configured to be attached to a part of the.

According to this configuration, even if an external force is applied to the gas container that contains the gas and the gas container is about to be deformed, a part of the main body part suppresses the deformation, so that the rotating blade part is the gas container. It is possible to avoid damaging the gas container by contacting the gas.

According to a sixteenth aspect of the present invention, in the fourth, seventh, or twelfth to fifteenth aspects of the present invention, a hole through which air is passed is provided in the gas container.

According to this configuration, it is possible to reduce the influence of the wind, such as making it difficult to deviate from the flight rules and not to be swept away even when receiving wind.

According to a seventeenth aspect of the present invention, in any one of the fourth, seventh, and twelfth to sixteenth aspects, the gas container includes a mounting portion that is detachably mounted to the main body portion. .

According to this configuration, when repairing the main body and the gas container, since the gas container can be easily detached from the main body with a simple structure, the work time for repair and repair can be shortened. As a result, the maintainability can be improved.

In an eighteenth aspect based on any one of the fourth, seventh, or twelfth to seventeenth aspects, the gas container includes a first sheet member, a second sheet member, and the first sheet member. A coupling portion that couples the first sheet member and the second sheet member in a state where the sheet member and the second sheet member overlap with each other, and the first sheet member and the second sheet member This is configured such that gas is accommodated in a space formed between the first sheet member and the second sheet member with a space between the first sheet member and the second sheet member.

According to this configuration, it is possible to manufacture with a simple construction method, and it is possible to minimize the cost increase. In addition, multiple gas storage bags can be produced side by side without increasing the number of parts, such as when multiple gas storage bags can be manufactured side by side. It is possible to avoid scattering of the gas containing bag.

In a nineteenth aspect based on any one of the fourth, seventh, or twelfth to seventeenth aspects, the gas container includes a tubular member and a first member that blocks one end of the tubular member. A closed portion and a second closed portion for closing the other end of the cylindrical member, and the gas is accommodated in a space formed by separating the inner surface side of the cylindrical member. Is.

According to this configuration, it is possible to manufacture with a simple construction method, and it is possible to minimize the cost increase.

In a twentieth aspect of the invention according to any one of the fourth, seventh, or twelfth to nineteenth aspects, the main body portion includes a power supply portion that supplies power to the rotor blade portion, and the gas container When helium gas is contained in the gas container, the gas container floats in the case of only the gas container, and the main body part falls by its own weight when the gas container is attached to the main body part. It is.

According to this configuration, if a gas container filled with helium gas is attached to the main body, a levitation force can be applied to the main body at all times. Reduce capacity consumption. Thereby, the flight time can be lengthened.

In a twenty-first aspect of the present invention based on any one of the fourth, seventh, or twelfth to twentieth aspects of the present invention, the twenty-first aspect includes a shield portion having an opening through which the wind generated by the rotor blade portion passes. It is arranged so as to cover the rotor blade while being separated from the rotor blade, and the rotor blade can be operated when the mounting state detection unit detects that the shield member is attached to the main body. It was controlled to become.

According to this configuration, when checking the operation and performing maintenance on the ground, if the shield member is removed, the rotating wings will not operate. Can be avoided reliably.

According to a twenty-second aspect of the present invention, a gas attached to an unmanned rotorcraft having a plurality of rotor blades arranged so as to rotate and apply lift to the main body and be arranged when viewed from the direction in which the main body floats. It is a container, and the gas container includes a first sheet member, a second sheet member, and the first sheet member and the second sheet member in a state where the first sheet member and the second sheet member overlap each other. A coupling portion that couples the member and the second sheet member, and the first sheet member and the second sheet member are separated from each other by separating the first sheet member and the second sheet member. The gas is accommodated in a space formed between the sheet member.

According to a twenty-third aspect of the present invention, there is provided a gas mounted on an unmanned rotary wing machine having a plurality of rotor blades arranged so as to rotate and impart lift to the main body and to be arranged when viewed from the direction in which the main body floats. A container having a cylindrical member, a first closing portion for closing one end of the cylindrical member, and a second closing portion for closing the other end of the cylindrical member, The gas is accommodated in a space formed by separating the inner surface side of the cylindrical member.

According to the configurations of the twenty-second and twenty-third aspects of the invention, it is possible to manufacture with a simple construction method, and it is possible to minimize the cost increase.

Since the unmanned rotary wing aircraft according to the present invention has a gas container around the rotary wing part, when it collides with a container or a structure on the ground, the damage to the container or the structure is reduced. The structure which can also avoid a loss is realized. In addition, since the shield portion is provided so as to cover the rotary wing portion, a configuration is realized in which a bird or the like can avoid being injured by inhalation. The present invention can be applied to a flying body that can fly by other means such as a different arrangement of the rotary wings or a structure in which the number is increased or decreased.

