JP2018154332A - Flight body that can run on land (and water if possible) with protect frame and automatic charging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight body which is excellent in safety, operability, and energy saving, and can run on land (and water if possible).SOLUTION: A flight body includes a fixation shaft 3 fixed to right and left of a flight body main body 1 and protect frames 5 which are connected to rotation parts 4 of both ends of the fixation shaft and covers the flight body main body (in particular, propulsion part 2) three-dimensionally therewith. The protect frames freely rotate independently to each other, and a contour part of the protect frame has a structure which obtains buoyance and also has a dead weight for performing landing with a right attitude. Thereby, the flight body main body and a mounting device are protected and, even when the landing and crash are performed with any attitude, the dead weight modifies the attitude of the flight body into such a desirable attitude as to be easily taken off again independently. Further, the flight body can perform not only flight but also land and water omnidirectional running and is excellent in safety, operability, and energy saving.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flying body with a protection frame that can travel on land (and on water if possible) and an automatic charging device thereof.

  The prior art relating to a flying body with a protection frame capable of traveling on land (and on the water if possible) according to the present invention is a flying body having a propulsion device (such as a propeller driving device and a jet type propulsion device) (hereinafter referred to as a flying body). For example, a helicopter type as in Non-Patent Documents 1 and 2, an airship type as in Non-Patent Document 3, and an aircraft type as in Non-Patent Document 4. On the other hand, in Patent Document 1, an airframe body in which a plurality of rotors (propellers) are disposed on an airframe, and the rotor disposed inside the frame by two-dimensionally surrounding the rotor with a protection frame. An aircraft body for preventing contact with an obstacle is disclosed. In addition, as shown in Non-Patent Document 5, a system for automatically exchanging and charging a battery has been proposed as a related art related to an automatic charging device for a flying body.

JP 2011-046355 A

Makoto Tahara, Kenzo Nonami “Achieving Multi-rotor Helicopter by General-purpose Aircraft Design Method and Cost Reduction” Transactions of the Japan Society of Mechanical Engineers (C), Vol. 78, No. 787 (2012), pp.872-882 Daigo Fujiwara, Shibamatama, Kensaku Hazawa, Kenzo Nonami “Autonomous Small Unmanned Helicopter H∞ Hovering Control and Guidance Control” The Japan Society of Mechanical Engineers, Vol.70, No.697 (2004), pp.1708-1714 Manabu Yamada, Yasuhiro Taki, Yasuyuki Funahashi “Global Position and Attitude Control of Airship System against Steady Wind” The Japan Society of Mechanical Engineers, Vol. 76, No. 767 (2010), pp.177 0-1779 Rogelio Lozano “Unmanned Aerial Vehicles” ISTE Ltd and John Wiley & Sons, Inc. (2010) Hideo Serizawa, Takuya Nemoto, Daisuke Iwakura, Kenzo Nonami “Development of an Automatic Battery Replacement System for Industrially Applied Multirotor Helicopters” The 13th JSME Symposium “Control of Motion and Vibration” USB Proceedings [2013.8.27-30] , Pp.B26

  However, the conventional aircraft body has the following 13 problems. That is, the flying body having a propulsion device (propeller drive device, jet type propulsion device, etc.) disclosed in Non-Patent Documents 1 to 4 has the following problems 1) to 8) and 13). Further, the flying body disclosed in Patent Document 1 has the problems 6) and 9) to 13).

(problem)
1) At the time of landing, the attitude becomes unstable due to “wind”, etc., and it is easy to crash.
2) If the landing surface is not flat, it will easily fall over when landing, causing damage and danger to the aircraft body.
3) When taking off from the land, the ground surface is flat and it is limited to a safe place where there are no people around. (If the ground surface is not flat, the aircraft body tends to become unstable, and there are people around it. Dangerous with propellers etc.).
4) Since the only way to move is to always fly, a force to lift the flying body is always necessary. Therefore, a great deal of energy is required and the flight time is limited.
5) Once crashed, it is difficult to return autonomously and is not suitable for unattended work.
6) Cannot move on land.
7) When flying at low altitudes (near land) or narrow places (near walls, etc.), it is easily affected by disturbances such as winds that occur by itself, and accurate movement is difficult.
8) In the case of propeller drive, if the main body touches an obstacle during flight, the propeller will be damaged and there is a risk of falling.
9) Since the frame surrounding the aircraft body is only on a plane, the aircraft body is easily damaged when it collides with an obstacle having a bulge in a direction other than this plane, causing instability and a crash.
10) When the landing or crash, the flying body is easily turned over, and if the ground has irregularities, the flying body is directly damaged from the ground, so that the flying body and the mounting device are easily damaged.
11) When the aircraft body turns over when landing or crashing, it becomes impossible to take off.
12) Since there is always flight to move, not only does it require a lot of energy to ascend, but it tends to become unstable due to wind and the like, causing collisions and crashes, and its application is limited.
13) Cannot move on the water.

In addition, as described in Non-Patent Document 5, a technique based on a motion capture system and a technique based on a tethered landing system have been proposed in the related art related to an automatic charging device for a flying body. There are problems 14) to 15).
14) In the method based on the motion capture system, three-dimensional motion during flight is accurately measured in real time using multiple high-speed, high-precision cameras, etc., obstacles are avoided by feedback control, and specified for charging. Since this is a method of landing at high accuracy, it requires expensive automatic control equipment and installation space for cameras, etc. in order to achieve this. Also, with this method, whether or not charging is possible is determined by the landing position accuracy, but since the movement to the landing point is a flight, it is easily affected by disturbances such as wind, making it difficult to land at an accurate position, and certainty It is scarce.
15) In the method based on the tethered landing system, the tether is lowered to a predetermined length from the reel mounted on the aircraft body, and the weight at the tip of the tether is locked by the tether capturing mechanism provided in the ground charging device. This is a method of winding a tether and landing it at a specified position. However, a device that can automatically control the winding of the tether and the weight needs to be installed in the aircraft body. Furthermore, in this method, whether or not charging is possible is determined by the position accuracy and attitude accuracy of landing, and the movement to the landing point is performed by winding the tether, which improves the reliability compared to the method based on the motion capture system. However, when winding up the tether, it requires both attitude control to accurately maintain the aircraft attitude and tension control to keep the tether tension constant at the same time. The flying object is greatly beaten by the wind generated by the aircraft, making it unstable, and making it difficult to land at an accurate position and posture. The tether capture device that catches the tether and weight of the flying object is composed of two long arms. The longer the tether capture device, the higher the probability of catching, but the larger the device.

The present invention solves the above-mentioned problems, and it is an obstacle existing in a three-dimensional space only by attaching one or two independent protection frames that protect necessary parts of an existing aircraft body to the aircraft body. Even if it collides with an object, the aircraft body will not be damaged, damage at the time of landing or crash will be reduced, and the aircraft body and the mounting equipment attached to it will be protected.
In addition, no matter how the landing or crash occurs, the attitude of the flying object will be restored to a position that makes it easy to take off again, and not only in flight but also on land (and possible) without the addition of new propellers. In this case, you can run all directions on the water). Hereinafter, the “aircraft” refers to a form including a main body and a protection frame. Accordingly, an object of the present invention is to provide a flying object that is excellent in safety, operability, and energy saving and can travel on land (and on water if possible). It is another object of the present invention to provide an automatic charging device that charges a flying object with a protection frame as a guide and that is reliably set to the charging device for charging.

