JP2019101990A - Mobile device - Google Patents

Abstract

To provide a mobile device that is easy in apparatus installation, has a wide moving range, and is able to maintain a posture of information acquiring means.SOLUTION: A drone 1 for acquiring external information comprises: an annular member 24 for slidably connecting with a string member 50 stretched between two separate positions; a wire 22 connected to the annular member; winding means 20 for winding and feeding the wire; a plurality of propellers 8 for obtaining thrust for the drone 1 to move; information acquiring means 14; and posture control means 40 for controlling a posture of the information acquiring means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to mobile devices.

  Conventionally, a technique has been proposed in which a camera is suspended on a wire arranged on a ceiling of a building, and a plurality of winches connected to the wire are operated to move the position of the camera (for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2000-32325

  When photographing from a high place such as near the ceiling of a building, there is no guarantee that there is an appropriate position for attaching a device such as the winch described in the above-mentioned patent document. Also, even if there is an appropriate position for mounting such a device, the mounting of the device is complicated. Unlike the above-mentioned patent documents, there is also a technique of preparing a device including a rotating member, sandwiching a wire from above and below by the rotating member, and moving a camera suspended from a housing of the device by rotating the rotating member. There is a problem that the camera is idle when it rotates in contact with the wire or the camera shakes.

  The present invention is an attempt to solve such a problem, and it is an object of the present invention to provide a moving apparatus which is easy to install equipment, has a wide moving range, and can maintain the attitude of information acquisition means. .

  A first invention is a moving device for acquiring external information, comprising: an annular member for slidably connecting to a string-like member stretched between two separated positions; and connecting to the annular member Winding means connected to the wire on the opposite side of the annular member and the winding means for winding and delivering the wire, and a plurality of thrust means for moving the moving device The moving device includes a propeller, an information acquisition unit that acquires external information, and an attitude control unit that controls an attitude of the information acquisition unit.

  According to the configuration of the first invention, the moving device can be installed simply by stretching the string-like member between the two separated positions and connecting the annular member of the moving device. In addition, since the moving device obtains thrust with a propeller, it can move freely in the range of the wire length. And since the length of the wire can be adjusted by the winding means, the moving range of the moving device is wider than in the prior art. Furthermore, even if the moving device is inclined by the rotation of the propeller, the attitude control means can control the attitude of the information acquisition means. As described above, according to the configuration of the present invention, the installation of the device is easy, the movement range is wide, and the attitude of the information acquisition unit can be maintained.

  According to a second invention, in the configuration of the first invention, the posture control means includes a suspending means for suspending the information acquisition means, and at least one rotatable portion, and the information control means is rotated by a mass of the information acquisition means. And a vertical maintenance means for maintaining the vertical state of the suspension means.

  According to the configuration of the second aspect of the invention, even if the moving device is inclined by the rotation of the propeller, the vertical state of the suspending means can be maintained by the mass of the information acquiring means.

  According to a third invention, in the configuration of the first invention, the information acquiring means is connected to the moving device via a posture changing means for changing a posture, and the posture control means is the moving device. Prior to the movement of the movement device, the posture calculation means for calculating the posture during movement of the movement device, and the above-mentioned for maintaining the posture of the information acquisition unit based on the posture of the movement device calculated by the posture calculation means It is a moving apparatus which has the cancellation operation calculation means which calculates the cancellation operation which is operation | movement of attitude | position change means, and the cancellation operation implementation means which implements the said cancellation operation.

  According to the configuration of the third aspect of the invention, prior to the movement of the moving device, the posture during movement of the moving device is calculated, and the canceling operation of the posture changing means for maintaining the posture of the information acquisition means is calculated. A cancellation operation can be implemented. Therefore, the influence of the movement of the moving device on the attitude of the information acquisition means can be avoided.

  A fourth invention according to any one of the first to third inventions, wherein the rotation required to generate a lift smaller than the gravity generated by the mass of the moving device when the moving device is stopped It is a moving device, comprising at rest rotational means for rotating a plurality of said propellers in speed.