1 Unmanned aerial vehicles (unmanned rotorcraft)
2 Main body part 3 Rotor blade part 4, 80 Gas container 10 Guide part 11 Shield part 40 First gas container bag 41 Second gas container bag 42, 83 First gas inlet 43, 84 Second gas stream Entrance 58 First sheet member 59 Second sheet member 60, 87

Claims (14)

A main body, a plurality of rotor blades arranged on the main body, arranged to be arranged when viewed from the direction in which the main body is lifted by rotating and the main body floats, and provided on the main body A gas containing body capable of containing gas therein, the gas containing body having a gas inlet into which gas is introduced when the gas containing body contains the gas, An unmanned rotary wing machine, characterized in that the gas container is disposed at a position that does not face the main body when the gas container is attached to the main body. A main body, a plurality of rotor blades arranged on the main body, arranged to be arranged when viewed from the direction in which the main body is lifted by rotating and the main body floats, and provided on the main body A gas containing body capable of containing gas inside, and the outer shape of the gas containing body when the main body is viewed from the direction in which the rotating blade rotates and the main body floats is the rotation Arranged in a plural number so as to be located outside the circle forming the outermost shape when the wing part is rotated, or arranged so as to surround the outer side from the circle forming the outermost shape when the rotating wing part is rotated, An unmanned rotorcraft characterized by that. A main body, a plurality of rotor blades arranged on the main body, arranged to be arranged when viewed from the direction in which the main body is lifted by rotating and the main body floats, and provided on the main body A gas containing body capable of containing gas inside, and provided with a counter force generating means for generating a force in a direction opposite to the direction of the lift generated by the rotation of the rotary blade portion. Unmanned rotorcraft. The outer shape of the gas container when the main body is viewed from the direction in which the main body is levitated by rotating the main rotor is outside the circle forming the outermost outer shape when the main rotor is rotated. The unmanned rotorcraft according to claim 1, wherein a plurality of the rotor blades are arranged so as to be positioned, or are arranged so as to surround an outer side of a circle that forms an outermost shape when the rotary blade portion rotates. The unmanned rotary wing machine according to claim 1 or 2, further comprising a counter force generation means for generating a force in a direction opposite to a direction of lift generated by the rotation of the rotary blade portion. 6. The gas container according to claim 1, wherein the gas container is mounted on a part of the main body provided between the gas container and the rotary blade. The unmanned rotorcraft described in 1. The unmanned rotorcraft according to any one of claims 1 to 6, wherein a hole through which air is passed is provided in the gas container in which gas is accommodated. The unmanned rotorcraft according to any one of claims 1 to 7, wherein the gas container includes a mounting portion that is detachably mounted to the main body portion. The gas container includes a first sheet member, a second sheet member, and the first sheet member and the second sheet member in a state where the first sheet member and the second sheet member overlap each other. A coupling portion that couples the sheet member, and the first sheet member and the second sheet member are separated from each other between the first sheet member and the second sheet member. The unmanned rotary wing machine according to any one of claims 1 to 8, wherein gas is accommodated in a space formed in the space. The gas container includes a cylindrical member, a first closing portion that closes one end of the cylindrical member, and a second closing portion that closes the other end of the cylindrical member, The unmanned rotary wing machine according to any one of claims 1 to 8, wherein gas is accommodated in a space formed by separating the inner surface sides of the cylindrical member. The main body part has a power supply part for supplying power to the rotary blade part, and when the gas container contains helium gas, the gas container floats in the case of only the gas container, The unmanned rotary wing machine according to any one of claims 1 to 10, wherein when the gas container is attached to the main body, the main body is configured to fall by its own weight. A shield portion having an opening through which the wind generated by the rotor blades passes; the shield portion is disposed so as to cover the rotor blade portion while being separated from the rotor blade portion; The unmanned operation according to any one of claims 1 to 11, wherein when the mounting state detection unit detects that a member is mounted, the rotor unit is controlled to be operable. Rotorcraft. A gas container that is attached to an unmanned rotary wing machine that has a plurality of rotor blades arranged to rotate and impart lift to the main body and to be arranged when viewed from the direction in which the main body floats, The gas container includes a first sheet member, a second sheet member, and the first sheet member and the second sheet member in a state where the first sheet member and the second sheet member overlap each other. A coupling portion that couples the sheet member, and the first sheet member and the second sheet member are separated from each other between the first sheet member and the second sheet member. A gas container to be mounted on an unmanned rotary wing machine, characterized in that gas is accommodated in a space formed in the above. A gas container that is attached to an unmanned rotary wing machine that has a plurality of rotor blades arranged to rotate and impart lift to the main body and to be arranged when viewed from the direction in which the main body floats, An inner surface of the tubular member, the tubular member; a first closing portion that closes one end of the tubular member; and a second closing portion that closes the other end of the tubular member. A gas container to be mounted on an unmanned rotary wing machine, characterized in that gas is accommodated in a space formed by separating the sides.