In order to achieve the object, there are the following means.
(1) Two or more propulsion units that generate propulsive force, a main body unit that includes a control unit and a battery unit that control the two or more propulsion units, and the main body unit and the two or more propulsion units A rotary wing machine comprising a pair of protective frames enveloping, and further comprising two rod-shaped fixed shafts, the two rod-shaped fixed shafts being at one end so as to be perpendicular to the main traveling direction The part is fixed to the left and right of the main body part, and has a rotating part that is coaxial with each other at the other end part, and the pair of protect frames has a rollable shape, and the center of rotation of the pair of protect frames is A rotary wing machine, characterized in that it is attached to each of the rotating parts, has a protrusion on the outside of the top of the rotation center of the pair of protect frames, and travels on land. (2) The rotor blade according to (1), wherein the pair of protect frames are used as left and right wheels and rotate in opposite directions to change directions.
(3) The weight described in (1) or (2) above is characterized in that a fixed weight is attached to a vertically lower portion of the main body portion, and is independently directed vertically upward and flies vertically upward. Rotorcraft.
(4) The protect frame is composed of a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water. The rotorcraft according to any one of (1) to (3) above, wherein the rotorcraft travels on water.
(5) The two or more propulsion units are disposed apart from the coaxial of the two rod-shaped fixed shafts while sandwiching the coaxial of the two rod-shaped fixed shafts, and the control unit is arranged in the main traveling direction. Any of (1) to (4) above, which has a function of controlling the inclination of the two or more propulsion units around the same axis of the two rod-shaped fixed shafts when rolling on the land. The rotary wing machine according to one.
(6) The above-described (1) to (5), wherein the control unit has a function of controlling at least the propulsion force by pressing the pair of protect frames against the land and rolling and moving on the land. ). The rotorcraft according to any one of the above.
(7) Two or more propulsion units that generate propulsive force, a main body unit including a control unit that controls the two or more propulsion units, and surrounding the main body unit and the two or more propulsion units. A pair of protect frames having a unique shape, and a fixed shaft for attaching the pair of protect frames to the main body so that the pair of protect frames can rotate with respect to the main body and the two or more propulsion units. , Each having a protrusion on the outside of the top of the rotation center of the pair of protection frames, and traveling on land.
(8) The rotary wing aircraft according to (7), wherein the pair of protect frames are used as left and right wheels and rotate in opposite directions to change directions.
(9) The above described (7) or (8), wherein a weight fixed to a vertically lower part of the main body is attached, and is independently directed vertically upward and flies vertically upward. Rotorcraft.
(10) The protect frame includes a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water. The rotorcraft according to any one of (7) to (9) above, wherein the rotorcraft travels on water.
(11) The two or more propulsion units are installed apart from the fixed shaft while sandwiching the fixed shaft, and the control unit moves the two or more around the fixed shaft when moving on the land. The rotorcraft according to any one of (7) to (10) above, which has a function of controlling the inclination of the propulsion unit.
(12) The above-described (7) to (11), wherein the control unit has a function of controlling at least the propulsion force by pressing the pair of protect frames against the land and rolling and moving on the land. ). The rotorcraft according to any one of the above.
The above-described means (1) to (12) have the following effects.
According to the configuration of the means (1) or (7), the protect frame envelops the aircraft body in three dimensions (three-dimensional), and the surface of the ground or any surface during landing, takeoff, flight, or crash Even if it hits an obstacle of shape, the aircraft body and the mounting device are hardly damaged, and even when landing or crashing, the aircraft body and the mounting device are not directly impacted and protected by the frame, Problems 1), 2), 8), 9) and 10) can be solved. In addition, the protection frame does not cover the entire aircraft body, but if it covers only the necessary parts to be protected, such as the propulsion unit (propeller and motor), the overall weight can be reduced rather than covering everything, and movement Sometimes achieves labor saving. Further, since the protect frame attached to the main body is rotatable with respect to the propulsion unit, the protect frame can roll while maintaining the direction in which the propulsive force is applied.
Further, since there are two or more propulsion units, by controlling the propulsive force of each propulsion unit, the propulsion unit can be freely moved not only in the front-rear direction as shown in FIG. 8, but also in the left and right directions as shown in FIG. As a result, when moving on land (and when possible, on the water), as in a two-wheeled vehicle, not only forward and backward movement, but also rotation on the spot can be performed, so it is possible to turn in a small area. It is possible to change the direction, move in a narrow place like a winding maze indoors, and control the position and posture to enter the garage while avoiding obstacles. realizable.
The protect frame has a contour that can roll.
According to such a configuration, it is easy to roll when landing in any posture, and the protection frame has a sufficient clearance so as not to block the air flow of the internal flying body, and the weight is flying. If it is light enough below the payload of the body, the rotorcraft including the protection frame can move freely in the air and on land, including takeoff and landing. Therefore, in addition to the above problems 1), 2), 8), 9) and 10), 4), 6), 7) and 12) can be solved. Furthermore, there is an effect shown in FIG.
With the means (2) or (8), the left and right protect frames can be rotated in opposite directions at the time of stop, and the direction can be easily changed.
According to the configuration of the means (3) or (9), the weight can be recovered by any weight, including landing or crashing when there is no thrust. To do. Therefore, the problem 2), 3), 5), and the above-mentioned problems 2), 3), 5) and 11) can be eliminated.
According to the configuration of the means (4) or (10), since it is possible to run not only on land but also on water, the problem 13) can be solved.
The means (5), (6), (11) or (12) has the effect shown in FIG.
Further, there are other means and effects not described in the following claims. Here, the flying object is the same as the rotary wing aircraft (hereinafter the same).
(100) The flying object is a flying object that can be moved and controlled by automatic control or manual remote control. According to the means (100), it is possible to move freely on land (and on the water if possible) and in the air by automatic or manual remote control. Free movement and various work can be realized in dangerous places where people and people are hard to go, and the range of application is expanded.
(101) A flying object provided with a camera and / or a position information detecting device and / or an environment measuring device on the flying object. According to the means (101), the flying object may be provided with any one, two, or all of a camera, a position information detection device, and an environment measurement device (such as a measurement device for radiation, gas, and temperature). By installing these devices, aerial photography, observation, monitoring work, etc. become possible.
(102) The flying object can be automatically steered by a ground computer or a calculation control device on the flying object. According to the means (102), a plurality of flying objects can freely move and work on land (and on water if possible) and in the air under autopilot. As a result, by simply programming and executing the necessary work in advance, even if there are debris or obstacles, it can safely and reliably move to specified remote areas, disaster areas, or places where people are difficult to reach. The aircraft can perform aerial photography, observation, monitoring, etc. from various directions at the same time, and when combined with an automatic charger, a semi-permanent automatic observation / monitoring system can be realized.

The following means are not described in the claims.
(200) This means is a charging device composed of a guiding part and a charging part for the flying object described in the above (1) 1 to (12), wherein the guiding part includes the flying object It is a charging device characterized by rolling and moving on land, stopping the flying object at the position of the charging unit, connecting the charging terminal B of the charging unit and the charging terminal A of the flying unit, and performing automatic charging. .
The feature of the present invention is that the approach to the charging part is performed by rolling on the land with a protection frame, so the approach by flight like the conventional method is unnecessary, and destabilization occurs even if it receives disturbance such as wind This makes it possible to make an accurate approach to the charging unit and to ensure that the flying object is electrically connected to the charging device. As a result, the above problems 14) and 15) can be solved.
(201) This means is the charging device as described in (200) above, characterized in that, as the guiding portion, a guiding guide and a stopper that abut against the protect frame are provided.
The outer shape of the protect frame can be used as a guide to ensure that the flying object can be set in the charging device.
(202) This means is provided with a switch that is actuated by the position or mass of the flying body to activate a movable base, and connects the charging terminal B and the charging terminal A by the movable base. (200) or (201).
The charging device and the flying object can be electrically connected reliably.
(203) This means mounts a transceiver on the flying object and the charging device, and guides the flying object to the charging device by a transmission function of one of the transceivers and a reception signal of the other transceiver. The charging device according to any one of (200) to (202) above, wherein control is performed.
Since the accurate relative position between the charging device and the flying object is detected, the flying object can be guided to the charging device even at a long distance, and the automatic charging operation of the flying object can be performed reliably.