  According to the configuration of the fourth aspect of the invention, the moving device rotates the plurality of propellers in the range where no thrust is generated at the time of stopping, so the position of the moving device is changed by the influence of natural wind or the like. However, it is possible to maintain the attitude of the moving device or to reduce the change in the attitude of the moving device.

  A fifth invention is the configuration of the third invention, wherein the posture calculation means calculates a change in posture of the movement device between the start of the movement of the movement device and the end of the movement. .

  When the moving device moves, the speed is gradually increased, the predetermined speed is maintained for a predetermined time, and then the speed is gradually decreased. The rotational speed of the propeller changes according to the speed of the moving device, and the tilt of the moving device also changes. According to the configuration of the fifth invention, it is possible to operate the posture changing means in accordance with the change of the inclination of the moving device.

  According to a sixth invention, in the configuration of the first invention, the number of the plurality of propellers is an even number greater than 4, and a propeller set is formed by the two propellers disposed on a straight line, and the propeller pair is formed. The two propellers rotate in opposite directions, and the rotation axes of the two propellers constituting the propeller set are disposed at the same angle (except for an angle of 90 degrees) about the straight line. , The angle of inclination of the plurality of propellers is the same, and the direction of the inclination is different, and the attitude control means controls the vertical component and the horizontal component of the thrust generated by the rotation of the plurality of propellers. The moving device is configured to move the moving device in the horizontal direction while maintaining the level of the moving device.

  According to the configuration of the sixth invention, the thrust generated by the rotation of each propeller has a vertical component and a horizontal component. The moving device can be moved in the horizontal direction while maintaining the level of the moving device by adjusting the vertical component and the horizontal component of the thrust generated by the rotation of the plurality of propellers.

  According to a seventh invention, in the configuration of the first invention, the number of the plurality of propellers is an even number greater than 4, and a propeller set is formed by the two propellers disposed on a straight line, and the propeller pair is formed. The two propellers that rotate are rotated in opposite directions, and the rotational axes of the two propellers that make up the propeller set are arranged with the same 90 ° inclination about the straight line, The direction of the inclination of the propeller set is different, and the posture control means keeps the moving device in the horizontal direction while maintaining the horizontal of the moving device based on the horizontal component of the thrust generated by the rotation of the plurality of propellers. A mobile device that is configured to move.

  According to the configuration of the seventh invention, the thrust generated by the rotation of each propeller has only the horizontal component. Since the two propellers constituting the propeller set rotate in opposite directions, the reaction caused by the rotation is offset, so the moving device never tilts. In addition, when one propeller set rotates, although a thrust in the horizontal direction is generated but no thrust in the vertical direction is generated, the moving device can move horizontally without tilting. By combining the thrusts of a plurality of propeller sets, horizontal movement in any direction is possible.

  According to the present invention, it is possible to provide a moving device in which the installation of the device is easy, the moving range is wide, and the attitude of the information acquisition unit can be maintained.

It is the schematic which shows the use condition of the movement apparatus which concerns on embodiment of this invention. It is the schematic which shows the movement apparatus suspended by the wire. It is a schematic enlarged view which shows a perpendicular maintenance apparatus etc. It is a schematic enlarged view which shows a perpendicular maintenance apparatus etc. It is the schematic which shows the state at the time of the stop of a movement apparatus, and horizontal movement. It is the schematic which shows the state at the time of the movement to the perpendicular direction of a movement apparatus. It is a figure which shows the functional block of a movement apparatus. It is a flowchart which shows operation | movement of a movement apparatus. It is the schematic which shows the information acquisition part in 2nd embodiment. It is a flowchart which shows operation | movement of the movement apparatus in 2nd embodiment. It is a schematic perspective view which shows the movement apparatus which concerns on 3rd embodiment. It is a schematic perspective view which shows a movement apparatus. It is a schematic side view which shows a movement apparatus. It is explanatory drawing which shows the thrust produced by rotation of the propeller of a movement apparatus. It is the schematic which shows the movement state of a movement apparatus. It is the schematic which shows the movement apparatus which concerns on 4th embodiment.

  Hereinafter, modes (hereinafter, embodiments) for carrying out the present invention will be described in detail. In the following description, the same reference numeral is given to the same configuration, and the description will be omitted or simplified. Description of the configurations that can be implemented by those skilled in the art will be omitted, and only the basic configuration of the present invention will be described.