1 is a diagram illustrating an overall configuration of a flying object according to a first embodiment of the present invention. 1 is a diagram illustrating an overall configuration of a flying body main body according to a first embodiment of the present invention. It is the figure which looked at the flying body which is 1st Embodiment of this invention from the side, Comprising: It is a figure which shows that it becomes calm at the time of no thrust, and becomes a convenient posture at the time of takeoff. It is the figure which looked at the flying body which is 1st Embodiment of this invention from the side, Comprising: It is a figure which shows the attitude | position at the time of the land travel inclined in the direction which wants to give a thrust to a flying body and to advance. It is a figure which shows the other Example of the flying body which is 1st Embodiment of this invention. It is a figure which shows the mechanism of the free aerial movement by climbing over the obstacle using free movement in the air flight, ensuring safety, and rolling over as the operation 1 of the flying body of the present invention (side view). It is a figure which shows the mechanism of ensuring safety | security at the time of landing or a crash and the automation of attitude | position recovery as the operation | movement 2 of the flying body of this invention (the figure seen from the side). It is a figure which shows the mechanism of the land movement using rolling as the operation | movement 3 of the flying body of this invention. It is a figure which shows the mechanism of the land movement of the arbitrary directions using rotation as the operation | movement 3 of the flying body of this invention (the figure seen from the top). It is a figure which shows the mechanism of the free land driving | running | working by climbing over the obstacle using rolling as the operation | movement 4 of the flying body of this invention (the figure seen from the side). It is a figure which shows the mechanism of ensuring the safe takeoff attitude | position from land driving | running | working, and the smooth transition to flight as the operation | movement 5 of the flying body of this invention (the figure seen from the side). It is a figure which shows the structure of the smooth transition to flight as the operation | movement 5 of the flying body of this invention, ensuring on-road driving | running | working on a rough road, ensuring a safe takeoff attitude | position, and (figure seen from the side). It is a figure which shows the mechanism of ensuring the safe take-off attitude | position on the ground surface with an inclined surface, and the smooth transition to flight as the operation | movement 5 of the flying body of this invention (figure seen from the side). It is a figure which shows the structure of the protection frame which enables traveling on the water in 2nd Embodiment of this invention. It is a figure which shows the structure of the flying body in 3rd Embodiment of this invention. In the third embodiment of the present invention, a mechanism capable of cooperating and cooperating with a plurality of flying objects, realizing simultaneous monitoring, simultaneous observation from various angles on land and in the air, and cooperative transportation of heavy objects. It is a figure (view seen from the side). In the third embodiment of the present invention, a mechanism capable of cooperating and cooperating with a plurality of flying objects, realizing simultaneous monitoring, simultaneous observation from various angles on land and in the air, and cooperative transportation of heavy objects. It is a figure (view seen from the side). It is a figure which shows the structure which integrated two protect frames in 4th Embodiment of this invention. It is a figure of the charging device of the flying body which a guidance part contact | abuts to the outline part of a protect frame in 5th Embodiment of this invention. It is a figure of the charging device of the flying body in which the guidance part contacts the frame part of a protect frame in a 5th embodiment of the present invention. It is a figure explaining the process which charges a flying body with the charging device in 5th Embodiment of this invention. It is a figure of the charging device which guides a flying body to a charging device with the transmitter / receiver mounted in the flying body and charging device in 6th Embodiment of this invention. It is a figure explaining the process which charges a flying body with the charging device in 6th Embodiment of this invention. It is a figure explaining the system which guides a flying body with the transceiver (transmission function) installed in the charging device in 6th Embodiment of this invention, and the transceiver (camera as a receiving function) mounted in the flying body. It is a figure explaining the system which guides a flying body with the transceiver (transmission function) installed in the charging device in 6th Embodiment of this invention, and the transceiver (radio wave as a communication function) mounted in the flying body. The figure explaining the system which guides a flying body by the control tower function of a ground computer from the transceiver (reception function) installed in the charging device in 6th Embodiment of this invention, and the transceiver (transmission function) mounted in the flying body. It is.

  The flying object capable of traveling on land and water according to the present invention is a rolling motion by thrust generated in the main body part 1 consisting of the control part 1-1 and the battery part 1-2, the main body part consisting of the propulsion part 2 and the propulsion part 2. It consists of one or two protection frames that can move freely on land and water. The characteristics of the main body 1 of the flying object, the propulsion part 2, and the protection frames 5 and 6 attached to the flying object will be described below with reference to the drawings.

(First embodiment)
As a first embodiment of the present invention, an air vehicle capable of traveling on land will be described with reference to FIGS. However, these figures are only examples, and for the sake of simplicity of explanation, the aircraft body is a 4-rotor type small helicopter and the two protection frames attached to the aircraft body are hemispheres. Other requirements are optional as long as the protection frame covers the aircraft body in three dimensions (three-dimensionally) as a target, can rotate as a shape, and is lightweight.
FIG. 1 shows the configuration of the first embodiment of the present invention. The flying object is composed of a flying object body composed of a main body part 1 and a propulsion part 2 and two right and left protection frames 5 and 6. FIG. 2 shows the configuration of the aircraft body. It consists of a main body 1 and a propulsion unit 2. The main body 1 includes a control unit 1-1 and a battery unit 1-2. The controller 1-1 is mounted in the main body 1 (not shown). The battery unit 1-2 is mounted in the main body 1 or on the lower surface of the main body 1. The control unit controls the propulsion unit 2 according to a command from the operation unit from a place different from the flying object such as the land. The propulsion unit 2 includes a propeller 2-1 and a motor 2-2 (not shown). Although it consists of four propulsion parts in FIG. 2, the number is arbitrary.
As an example, a cross-shaped rod-shaped frame is formed around the main body, and four propulsion portions are fixed to the end portions. The four propeller parts 2-1 are arranged on one plane. When the rotation speeds of the four propellers are the same, the aircraft body flies in the vertical direction.
The horizontal movement of the flying body lowers the rotation speed of the two propellers in the direction in which the propeller is to be moved among the four propellers. The flying vehicle body flies while tilting so that the end in the moving direction is lowered. When turning in the left-right direction, the rotation speed of the left and right propellers is changed. This horizontal movement is the basic operation for land and water travel.
The two fixed shafts 3 to which the protection frames 5 and 6 are attached have a bar shape. The fixed shaft 3 is configured such that one end is fixed to the left and right of the main body portion and the rotating portion 4 is provided at the other end so as not to interfere with the four propulsion portions. The two fixing shafts are fixed to the main body 1 so that the two fixing portions are coaxial. The mounting direction of the fixed shaft is preferably perpendicular to the main traveling direction in the basic operation of the aircraft on land (and on the water if possible). This is because when traveling on land or water with the contour portions of the protection frames 5-1 and 6-1 as wheels, the traveling direction by the rotation of the contour portion coincides with the main traveling direction, and energy efficiency is good.
Therefore, in the case of the four-rotor type small helicopter shown in FIGS. 1 to 4, the main traveling direction of the flying object as a wheel is two front and rear directions, from the basic operation of horizontal movement as the flying object body. Further, in the case where the main body of the flying object is mounted with a main propeller on the upper part of the main body part on which a person rides like a normal helicopter, the direction in which the cockpit is located is the traveling direction during horizontal movement. Therefore, the fixed shaft is attached to the left and right of the main body portion perpendicular to the traveling direction. At this time, since the propeller is at the upper part of the main body, the fixed shaft does not interfere with the propeller.

The characteristics of the size, shape and weight of the protection frame are as follows. The size of the protective frame covers the aircraft body (especially the propeller) in three dimensions (three-dimensional) and covers the aircraft body (especially the propeller) during a crash, takeoff, landing, and flight. It must be large enough not to hit the land or obstacles. The protect frames 5 and 6 have a concave shape with respect to the main body 1 and the propulsion unit 2 in order to wrap the flying body in three dimensions. The shape of the protection frame is a shape that is easy to roll when landing in any posture (for example, a hemisphere or a cylindrical shape when viewed from the traveling direction of the aircraft body, in a direction parallel to the traveling direction and extending the fixed shaft 3 (A polyhedron with a cross-sectional shape that is orthogonal or hexagonal or the like is good.) And that there is sufficient clearance so as not to obstruct the air flow of the aircraft body inside. The weight of the protection frame should be sufficiently light below the payload of the flying body, and the flying body including the protection frame should be able to move freely in the air, including takeoff.

Specifically, the left and right protect frames 5 or 6 are configured as shown in FIG. The contour portions 5-1 and 6-1 of the protect frame are formed in a circular shape with a thin plate having a certain width serving as a ground contact surface. This serves as a wheel. The frame portions 5-2 and 6-2 of the protect frame are formed by bending a thin plate material into a semicircular arc shape and connecting both ends to the contour portion 5-1 or 6-1. The skeleton part 5-2 or 6-2 is composed of a plurality of pieces, and the tops of semicircular arc shapes are overlapped. The top of the overlap is the rotation center of the outline 5-1 or 6-1 of the protect frame. The left and right protect frames 5 or 6 connect the respective rotation center portions to the rotation portion 4 at the end of the fixed shaft 3 so as to cover the flying body. A space is provided between the contour portions 5-1 and 6-1 of the protect frame, which is the center of the flying object. The two contour portions 5-1 and 6-1 may have the same shape, and may be arranged coaxially and parallel to each other. This is to ensure stability as the left and right wheels when the flying object travels on the land with two wheels (hereinafter referred to as a two-wheeled vehicle) and to ensure visibility when the camera 9 is mounted on the flying object body. . The protection frame is made of a flexible and tough resin by integral molding, but each contour part and skeleton part are joined by adhesive, welding, etc. It may also be produced by mechanically joining with rivets or the like. The resin is preferably a polypropylene material or a material reinforced with carbon fiber.

The two left and right protect frames are attached to the rotating parts 4 at both ends of the flying object fixed shaft 3, respectively, but are configured so that only one axis can freely rotate. As a mounting method, the following three embodiments (a), (b), and (c) are preferably made possible.
B) When landing or crashing, the aircraft body (especially propellers and other propulsion devices) rolls without damaging the aircraft body by the left and right protection frames 5 or 6 that surround the vehicle body in any posture. The posture of the vehicle is automatically recovered and finally it becomes a convenient posture at the time of takeoff.
B) On the land, if the propulsion unit 2 is controlled by the control unit 1-1 and tilted in the direction in which the aircraft main body is desired to travel, the protect frame 5 or 6 rotates while the main body maintains the posture and the land Run rolling. Since the contours 5-1 or 6-1 of the two left and right protect frames 5 or 6 serve as wheels in the width direction of a two-wheeled vehicle, the movement of the flying object is restrained in the roll direction when traveling on land. High stability.
C) On land, if a rotational force in the yaw direction is applied to the flying object, the contour parts 5-1 or 6-1 of the two right and left protection frames rotate in opposite directions as the wheels of the two-wheeled vehicle. It can be easily rotated in the yaw direction on the spot. Then, by applying thrust to the flying object and tilting it in the direction of travel as shown in FIG. 4, the flying object can move safely on the land in all directions.

In FIG. 1, the left and right protection frames 5 and 6 cover and cover the main body 1 and the propulsion unit 2 of the aircraft body, and the ground surface, obstacles and people during landing, takeoff, flight and crash. The aircraft body (especially the propulsion unit 2) is not large enough to hit. Therefore, the problems 1), 2), 8), 9), and 10) can be solved.
Further, the main body 1 of the flying object and the two fixed shafts 3 are fixed, and the rotating portion 4 is configured to be coaxial with the other end of the two fixed shafts 3. The top part which is the rotation center of the rotation part 4 and the two protect frames 5 or 6 is connected to each other. As a result, the protect frame 5 or 6 can freely rotate uniaxially around the fixed shaft 3.

The weight 8 in FIG. 1 rolls when landing in any posture, including landing and crash, when there is no thrust, and the flying object faces vertically upward as shown in FIG. The above problems 2), 3), 5) and 11) can be solved in order to settle in a convenient posture. As shown in FIG. 3, the weight 8 is fixedly attached to the vertically lower part of the main body 1 when the flying object flies vertically upward from the main body 1 by the propulsion unit 2. Here, the main body 1 is located at the center of the two spherical protective frames 5 or 6, but it rolls regardless of the attitude of the flying object, and the propulsion unit 2 is independent of the shape of the ground surface. In order to be vertically upward, the weight 8 needs to be fixedly attached to the vertically lower part of the main body 1. That is, the entire shape of the flying object including the protection frame is spherical, and its center of gravity is vertically downward, so that it rotates as if it was raised and spilled, and the propulsion unit 2 is always vertically upward so that it is convenient for takeoff. Calm down.
Further, all or a part of the battery unit 1-2 of the main body unit 1 may be transferred to the weight 8. A heavy object such as a camera 9 and an environment measurement device 10 described later may be used as a weight and mounted on a vertically lower portion in the vicinity of the weight 8. At this time, the mounted object such as the weight 8 does not protrude from the contour portion 5-1 or 6-1 of the protect frame.

Further, as shown in FIG. 4, if the aircraft body is tilted in the direction in which thrust is desired to travel, the contour portion 5-1 or 6-1 of the protect frame rolls on the land along a straight line and the vehicle travels. Since the contour portions 5-1 or 6-1 of the two right and left protection frames serve as wheels of the two-wheeled vehicle, the movement of the flying object is suppressed when traveling on land, and the straight running stability is improved. At this time, since the weight 8 is fixed to the lower portion of the main body in the vertical direction, the weight 8 is inclined in the direction opposite to the traveling direction. Furthermore, if a rotational force in the yaw direction is applied to the flying object, the contours 5-1 or 6-1 of the two left and right protection frames rotate in opposite directions like the wheels of a two-wheeled vehicle. It can be easily rotated in the yaw direction in the field. Then, by controlling the thrust unit 2 and tilting the flying body in the direction in which the flying body is desired to travel, the flying body can travel safely on the land in all directions, so that the problems 6) and 7) can be solved. Further, since the force for lifting the flying object is not necessary when rolling on the land, the energy is less than that of the conventional air flight, and the above problems 4), 6), 7) and 12 ) Can also be solved.

FIG. 5 shows another embodiment of the flying object. This is because there are four stays, or two pairs, in a cross shape from the main body to mount the propulsion unit as the main body of the flying body, and fixed shafts are connected to the left and right ends of the pair of stays. is there. The protection frame is attached to both ends of the fixed shaft in the same structure. According to such a configuration, there is no need to attach a fixed shaft to the main body, so the degree of freedom in designing the main body is increased.

In addition, for all movements such as flight and running of the flying object, automatic operation is often performed by programming the movement process in consideration of the charge capacity of the battery and inputting it to the control unit (1-1). In order to ensure the flexibility of maneuvering in the event of an emergency, movement control can be performed by manual remote maneuvering. With such a configuration, even if there is rubble or obstacles, it is safe and reliable to move to designated remote areas, disaster areas, and places where people are difficult to go, such as aerial photography, observation, monitoring, etc. Work can be performed, and when combined with an automatic charger, a semi-permanent automatic observation and monitoring system can be realized.
In addition, the movement function of the flying object is equipped with two or more propulsion units, and by controlling each propulsion unit individually, all movements such as flying in all directions and traveling are possible. As a result, when moving on land or on the water, as in a two-wheeled vehicle, not only forward and backward, but also it can rotate on the spot and turn around, making it possible to change direction in a narrow place such as rubble in disaster areas, indoors It is possible to move in a narrow place such as a winding maze, and to control the position and posture such as entering the garage while avoiding obstacles, and it is possible to realize work in all scenes such as indoors and outdoors.