First Embodiment
As shown in FIG. 1, the unmanned air vehicle 1 of the present embodiment (hereinafter, referred to as "drone 1") is suspended from a wire 50 stretched between walls 200A and 200B in a building. The walls 200A and 200B are an example of two diverging positions. The drone 1 is an example of a mobile device. The wire 50 is an example of a string-like member. The wire 50 is, for example, a carbon fiber composite cable. The carbon fiber cable has characteristics such as high strength, high elasticity, light weight, high corrosion resistance, non-magnetic, low linear expansion and the like. The wire 50 is stretched under horizontal tension toward both ends of the wire 50. The place where the wire 50 is stretched is not limited to indoors, but may be outdoors.

  The drone 1 has a housing 2. A wire 22 is connected to the housing 2 (see FIG. 2) via a winding device 20 (see FIG. 2), and an annular member 24 is connected to the wire 22. The drone 1 is connected to the wire 50 by an annular member 24. The wire 50 penetrates the hole of the annular member 24, and the annular member 24 is slidable with respect to the wire 50.

  The drone 1 receives the control signal E1 from the control device 70 (hereinafter referred to as "propo 70"), and receives the left-right direction indicated by arrows X1 and X2, the front-rear direction indicated by arrow Y1 and arrow Y2, and It moves in the vertical direction indicated by the arrow Z1 and the arrow Z2 (see FIG. 1). Since the drone 1 is connected to the wire 50 by the annular member 24, it moves in the range of the length of the wire 50.

  As shown in FIG. 2, a navigation satellite such as a computer that controls each part of the drone 1, an autonomous flight device, a motor drive circuit, a wireless communication device, and a GPS (Global Positioning System) is used inside the housing 2 Electronic components such as a positioning device, an inertial sensor, and an atmospheric pressure sensor are disposed.

  Four rod-like arms 4 are connected to the housing 2. A motor 6 is connected to each arm 4, and propellers 8A to 8D are connected to each motor 6. The drone 1 obtains thrust for moving by rotation of the propeller 8A or the like. The arm 4 is made of, for example, a carbon fiber reinforced plastic, and is configured to be lightweight while maintaining its strength.

  A winding device 20 is disposed on the top of the housing 2 of the drone 1. The winding device 20 winds and feeds the wire 22. The winding of the wire 22 by the winding device 20 causes the drone 1 to ascend, and the feeding of the wire 22 causes the drone 1 to descend. The drone 1 moves in the left-right direction indicated by arrows X1 and X2 and in the front-rear direction indicated by arrows Y1 and Y2 by controlling the rotation of propeller 8A etc. Is performed by winding and delivering the wire 22. The winding device 20 is an example of a winding unit.

  A rod-like suspension member 10 is connected to the lower portion of the housing 2. A gimbal 12 is connected to the suspension member 10, and a camera 14 is connected to the gimbal 12. The suspending member 10 is an example of a suspending means. The gimbal 12 is a three-axis fixing device that can minimize blurring of a captured image by the camera 14 and can control the optical axis of the camera 14 in any direction. The gimbal 12 is an example of the attitude changing means. The camera 14 is an example of an information acquisition unit. The information acquisition means is not limited to a camera, and may be, for example, a laser scanner.

  The suspension member 10 is connected to the housing 2 via the upper gimbal 40 (see FIG. 3). The suspending member 10 and the upper gimbal 40 are an example of the attitude control means. The upper gimbal 40 maintains the vertical position of the suspension member 10 and maintains the posture of the camera 14.

  As shown in FIGS. 3 and 4, the upper gimbal 40 has a first member 41, a second member 47, and a third member 60. The first member 41, the second member 47, and the third member 60 of the upper gimbal 40 are configured to rotate in three orthogonal axes.

  An upper portion 42 of the first member 41 is connected to a servomotor (not shown) fixed to the housing 2. The servomotor causes the first member 41 to rotate relative to the housing 2 in the directions of arrows C1 and C2.

  The first member 41 has a plate-like member 44 connected to the rotation shaft 42a of the upper portion 42, and the plate-like member 44 has arms 46A and 46B which are a pair of plate-like members. A through hole (not shown) is formed in the lower part of the arms 46A and 46B.