(Aircraft motion 1)
Operations 1 to 5 of the first embodiment of the present invention will be described with reference to FIGS. First, as the operation 1 of the flying object of the present invention, FIG. 6 (a side view) shows a mechanism of free air movement in the air and free air movement by securing safety and overcoming obstacles using rolling. .
(1) You can fly freely in the air if you give thrust to the flying object and tilt it in the direction you want to go.
Here, tilting in the direction of travel is to lower the rotational speed of two propellers in the direction of travel out of the four propellers relative to the other two.
(2) Even when the vehicle collides with an obstacle such as a wall, the flying body (particularly a propeller such as a propeller) can continue to move without being damaged by the protection frame surrounding the obstacle. In this way, the flying object of the present invention can ensure free movement and safety during air flight.
(3) Regardless of the shape of the obstacle (wall surface) of the flying object, the frame rolls on the wall surface by adjusting the flying object and its direction, and can continue to move safely. That is, in FIG. 6, since the wall surface stands in the vertical direction, the direction of the weight is made parallel to the wall surface by making the rotation speeds of the four propellers the same. By increasing the number of revolutions, the flying body rolls over the wall and rises.
(4) After passing through the wall, as in (1), if you tilt the aircraft in the direction you want to travel, you can fly again in the air. Thus, the flying object of the present invention also enables free air movement by overcoming obstacles using rolling.

(Aircraft motion 2)
As an operation 2 of the flying object of the present invention, a mechanism for ensuring safety at the time of landing or crashing and automating posture recovery will be described with reference to FIG. 7 (a side view).
(1) It can land easily by crashing or reducing the thrust of the propulsion unit 2 of the flying object, that is, by reducing the rotational speed of the four propellers.
(2) When landing or crashing, the protection frame that surrounds the body regardless of the position of the landing will roll without damaging the aircraft body (especially propellers and other propellers), and is independent of the shape of the ground surface. By the action of the weight, the posture of the flying object is automatically restored, and the flying object turns straight up. In this way, the flying object of the present invention can ensure safety and automate posture recovery when landing or crashing.

(Aircraft motion 3)
As the operation 3 of the flying object of the present invention, a mechanism of land movement using rolling and rotation of the flying object is shown in FIGS. 8 and 9 (viewed from above). In FIG. 8, when the propulsion unit 2 is controlled on the land and tilted in the direction in which the flying object is desired to travel, the protect frames 5 and 6 rotate and roll on the land, and can be moved easily and safely. When rolling on land, no force is required to lift the flying object, so less energy is required compared to conventional air movement. In addition, since the two right and left protect frames 5 and 6 act as wheels of a two-wheeled vehicle that secures the width on the left and right with respect to the traveling direction, the flying object is restrained from moving in the roll direction when traveling on land, and straight running stability Is expensive.
FIG. 9 shows a case where a rotational force in the yaw direction is applied to the flying object at this time.
(1) Since the two left and right protect frames 5 and 6 rotate in opposite directions like the wheels of a two-wheeled vehicle, the flying object can easily rotate in the yaw direction on the spot.
(2) Furthermore, by applying thrust to the flying object and tilting it in the direction of travel as shown in FIG. 4, the flying object can move safely on the land in all directions.
Further, when rolling on land, no force is required to lift the flying object, so less energy is required compared to conventional air movement. That is, the energy for rolling on land is 10 to 20% of the energy of air flight.

(Aircraft motion 4)
As operation 4 of the present invention, FIG. 10 (a side view) shows a mechanism of free land movement by overcoming obstacles using rolling.
(1) In the land movement, even if there is an obstacle, the protection frames 5 and 6 rotate and move upward with respect to the obstacle if the aircraft is tilted in a direction in which thrust is desired to be advanced.
(2) When the obstacle is moved downward, the rotational speed of each of the four propellers is decreased with respect to the upward movement. As a result, the direction of the weight is the same as when moving up.
In this way, the flying object moves over obstacles and moves easily and safely.

(Aircraft motion 5)
As the operation 5 of the present invention, a mechanism for running on a flat road, a rough road, or a ground surface having an inclined surface, ensuring a safe take-off posture and smoothly moving to a flight is shown in FIGS. It is shown in the figure. On the flat road shown in FIG. 11, if the tilt is made in the direction in which thrust is to be applied to the flying object on the land, the protect frames 5 and 6 rotate and roll on the land, and can easily and safely travel, and if tilted in the opposite direction, Can stop easily. When the flying object stops, the posture of the flying object is restored by the action of the weight, and the flying object faces straight up. After that, you can safely take off by increasing the speed of the propeller and applying thrust.
If the ground surface shown in FIG. 12 is tilted in a direction to give thrust to the flying object even if it is a rough road, the protect frames 5 and 6 can rotate and roll on the land easily and safely, and if tilted in the opposite direction, Can stop easily. If the flying object stops, the posture of the flying object is restored by the action of the weight even on a bad road, and the flying object faces straight up. After that, you can safely take off by increasing the speed of the propeller and applying thrust.
Even on the ground surface having the inclined surface shown in FIG. 13, the protector frames 5 and 6 rotate and roll easily and safely on the land while the aircraft body recovers the posture by the action of the weight and maintains the posture facing upward. . Then, if the propeller rotation speed is increased and thrust is applied, it can take off safely and smoothly on any ground surface.

(Second Embodiment)
As a second embodiment of the present invention, an air vehicle capable of traveling on water will be described with reference to FIG. This means that the flying body of the first embodiment can travel on land and water only by changing the contour part 5-1 or 6-1 of the left and right protection frames 5 or 6 without adding a new propulsion part or the like. Turn into.
FIG. 14 is a right side view of the right protect frame 7 for running on water. This is composed of the contour portion 5-1 and the skeleton portion 5-2 of the protection frame for land traveling, and the contour portion 7-1 for water traveling attached to the outside of the contour portion 5-1. . As shown in the sectional view AA, the outer contour portion 7-1 is formed into a hollow tube with a resin material such as foamed polyethylene (apparent density 0.0227 g / cm 3). Alternatively, it may be solidly molded with a foaming resin such as foamed polystyrene (apparent density 0.0169 g / cm 3). That is, the outer contour portion 7-1 sets the apparent density smaller than that of water in order to obtain buoyancy. Here, the inside and the outside may be interchanged, and the water traveling contour portion 7-2 of the hollow structure or the foaming material may be configured inside the contour portion 5-1. That is, as a structure for obtaining buoyancy, the outer contour portion 7-1 and / or the inner contour portion 7-2 are configured using a hollow tube and / or foaming resin. Further, if the structure for obtaining buoyancy has mechanical strength as a protect frame and wheels, the contour portion may be configured only by the structure for obtaining buoyancy.
A proto aircraft with a flying body of about 380 g and a protection frame (left and right) of about 170 g ran on the water with the outline (diameter 500 mm) of the protection frame sinking about 65 mm.
According to the second embodiment of the present invention, it is possible not only to fly, but also to stably and safely move by rolling, and to freely travel on water as well as on land. The lifting force is unnecessary, and depending on the situation, it is possible to use flying and land or water separately, so less energy is required compared to conventional aerial flight, enabling high energy saving, versatility and high functionality, Points 4) 6), 7), 12) and 13) can also be solved.