  The second member 47 has a plate-like upper portion 48. A through hole (not shown) is formed in the upper portion 48, and the rotation shaft portion 50A penetrates the through hole in the upper portion 48 and the arm portions 46A and 46B of the first member 41 and can freely rotate. The first member 41 and the second member 47 are connected in the state. The first member 41 and the second member 47 relatively rotate in the arrow A1 direction and the A2 direction.

  Plate-like arms 52A and 52B are connected to the upper portion 48. A through hole (not shown) is formed in the vicinity of the central part of the arms 52A and 52B. The rotating shaft 54a of the rotating shaft 54 passes through the through holes of the arms 52A and 52B.

  The third member 60 is a cylindrical plate-like member, and is fixed to the rotation shaft 54a so as to be freely rotatable. A through hole (not shown) is formed in the central portion of the third member 60, and the rotation shaft 54a passes therethrough.

  The suspending member 10 is fixed to the third member 60. The suspending member 10 is freely rotatable in the direction of arrow B1 (from the near side to the rear of the drawing) and in the direction of arrow B2 (from the rear to the side of the drawing) with the rotation shaft 54a as a rotation axis.

  With the above configuration, the vertical state of the rod-like member 10 is maintained and the attitude of the camera 14 is maintained regardless of the direction in which the housing 2 is inclined. For example, as shown in FIG. 4, when the housing 2 is inclined in the arrow W1 direction, the first member 41 is also inclined. The second member 47 can freely rotate with the rotation shaft portion 50A as the rotation axis, and therefore, the vertical state is maintained by the mass of the camera 14. Since the second member 47 maintains the vertical state, the vertical state of the rod-like member 10 is also maintained, and the attitude of the camera 14 is maintained.

  FIG. 5A shows a state when the drone 1 is stopped. The drone 1 rotates the propellers 8A, 8B, 8C, and 8D at the same rotational speed when stopped. The propellers 8C and 8D are located behind the propellers 8A and 8B, respectively, and therefore overlap with the propellers 8A and 8B in FIG. At the time of stop, the propellers 8A and 8D rotate in the same direction. The propellers 8B and 8C rotate in the opposite direction to the propellers 8A and 8D. That is, the adjacent propellers 8A and the like rotate in opposite directions, respectively, and cancel the reaction caused by the rotation of the respective propellers 8A and the like. The rotation speed at the time of stop of the drone 1 is a speed that generates a lift smaller than the gravity generated by the mass of the drone 1. In other words, it is a speed that does not generate a thrust enough to move the drone 1 upward. Hereinafter, this rotational speed is referred to as maintenance rotational speed. The drone 1 still maintains the state suspended from the wire 50 even when the propeller 8A or the like rotates. In addition, the position of the drone 1 is unlikely to change even if it is affected by natural wind and the like. Moreover, even if it receives the influence of the natural wind etc., the attitude | position of the drone 1 can be maintained, or the extent to which an attitude | position is fluctuate | varied can be reduced.

  As shown in FIG. 5B, when the drone 1 moves in the arrow X1 direction, the rotational speeds of the propellers 8B and 8D are made faster than the rotational speeds of the propellers 8A and 8C. Then, the drone 1 tilts in the arrow W1 direction. However, the suspending member 10 is maintained in the vertical state by the upper gimbal 40, and the attitude of the camera 14 is also maintained.

  As shown in FIG. 6, when the drone 1 ascends in the direction of the arrow Z1, the wire 22 is wound by the winding device 20. At this time, the unmanned vehicle 1 may rotate the propeller 8A or the like as in the stop mode. Thus, the attitude of the drone 1 can be maintained during the ascent.

  Further, the drone 1 is configured to maintain the direction of the optical axis of the camera 14 in the direction of the object during the ascent.

  FIG. 7 is a diagram showing a functional configuration of the drone 1. The drone 1 includes a central processing unit (CPU) 100, a storage unit 102, a wireless reception unit 104, a satellite positioning unit 106, an inertia sensor unit 108, a reel control unit 110, a first gimbal control unit 112, and a second gimbal control unit 114. , A drive control unit 116, an image processing unit 118, and a power supply unit 130.