(Third embodiment)
An invention in which various functional parts are mounted on a flying object and a plurality of flying objects function in conjunction with each other in the third embodiment of the present invention will be described with reference to FIGS.
FIG. 15 shows a configuration in which a position information detection device 11 (not shown) is mounted on the control unit 1-1 of the flying object, and a camera 9 and an environment measurement device 10 are mounted on a vertically lower portion of the main body unit 1. The environment measuring device 10 is a device for measuring radiation, gas, or temperature.
By the ground computer 12-1 (measurement control device installed on the ground, composed of a computer and a CPU board that can write a control program) and the calculation control device on the flying object (equipped in the control unit 1-1), You can control equipment mounted on the aircraft from the ground. Accordingly, the flying object can be controlled to move automatically or manually.
As the measurement control device 12, a position information detection device 10, a camera 9, and an environment measurement device 11 are mounted on each of a plurality of flying objects, and the control unit 1-1 and the ground computer 12-1 on the flying object are wirelessly or wired. Connecting. The camera 9 is mounted with the lens direction set between two protection frames so that the outside of the flying object can be photographed.
Further, the ground computer 12-1 makes it possible to perform coordinated cooperative work by linking a plurality of flying objects, thereby realizing simultaneous monitoring, simultaneous observation from various angles on land and in the air, and coordinated conveyance of heavy objects. The mechanism is shown in FIGS. 16 and 17 (side view).

FIG. 16 shows a technique for photographing a large object that cannot be photographed by one camera 9 using a plurality of flying cameras 9. First, as the measurement control device 12, the position information detection device 10, the camera 9, and the environment measurement device 11 are mounted on each flying object, and the control unit 1-1 on the flying object and the ground computer 12-1 are connected wirelessly or by wire. To do.
Then, the position information of each flying object measured by the on-board sensor is transmitted to the ground computer 12-1 wirelessly. Next, the ground computer 12-1 calculates a control input in which all the flying bodies perform a simultaneous photographing motion in cooperation with the target object, and transmits the control input to the flying body control unit 1-1. With the propeller 2-1, all the air and land vehicles will coordinate their targets.
As a result, a large object that cannot be captured by one camera 9 can be obtained by transmitting images and moving images simultaneously captured by the camera 9 of the flying object to the ground computer 12-1 and integrating the images. Can be taken.

FIG. 17 shows an application to a technique for constantly monitoring a suspicious person from all directions. First, as the measurement control device 12, the position information detection device 10, the camera 9, and the environment measurement device 11 are mounted on each flying object, and the control unit 1-1 on the flying object and the ground computer 12-1 are connected wirelessly or by wire. To do.
Thereafter, the position information of the flying object and the suspicious person measured by the flying object position information detection device 10 and the camera 9 is wirelessly transmitted to the land computer 12-1. Next, in the ground computer 12-1, all the flying bodies cooperatively surround the suspicious person, calculate a control input that can be monitored simultaneously from all directions, and transmit it to the control unit 1-1 of each flying body. As a result, the aircraft will perform a simultaneous surveillance movement of the target from all directions in the air and on land. If a moving image simultaneously captured by a flying body camera is transmitted to the land measurement control device 12-1 and the images are integrated, the suspicious person can be constantly monitored from all directions. As described above, the ground computer 12-1 can remotely control the flight of a plurality of flying objects (propulsion unit 2) and the operation of the mounted equipment (camera 9, environment measurement device 11).

(Fourth embodiment)
A fourth embodiment of the present invention is shown in FIG. The protect frames 5 and 6 in the first embodiment are integrated. At this time, since the flying body looks like a unicycle, the stability becomes worse when traveling on land, the accuracy of rotation in the yaw direction on the spot becomes worse, and the protection frame is reflected when the camera is installed. However, when running on land, stability and accurate rotation in the yaw direction are not required, and if the camera is not installed, the contour part can be shared by integrating the right and left protection frames. It can be made lighter by eliminating the need for it, and the protection frame can be integrated to increase rigidity and reduce costs.

(Fifth embodiment)
The fifth embodiment of the present invention is an automatic vehicle in the case where the charging terminal (1-3) is provided at the lower part of the battery part (1-2) in the flying body according to the first to third embodiments. It is a charging device. The charging device includes a charging unit and an induction unit. The guide portion has guide portions that abut on the outer shape of the right and left protect frames of the flying object. The flying object is guided to the guide unit and set in the charging device.
An example of the fifth embodiment is shown in FIG. This is a guide that uses the shape of the contour of the protect frame of the flying object. The pair of guide guides (14-1) abuts each other so that one end thereof is convex with respect to the direction in which the flying object advances toward the charging device. The other end comes into contact with one end of the other pair of guides (14-2). The pair of guides (14-2) are set in parallel to each other, and the interval is set so as to fit in the interval between the contour portions of the right and left protection frames of the flying object. The other end of the pair of guides (14-2) abuts against a wall (stopper, 14-3), and the wall serves as a stopper that stops the flying object. Therefore, the height of the wall is set higher than the radius of the contour portion of the protection frame of the flying object. On the other hand, the guide guide portions (14-1, 14-2) may have a height that serves as a guide rail that abuts the contour portion and guides the flying object. Further, since the linear portion of the side surface portion of the guiding guide and the arc portion of the spherical contour portion are in point contact, the frictional force is small and the flying object is smoothly guided.
When the flying object travels toward the charging device, if there is a convex portion of the guide guide (14-1) within the interval range of the contour portion, the flying object is guided to the guide guide (14-1), and the guide guide (14-1) 14-2) to the outside.
FIG. 20 shows an embodiment in which setting is performed by bringing the frame portion of the protect frame into contact with the guide.
The guide guide part (14-1) is installed in a concave shape, that is, in a letter C shape, in the direction in which the flying object travels. If the range of travel of the flying object to the charging device is within the range of both ends of the guiding guide (14-1) that are open in the letter C, the flying object is guided to the charging device along the guiding guide. Specifically, in the right protect frame (5), the contour portion (5-1) is formed from the end portion of the guide guide (14-1) on the corresponding side of the guide portion, which is open to the C-shape. If in the inner range, the aircraft is guided to the charging device. In addition, since the linear portion at the top of the guide and the spherical portion of the spherical skeleton are in point contact, the frictional force is small and the flying object is guided smoothly.
In the case of the integrated protect frame of the fourth embodiment, the guide portion shown in FIG. 20 is used. The charging of the flying object by the charging device according to the fifth embodiment will be described with reference to FIG. Note that the control of the aircraft in the following process is performed remotely from the ground.
(1) The flying object approaches the charging device while the protect frame abuts against the guide guides (14-1, 14-2) and rotates.
(2) The flying object stops when the protect frame hits the stopper (14-3). The switch (13-4) is pushed by the dead weight of the flying body, and the charging power supply unit (13-1) is raised by the movable mechanism (13-3).
(3) The flying object is lifted, and the charging terminal (1-3) of the flying object and the charging terminal (13-2) of the charging device are connected to start charging. Under the present circumstances, it guide | induces so that two charge terminals may connect reliably by the adjustment guide (13-5) provided around the charging power supply part (13-1).
(4) When charging is completed, the charging power supply unit (13-1) is lowered by the movable mechanism (13-3). The flying object lands.
(5) By applying a thrust in the opposite direction to that in the above (1) to the flying body, the protect frame rolls away from the charging device.