  The unmanned aerial vehicle 1 can communicate with the propo 70 (see FIG. 1) by the wireless reception unit 104. The drone 1 receives an instruction such as movement from the prop 70 by the wireless reception unit 104.

  The drone 1 measures the current position by the satellite positioning unit 106 and the inertial sensor unit 108. The drone 1 basically receives radio waves from four or more navigation satellites by the satellite positioning unit 106 and measures the position of the drone 1. The navigation satellites are, for example, GPS (Global Positioning System) satellites and quasi-zenith satellites.

  The unmanned vehicle 1 can measure the position of the unmanned vehicle 1 itself by the inertial sensor unit 108 and detect the attitude. The inertial sensor unit 108 measures the position of the drone 1 by integrating the movement of the drone 1 from the departure point using an acceleration sensor and a gyro sensor.

  The drone 1 controls the winding device 20 by the reel control unit 110.

  The drone 1 controls the gimbal 12 by the first gimbal control unit 112.

  The drone 1 controls the rotation of the upper portion 42 of the first member 41 of the upper gimbal 40 by the second gimbal control unit 114.

  The drone 1 controls the rotation of the propellers 8A and the like by the drive control unit 116, and controls postures such as vertical movement, stop in the air, and inclination.

  The drone 1 processes the image acquired by the camera 14 by the image processing unit 118.

  The power supply unit 130 is, for example, a replaceable rechargeable battery, and supplies power to each unit of the drone 1.

  The storage unit 102 stores a stop rotation program as well as various data and programs necessary for the rotation of the propeller 8A and the like. The CPU 100 and the stop rotation program are an example of the stop rotation means.

  The drone 1 rotates the propellers 8A, 8B, 8C and 8D at the maintenance rotational speed when the drone 1 is stopped and vertically moved by the stop rotation program. Thereby, the drone 1 can be prevented from tilting or rotating in the horizontal direction. Further, when the drone 1 is inclined or rotated in the horizontal direction, and the inertia sensor unit 108 detects that the drone 1 deviates from the predetermined posture, the rotational speed of the propeller 8A or the like is adjusted to change the drone 1. Is returned to a predetermined posture. The maintenance rotational speed is a speed which does not generate a thrust enough to move upward of the drone 1, and the power consumption can be small. Unlike the present embodiment, the stop rotation program does not rotate the propeller 8A or the like when the drone 1 is stopped, and rotates the propeller 8A or the like only when it deviates from the predetermined posture. You may make it recover. In this way, the power consumption of the power supply unit 130 can be further reduced.

  Hereinafter, the operation of the drone 1 will be described with reference to the flowchart of FIG. When the drone 1 receives a signal of work start from the propo 70, it starts shooting (step ST1 in FIG. 8), and rotates the propeller 8A and the like at the maintenance rotational speed (step ST2). When the drone 1 determines that the movement instruction has been received from the prop 70 (step ST3), it controls the rotation of the propeller 8A etc. according to the movement mode, and controls the direction of the optical axis of the camera 14 (step ST4). Even when the drone 1 tilts along with the movement of the drone 1, the upper gimbal 40 maintains the vertical state of the suspension member 10, and the posture of the camera 14 is also maintained.

Second Embodiment
The second embodiment will be described with reference to FIG. Descriptions in common with the first embodiment will be omitted, and only differences from the first embodiment will be described.

  In the drone 1A of the second embodiment, the suspension member 10 is connected to the housing 2 via a fixing member 32. The control of the attitude of the camera 14 is implemented exclusively by the gimbal 12. The drone 1A is characterized by the control of the gimbal 12.

  A posture control program is stored in the storage unit 102 of the drone 1A. The CPU 100 and the attitude control program are an example of an attitude control unit. The attitude control program includes an attitude calculation program, a cancellation operation calculation program, and a cancellation operation execution program. The CPU 100 and the attitude calculation program are an example of the attitude calculation means, the CPU 100 and the cancellation operation calculation program are an example of the cancellation operation calculation means, and the CPU 100 and the cancellation operation execution program are an example of the cancellation operation execution means.

  The drone 1A calculates the attitude of the drone 1A during movement by the attitude calculation program prior to the movement. When the drone 1A moves, information on the moving distance, the moving direction, and the moving speed is given, and the drone 1A receives data indicating the relationship between the moving direction and moving speed of the drone 1A and the rotational speed of the propeller 8A or the like. The rotation speed and the rotation time of the propeller 8A and the like are calculated based on the information. For example, as shown in FIG. 5B, when moving in the direction of arrow X1, the rotational speeds of the propellers 8B and 8D are made faster than the rotational speeds of the propellers 8A and 8C. Then, the drone 1A tilts in the arrow W1 direction. Assuming that the moving speed when moving in the direction of the arrow X1 is v1, the drone 1A calculates the rotational speed v2 of the propellers 8A and 8C and the rotational speed v3 of the propellers 8B and 8D for realizing the moving speed v1. it can. The drone 1A shows data indicating the change in rotational speed between the propellers 8A and 8C reaching the rotational speed v2 and the change in rotational speed until the propellers 8B and 8D reach the rotational speed v3. It has data. Furthermore, when there is a difference between the rotational speeds of the propellers 8A and 8C and the rotational speeds of the propellers 8B and 8D, the drone 1A has data indicating the difference and the inclination of the drone 1A corresponding to the difference. Therefore, the drone 1A can calculate the inclination of the drone 1A at each future time based on the rotational speed of the propeller 8A or the like at each future time. That is, the drone 1A calculates a change in posture during movement prior to movement.

  The drone 1A operates the gimbal 12 to maintain the attitude of the camera 14 based on the attitude of the drone 1A at each future time calculated by the attitude calculation program described above by the cancellation operation calculation program (hereinafter referred to as “ Calculate the offset operation. That is, the drone 1A calculates the offset operation of the gimbal 12 for offsetting the tilt of the drone 1A at each future time.

  The drone 1A executes the offset operation of the gimbal 12 calculated by the operation calculation program in accordance with the offset operation execution program in accordance with the movement timing of the drone 1A.

  Hereinafter, the operation of the drone 1A will be described with reference to the flowchart of FIG. When the drone 1A receives the signal of work start from the propo 70, it starts shooting (step ST1 in FIG. 10), and rotates the propeller 8A and the like at the maintenance rotational speed (step ST2). If the drone 1A determines that a movement instruction has been received from the propo 70 (step ST3), it calculates the attitude of the drone 1A at each time during future movement (step ST11). Subsequently, the drone 1A calculates the cancellation operation of the gimbal 12 at each future time (step ST12), and performs the movement and the cancellation operation (step ST13).

Third Embodiment
The third embodiment will be described with reference to FIGS. 11 to 15. Descriptions in common with the first embodiment will be omitted, and only differences from the first embodiment will be described.

  As shown in FIG. 11 to FIG. 13, the drone 1B of the third embodiment has propellers 8A to 8F. Note that, unlike the present embodiment, the number of propellers 8A and the like may be an even number greater than four. The hanging member (not shown) is directly fixed to the housing 2. Unlike the first embodiment, the drone 1B does not have an upper gimbal. As will be described later, the drone 1B does not tilt when moving in the horizontal direction. A winding device (not shown) is disposed within the upper cover 16 to take up and deliver the wire 22.

  The propellers 8A and the like constitute a propeller set with two propellers 8A and the like arranged in a straight line. That is, propellers 8A and 8D (hereinafter, also referred to as "first pair"), propellers 8B and 8E (hereinafter, also referred to as "second pair"), propellers 8C and 8F (hereinafter, referred to as "third pair") Each one constitutes a propeller set. Two propellers 8A etc. which comprise a propeller group rotate in the opposite direction mutually. For example, the propeller 8A rotates clockwise about the rotation axis, and the propeller 8D rotates counterclockwise. Thus, the reaction due to the rotation of the propeller 8A and the reaction due to the rotation of the propeller 8D are offset. The same applies to the second and third sets.