(Sixth embodiment)
A sixth embodiment of the present invention is a vehicle according to the first to third embodiments and a charging device according to the fifth embodiment, in which a transmitter / receiver having transmission and reception functions for the flying vehicle and the charging device is provided. The present invention relates to a system that detects the position of a charging device and the position of a flying object, controls a flying object propulsion device by a ground computer, and securely connects charging terminals A and B. An example of the sixth embodiment is shown in FIG. The guidance part of the charging device of FIG. 22 is a case where it guides with the outline part of FIG.
The charging terminal (1-3) of the battery of the flying object is provided beside the battery part (1-2) in front of the traveling direction. The charging terminal b (13-2) of the charging device is provided in a direction facing the charging terminal a (1-3) of the flying object. The charging power supply unit (13-1) to which the charging terminal (13-2) is attached is moved in the left-right direction in FIG. 22, that is, the front-rear direction of the flight of the flying object by the movable mechanism (13-3). When the flying object comes into contact with the stopper (14-3), the switch (13-4) is activated, and the movable mechanism (13-3) and the elevating part (13-7) are activated. The elevating part (13-7) rises and comes into contact with the rear part of the flying object and serves as a stopper for fixing the flying object to the charging device in the front-rear direction.
The process of charging the flying object by the charging device according to the sixth embodiment will be described with reference to FIG. In addition, the control of the flying object in the following process can be performed by automatic piloting.
(1) The flying object detects a signal indicating the position of the charging device from the transmitter installed in the charging device by the mounted receiver, and controls the propulsion unit by the control unit to approach the charging device. When the flying object reaches the charging device, the protect frame moves while contacting the guiding guides 1 and 2 (14-1 and 14-2) and rotating.
(2) The flying object stops when the protect frame hits the stopper (14-3). The switch (13-4) is turned on by the dead weight of the flying object, and the elevating part (13-7) is lifted to contact the rear part of the body part 1 of the flying object and fix the flying object. The rear portion of the main body 1 includes rear end portions of mounted cameras, transceivers, and the like.
(3) The charging power supply unit (13-1) moves toward the flying object, the charging terminal a (1-3) and the charging terminal b (13-2) are connected, and charging is started.
(4) When charging is completed, the charging mechanism (13-1) is moved in the opposite direction to the flying object by the movable mechanism (13-3), and the charging terminal A (1-3) and the charging terminal B (13-2) are moved. ) Will leave.
(5) The elevating part (13-7) descends to release the flying object.
(6) By applying a thrust in the opposite direction to that in the above (1) to the flying body, the protect frame rolls away from the charging device.

Using the transmission function of the transmitter / receiver (15-2) provided in the charging device, the signal (radio wave or light) is transmitted, and the signal is received by the reception function of the transmitter / receiver (15-1) mounted on the aircraft, A method for guiding the flying object to the charging device will be described with reference to FIGS.
FIG. 24 employs a radio beacon (13-6) having a transmission function as a transceiver (15-2) provided in the charging device. The wireless sign (13-6) transmits radio waves or light as a signal, but in this example, transmits light. On the other hand, a camera (9) is mounted as a transceiver (15-1) on the flying object, thereby detecting light from a radio sign. The position and direction of the charging device are read by the light detected by the camera (9), and the propulsion unit is controlled by the control unit of the flying object and guided to the charging device. Here, when transmitting light as a signal, the relative position of the flying object and the charging device is calculated from the relative size relationship of the light source, that is, the light source becomes larger as the flying object approaches the charging device. The body can also be guided to the charging device.
FIG. 25 shows an example in which radio waves (13-6) are communicated using radio waves as signals. For example, infrared rays can be used as the radio signal.

FIG. 26 shows a technique for guiding the flying object to the charging device based on a signal sent from the flying object. The position signal of the flying object is transmitted using the transmission function of the transceiver (15-1) of the flying object. The signal is received using the reception function of the transmitter / receiver (15-2) of the charging device. The received position signal of the flying object is transmitted to the ground computer (12-1) wirelessly or by wire. The ground computer (12-1) calculates the control signal of the flying object such as a route that appropriately guides the flying object to the charging device from the position signal of the flying object and the charging device or the relative position information between the flying object and the charging device. Then, a signal is transmitted wirelessly to the control unit (1-1) of the flying object. The flight vehicle is appropriately guided to the charging device by the flight operation control. That is, the ground computer (12-1) plays a role of the control tower of the flying object.
When the ground computer (12-1) plays the role of a control tower, it is possible to reduce the number of computing devices mounted on the flying object and reduce the weight of the flying object and the burden of power consumption.

DESCRIPTION OF SYMBOLS 1 Main body part 1-1 Control part 1-2 Battery part 1-3 Charging terminal A 2 Propulsion part 2-1 Propeller 2-2 Motor 3 Fixed shaft 4 Rotation part 5 Protect frame R
5-1 Protective frame R outline 5-2 Protective frame R skeleton 6 Protect frame L
6-1 Contour section 6-2 of protect frame L Skeletal section 7 of protect frame L Protect frame for water travel 7-1 Outer contour section for water travel 7-2 Inner contour section for water travel 8 Weight 9 Camera 10 Environmental measurement device 11 Position Information Detection Device 12 Measurement Control Device 12-1 Ground Computer (Measurement Control Device Installed on Land)
13 Charging Unit 13-1 of Charging Device Charging Power Supply Unit 13-2 Charging Terminal B 13-3 Movable Mechanism 13-4 Switch 13-5 Adjustment Guide 13-6 Wireless Sign (Induction Sensor)
13-7 Lifting Unit 14 Charging Device Guide 14-1 Guide 1
14-2 Guide 2
14-3 Stopper 15 Transmitter / Transmitter 15-1 Aircraft Transmitter / Transmitter 15-2 Charger Transmitter / Transmitter