  The rotation axes of the two propellers 8A and so forth constituting the propeller set are arranged with an inclination of the same angle with a straight line connecting the two propellers 8A and so on constituting the propeller set as an axis. The rotational surfaces of the propellers 8A and 8D are inclined at 30 degrees with respect to the horizontal direction. In other words, the rotation axes of the propellers 8A and 8D are inclined at 30 degrees with respect to the vertical direction. The second and third sets of propellers 8B and the like are also disposed at the same angle as the first set of propellers 8A and the like. However, in the first to third sets, the direction of inclination is different. The first set of inclinations and the second set of inclinations are in the opposite direction, the second set of inclinations and the third set of inclinations in the opposite direction, and the third set of inclinations and the first set of inclinations are in the opposite direction . Thereby, the direction of thrust of propeller 8A crosses the direction of thrust of propeller 8B, the direction of thrust of propeller 8C crosses the direction of thrust of propeller 8D, the direction of thrust of propeller 8E and the direction of thrust of propeller 8F Crosses.

  As shown in FIG. 14, the thrust P1 generated by the rotation of the propeller 8A has a horizontal component and a vertical component. Assuming that the rotation axis of the propeller 8A is inclined by an angle of (90 degrees-θ1), the horizontal component of the thrust P1 is P1 cos θ1 and the vertical component is P1 sin θ1. The same applies to the other propellers 8B and the like. When all propellers 8A etc rotate at the same speed, the horizontal component of the thrust of propeller 8A and the horizontal component of the thrust of propeller 8B cancel each other, and the horizontal component of the thrust of propeller 8C and the horizontal components of the thrust of propeller 8D cancel each other The horizontal component of the thrust of the propeller 8E and the horizontal component of the thrust of the propeller 8F cancel each other. Thus, when all the propellers 8A and the like rotate at the same speed, no horizontal moving force acts on the drone 1B, and only the vertical moving force acts.

  The drone 1B rotates all the propellers 8A and the like at a rotational speed (maintenance rotational speed) that does not cause an upward movement at the time of stop shown in FIG. 15A. As described above, since the rotation axes of the first to third sets of propellers 8A and the like are inclined, the resistance to external forces such as wind acting from the horizontal direction is large. Therefore, the drone 1B can easily maintain its attitude and position.

  When moving in the direction of the wire 50 indicated by the arrow X1 as shown in FIG. 15 (b), the drone 1B can move while maintaining the horizontal state without tilting. That is, by increasing the rotational speed of the second set of propellers 8B and 8E, it is possible to move in the arrow X1 direction. Depending on the rotational speed of the second set of propellers 8B, etc., a thrust more than a degree to move the drone 1B upward is generated. In that case, for example, the rotation of the first set and the third set of propellers 8A etc. By reducing the speed, the overall upward thrust of the drone 1B is reduced.

  The drone 1B can move in any direction while maintaining the horizontal state. The drone 1B controls the vertical component and the horizontal component of the thrust generated by the rotation of the plurality of propellers 8A and the like by the attitude control program stored in the storage unit 102, and maintains the horizontal state of the drone 1B. The drone 1B is configured to be moved.

Fourth Embodiment
A fourth embodiment will be described with reference to FIG. Descriptions in common with the third embodiment will be omitted, and only differences from the third embodiment will be described.

  In the unmanned vehicle 1C of the fourth embodiment, the propellers 8A and the like constitute a propeller set with two propellers 8A and the like arranged in a straight line. That is, propellers 8A and 8D (hereinafter, also referred to as "first pair"), propellers 8B and 8E (hereinafter, also referred to as "second pair"), propellers 8C and 8F (hereinafter, referred to as "third pair") Each one constitutes a propeller set. Two propellers 8A etc. which comprise a propeller group rotate in the opposite direction mutually.

  The rotation axes of the two propellers 8A and so forth constituting the propeller set are arranged with an inclination of 90 degrees with a straight line connecting the two propellers 8A and so on constituting the propeller set as an axis (see FIG. 16). The inclination directions (directions of generating thrust) of the first to third propeller sets are different.

  As described above, since the propellers 8A and the like have an inclination of 90 degrees, the thrust by the rotation of the propellers 8A and the like does not have a component in the vertical direction but has only a component in the horizontal direction. And, by changing the direction of the first to third sets of inclinations, the direction of the horizontal component of the thrust also differs. The drone 1C can move in any horizontal direction by the combination of horizontal components.

  The drone 1C is configured to move the drone 1C in the horizontal direction while maintaining the level of the drone 1C based on the horizontal component of the thrust generated by the rotation of the plurality of propellers 8A and the like by the attitude control program. ing.

  For example, when horizontally moving in the direction of the arrow D3, the unmanned vehicle 1C rotates the first set of propellers 8A and 8D at a constant speed. The drone 1C rotates the second set of propellers 8B and 8E at the same speed when moving horizontally in the direction of the arrow D1. The drone 1C rotates the third set of propellers 8C and 8F at the same speed when moving horizontally in the direction of the arrow D2.

  For example, when moving in the direction between the arrows D3 and D1, the drone 1C rotates the first set of propellers 8A and 8D and the second set of propellers 8B and 8E at the same speed. In the unmanned vehicle 1C, the rotational speeds of the two propellers 8A and so forth constituting each propeller group are made the same with respect to the propellers 8A and so on of the first set to the third set, and By making them different, it is possible to move in any horizontal direction while maintaining the horizontal state of the drone 1C.

  Note that the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like as long as the object of the present invention can be achieved are included in the present invention.

1, 1A, 1B, 1C Unmanned air vehicle (Drone)
Reference Signs List 2 housing 4 arm 6 motor 8 propeller 10 suspension member 12 gimbal 14 camera 20 winding device 22 wire 24 annular member 32 fixing member 40 upper gimbal 50 string member (wire)
70 Control unit (Propo)

Claims (7)

A mobile device that acquires external information, and
An annular member for slidably connecting with the string-like member stretched between the two separated positions;
A wire connected to the annular member;
Winding means connected to the wire on the side opposite to the annular member for performing winding and feeding of the wire;
A plurality of propellers for obtaining thrust for the movement device to move;
Information acquisition means for acquiring external information;
Attitude control means for controlling the attitude of the information acquisition means;
Mobile device having The attitude control means
Suspension means for suspending the information acquisition means;
Vertical maintenance means for rotating the mass of the information acquisition means and maintaining the vertical state of the suspension means, having at least one rotatable portion;
The mobile device according to claim 1, comprising: The information acquisition means is
It is connected to the moving device via a posture changing means for changing the posture,
The attitude control means
Attitude calculation means for calculating an attitude during movement of the moving device prior to movement of the moving device;
Offset operation calculating means for calculating an offsetting operation which is an operation of the attitude changing device for maintaining the attitude of the information acquisition unit based on the attitude of the moving device calculated by the attitude calculating means;
Cancellation operation implementing means for performing the cancellation operation;
The mobile device according to claim 1, comprising: And a stop rotation means for rotating the plurality of propellers at a rotation speed required to generate a lift smaller than the gravity generated by the mass of the moving device when the moving device stops.
The mobile device according to any one of claims 1 to 3. The attitude calculation means calculates a change in attitude of the movement device between the start of movement of the movement device and the end of movement.
The mobile device according to claim 3. The number of the plurality of propellers is an even number greater than four,
A propeller set is formed by two of the propellers disposed on a straight line,
The two propellers constituting the propeller set rotate in opposite directions,
The rotational axes of the two propellers constituting the propeller set are disposed at the same angle (except for an angle of 90 degrees) about the straight line,
The angle of inclination of the plurality of propellers is the same, and the direction of the inclination is different.
The attitude control means is configured to move the moving device in the horizontal direction while maintaining the level of the moving device by controlling the vertical component and the horizontal component of the thrust generated by the rotation of the plurality of propellers. The mobile device according to claim 1. The number of the plurality of propellers is an even number greater than four,
A propeller set is formed by two of the propellers disposed on a straight line,
The two propellers constituting the propeller set rotate in opposite directions,
The rotational axes of the two propellers constituting the propeller set are arranged with an inclination of 90 degrees in the same direction about the straight line,
The direction of the inclination of the plurality of propeller sets is different,
The attitude control means is configured to move the moving device in the horizontal direction while maintaining the level of the moving device based on the horizontal component of the thrust generated by the rotation of the plurality of propellers. The mobile device according to 1.