In order to achieve the object, there are the following means . That is, the rotary wing machine includes two or more propulsion units that generate propulsive force, a main body unit that includes a control unit that controls the two or more propulsion units, the main body unit, and the two or more propulsion units. A rotary wing machine comprising a pair of protect frames having a rollable shape surrounding at least a part, and a shaft attached to the main body, wherein the pair of protect frames are attached to the shaft. Thus, the pair of protect frames can rotate with respect to the main body portion and the two or more propulsion portions. The rotorcraft travels on land. The following means are not described in the claims. (1) Two or more propulsion units that generate propulsive force, a main body unit that includes a control unit and a battery unit that control the two or more propulsion units, and the main body unit and the two or more propulsion units A rotary wing machine comprising a pair of protective frames enveloping, and further comprising two rod-shaped fixed shafts, the two rod-shaped fixed shafts being at one end so as to be perpendicular to the main traveling direction The part is fixed to the left and right of the main body part, and has a rotating part that is coaxial with each other at the other end part, and the pair of protect frames has a rollable shape, and the center of rotation of the pair of protect frames is A rotary wing machine, characterized in that it is attached to each of the rotating parts, has a protrusion on the outside of the top of the rotation center of the pair of protect frames, and travels on land. (2) The rotor blade according to (1), wherein the pair of protect frames are used as left and right wheels and rotate in opposite directions to change directions. (3) The weight described in (1) or (2) above is characterized in that a fixed weight is attached to a vertically lower portion of the main body portion, and is independently directed vertically upward and flies vertically upward. Rotorcraft. (4) The protect frame is composed of a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water. The rotorcraft according to any one of (1) to (3) above, wherein the rotorcraft travels on water. (5) The two or more propulsion units are disposed apart from the coaxial of the two rod-shaped fixed shafts while sandwiching the coaxial of the two rod-shaped fixed shafts, and the control unit is arranged in the main traveling direction. Any of (1) to (4) above, which has a function of controlling the inclination of the two or more propulsion units around the same axis of the two rod-shaped fixed shafts when rolling on the land. The rotary wing machine according to one. (6) The above-described (1) to (5), wherein the control unit has a function of controlling at least the propulsion force by pressing the pair of protect frames against the land and rolling and moving on the land. ). The rotorcraft according to any one of the above. (7) Two or more propulsion units that generate propulsive force, a main body unit including a control unit that controls the two or more propulsion units , and at least a part of the main body unit and the two or more propulsion units. A pair of protect frames having a shape that can be rolled around, and the pair of protect frames on the body portion so that the pair of protect frames can rotate with respect to the body portion and the two or more propulsion portions. A rotary wing machine comprising: a fixed shaft to be attached; and having protrusions on the outer sides of the tops of the rotation centers of the pair of protect frames, respectively, and traveling on land. (8) The rotary wing aircraft according to (7), wherein the pair of protect frames are used as left and right wheels and rotate in opposite directions to change directions. (9) The above described (7) or (8), wherein a weight fixed to a vertically lower part of the main body is attached, and is independently directed vertically upward and flies vertically upward. Rotorcraft. (10) The protect frame includes a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water. The rotorcraft according to any one of (7) to (9) above, wherein the rotorcraft travels on water. (11) The two or more propulsion units are installed apart from the fixed shaft while sandwiching the fixed shaft, and the control unit moves the two or more around the fixed shaft when moving on the land. The rotorcraft according to any one of (7) to (10) above, which has a function of controlling the inclination of the propulsion unit. (12) The above-described (7) to (11), wherein the control unit has a function of controlling at least the propulsion force by pressing the pair of protect frames against the land and rolling and moving on the land. ). The rotorcraft according to any one of the above. The above-described means (1) to (12) have the following effects. According to the configuration of the means (1) or (7), the protect frame envelops the aircraft body in three dimensions (three-dimensional), and the surface of the ground or any surface during landing, takeoff, flight, or crash Even if it hits an obstacle of shape, the aircraft body and the mounting device are hardly damaged, and even when landing or crashing, the aircraft body and the mounting device are not directly impacted and protected by the frame, Problems 1), 2), 8), 9) and 10) can be solved. In addition, the protection frame does not cover the entire aircraft body, but if it covers only the necessary parts to be protected, such as the propulsion unit (propeller and motor), the overall weight can be reduced rather than covering everything, and movement Sometimes achieves labor saving. Further, since the protect frame attached to the main body is rotatable with respect to the propulsion unit, the protect frame can roll while maintaining the direction in which the propulsive force is applied.
Further, since there are two or more propulsion units, by controlling the propulsive force of each propulsion unit, the propulsion unit can be freely moved not only in the front-rear direction as shown in FIG. 8, but also in the left and right directions as shown in FIG. As a result, when moving on land (and when possible, on the water), as in a two-wheeled vehicle, not only forward and backward movement, but also rotation on the spot can be performed, so it is possible to turn in a small area. It is possible to change the direction, move in a narrow place like a winding maze indoors, and control the position and posture to enter the garage while avoiding obstacles. realizable. The protect frame has a contour that can roll. According to such a configuration, it is easy to roll when landing in any posture, and the protection frame has a sufficient clearance so as not to block the air flow of the internal flying body, and the weight is flying. If it is light enough below the payload of the body, the rotorcraft including the protection frame can move freely in the air and on land, including takeoff and landing. Therefore, in addition to the above problems 1), 2), 8), 9) and 10), 4), 6), 7) and 12) can be solved. Furthermore, there is an effect shown in FIG. With the means (2) or (8), the left and right protect frames can be rotated in opposite directions at the time of stop, and the direction can be easily changed. According to the configuration of the means (3) or (9), the weight can be recovered by any weight, including landing or crashing when there is no thrust. To do. Therefore, the problem 2), 3), 5), and the above-mentioned problems 2), 3), 5) and 11) can be eliminated. According to the configuration of the means (4) or (10), since it is possible to run not only on land but also on water, the problem 13) can be solved. The means (5), (6), (11) or (12) has the effect shown in FIG. Further, there are other means and effects not described in the following claims. Here, the flying object is the same as the rotary wing aircraft (hereinafter the same). (100) The flying object is a flying object that can be moved and controlled by automatic control or manual remote control. According to the means (100), it is possible to move freely on land (and on the water if possible) and in the air by automatic or manual remote control. Free movement and various work can be realized in dangerous places where people and people are hard to go, and the range of application is expanded. (101) A flying object provided with a camera and / or a position information detecting device and / or an environment measuring device on the flying object. According to the means (101), the flying object may be provided with any one, two, or all of a camera, a position information detection device, and an environment measurement device (such as a measurement device for radiation, gas, and temperature). By installing these devices, aerial photography, observation, monitoring work, etc. become possible. (102) The flying object can be automatically steered by a ground computer or a calculation control device on the flying object. According to the means (102), a plurality of flying objects can freely move and work on land (and on water if possible) and in the air under autopilot. As a result, by simply programming and executing the necessary work in advance, even if there are debris or obstacles, it can safely and reliably move to specified remote areas, disaster areas, or places where people are difficult to reach. The aircraft can perform aerial photography, observation, monitoring, etc. from various directions at the same time, and when combined with an automatic charger, a semi-permanent automatic observation / monitoring system can be realized.

Claims (12)

Two or more propulsion units that generate propulsive force, a main body unit including a control unit and a battery unit that control the two or more propulsion units, and the main body unit and the two or more propulsion units are three-dimensionally wrapped. A rotary wing machine comprising a pair of protection frames,
Two rod-shaped fixed shafts are further provided, and the two rod-shaped fixed shafts are fixed to the left and right sides of the main body so as to be perpendicular to the main traveling direction, and are coaxial with each other. And has a rotating part
The pair of protect frames are rollable shapes, and the rotation centers of the pair of protect frames are respectively attached to the rotating portions,
A rotary wing machine characterized by having protrusions on the outer sides of the tops of the rotation centers of the pair of protect frames and traveling on land. The rotary wing machine according to claim 1, wherein the pair of protect frames are used as left and right wheels and rotate in opposite directions to change directions. 3. The rotary wing machine according to claim 1, wherein a weight fixed to a vertically lower portion of the main body portion is attached, and is independently directed vertically upward and flies vertically upward. The protect frame is composed of a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water and travels on the water. The rotary wing machine according to any one of claims 1 to 3, wherein: The two or more propulsion units sandwich the coaxial axis of the two rod-shaped fixed shafts and are disposed away from the coaxial axis of the two rod-shaped fixed shafts, and the control unit rolls on the land in the main traveling direction. 5. The rotor blade according to claim 1, wherein the rotor blade has a function of controlling inclinations of the two or more propulsion portions around the same axis of the two rod-shaped fixed shafts when moving. Machine. 6. The control unit according to claim 1, wherein the control unit has a function of controlling at least the propulsion force by pressing the pair of protect frames against the land to roll and move on the land. The described rotorcraft. Two or more propulsion units that generate propulsive force, a main body unit that includes a control unit that controls the two or more propulsion units, and a rollable shape that surrounds the main body unit and the two or more propulsion units. A pair of protect frames; and a fixed shaft for attaching the pair of protect frames to the main body so that the pair of protect frames can rotate with respect to the main body and the two or more propulsion units. ,
A rotary wing machine characterized by having protrusions on the outer sides of the tops of the rotation centers of the pair of protect frames and traveling on land. The rotary wing machine according to claim 7, wherein the pair of protection frames are used as left and right wheels, and rotate in opposite directions to change directions. The rotary wing machine according to claim 7 or 8, wherein a fixed weight is attached to a vertically lower portion of the main body portion, and is independently directed vertically upward and flies vertically upward. The protect frame is composed of a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water and travels on the water. The rotary wing machine according to any one of claims 7 to 9, wherein: The two or more propulsion units are disposed apart from the fixed shaft while sandwiching the fixed shaft, and when the controller rolls and moves on the land, the two or more propulsion units are arranged around the fixed shaft. The rotary wing machine according to any one of claims 7 to 10, which has a function of controlling an inclination. 12. The control unit according to claim 7, wherein the controller has a function of controlling the rolling force by pressing the pair of protect frames against the land at least with respect to the propulsive force. The described rotorcraft.