JP2019201409A - Flight unit and control method of flight unit - Google Patents

Abstract

To provide a new technology relating to a method of moving cargo L between flight units.SOLUTION: The present invention relates to a method of moving a cargo L between flight units using a first flight unit and a second flight unit in the air. The first flight unit and the second flight unit each comprise a rotary wing, an arm part supporting the rotary wing, and a loading part for loading a cargo L. The arm part and the loading part are configured to be independently displaceable in at least the horizontal direction and the vertical direction. The method includes a step of positioning the first flight unit under the second flight unit, a step of locking relative positions of the first flight unit and the second flight unit, and a step of pulling up the cargo L on the loading part of the first flight unit to the loading part of the second flight unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an aircraft and a method for controlling the aircraft.

  In recent years, attempts have been made to deliver packages L using a flying body such as a drone or an unmanned aerial vehicle (UAV) (hereinafter collectively referred to as a “flying body”).

  For example, in various events such as sports and concerts, or in surveys of building facilities such as buildings and apartments, aerial photography using a rotary wing machine called a drone or multicopter may be performed. This kind of rotary wing machine is being applied not only to aerial photography but also to fields such as transportation of luggage L.

  In Patent Document 1, a rotary wing machine having a plurality of rotary blades, a support unit installed vertically downward from the center of the rotary blade machine, a mounting unit installed at an end part vertically below the support unit, An aerial imaging rotary wing machine system comprising a tethered rope connected to the bottom of the mounting part, one end of the tethering rope connected to the vertically lower end of the mounting part, and the other end of the tethering rope locked to the ground It is disclosed.

  Patent Document 1 discloses a delivery system using a rotary wing machine (for example, Patent Document 1). In the delivery system, a rotary wing machine (drone) autonomously forms a shipping list for delivering a package L to be delivered to a delivery destination.

JP 2013-79043 A US Patent Publication No. 2015-0120094 A1

  An object of the present invention is to provide a new technique different from Patent Document 1 and Patent Document 2.

  ADVANTAGE OF THE INVENTION According to this invention, the new technique regarding the flying body and the control method of a flying body is obtained.

  ADVANTAGE OF THE INVENTION According to this invention, the new technique regarding the control method of an aircraft and a flight body can be provided.

It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention. It is a figure of the flying body used for embodiment of this invention.

<Details of the embodiment>
Hereinafter, a flying object and a flying object control method according to an embodiment of the present invention will be described with reference to the drawings.

In the following description, terms may be used according to the following definitions.
Front / rear direction: + X direction and X direction Up / down direction (or vertical direction): + Z direction and Z direction Left / right direction (or horizontal direction): + Y direction and Y direction Traveling direction (front): + X direction Backward direction (rear): -X Direction Up direction (upward): + Z direction Downward direction (downward): -Z direction

<Configuration of the flying object>
The flying object described below generally has the following configuration.

<Control unit>
It has a flight controller and sensors, observes / estimates the flight state, and calculates a command to be sent to the power unit in order to realize a desired operation.

  The flight controller can include a programmable processor (eg, a central processing unit (CPU)) and the like, and can include a logic code executable by the flight controller and a memory for storing program instructions. good.

  The memory may include, for example, a detachable medium such as an SD card or an external storage device. Data obtained from cameras and sensors may be transmitted directly to the memory and stored. For example, still image / moving image data shot by a camera or the like is recorded in a built-in storage device or an external storage device.

  Sensors in the control unit may include inertial sensors (acceleration sensors, gyro sensors, etc.), GPS sensors, proximity sensors (eg, LIDAR), or vision sensors (eg, cameras).

<Power section>
A thrust generator and a thrust controller such as a motor, an ESC (Electronic Speed Controller), and a propeller are provided, and a desired flight is realized by receiving signals from a flight controller and a transceiver. The thrust generator may use a gasoline engine or the like in addition to the electric motor.

  In the propeller of the present invention, the blade has an elongated shape. There may be any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades). Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof.

  In addition, the shape of a blade | wing can change (for example, expansion / contraction, folding, bending, etc.). The vanes may be symmetrical (having the same upper and lower surfaces) or asymmetric (having differently shaped upper and lower surfaces).

  The vanes can be formed into a suitable geometry to generate dynamic aerodynamic forces (eg, lift, thrust) as the vanes are moved through the air, wings, or air. The blade geometry can be selected as appropriate to optimize the dynamic air characteristics of the blade, such as increasing lift and thrust and reducing drag.

  The motor causes the rotation of the propeller. For example, the drive unit can include an electric motor or an engine. The vanes can be driven by a motor and rotate around a rotation axis of the motor (eg, the long axis of the motor) in a clockwise and / or counterclockwise direction.

  All the blades can rotate in the same direction, or can rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction. All of the blades can be rotated at the same rotational speed, and can be rotated at different rotational speeds. The number of rotations can be determined automatically or manually based on the dimensions (for example, size, weight) of the moving body and the control state (speed, moving direction, etc.).

  The flying object has an arm (frame) that supports a corresponding motor and propeller. The arm may be provided with a coloring body such as an LED to indicate the flight state, flight direction, etc. of the flying body. The arm according to the present embodiment can be formed of a material appropriately selected from carbon, stainless steel, aluminum, magnesium, etc., or alloys or combinations thereof.

  The flying body may include a mounting portion as necessary. The mounting unit is a mechanism for mounting and holding a mounting object (camera, luggage L holding unit, work tool, etc.). The mounting unit may be configured to always hold the state in a predetermined direction (for example, the horizontal direction (vertically downward)) so that the mounting object position and orientation can be maintained.

  The mounting portion may be connected to the arm via a connection portion (gimbal: a connection portion that can be displaced within a predetermined range). In this case, the mounting object is configured to bend according to the inclination of the flying object, with the connecting portion as a fulcrum. According to such a configuration, the arm portion and the mounting portion of the flying object are connected via the connection portion so as to be independently displaceable. The angle of displacement is not particularly limited. For example, even when the flying object flies in a forward leaning posture, it is only necessary to keep the position and direction of the mounted object horizontal. As a result, the mounted object is always held in a state of being suspended vertically downward, and can be delivered to the destination while maintaining the position and state at the departure point.

  The connecting portion according to the present embodiment is movable (uniaxial gimbal) only in the front-rear direction, which is the same direction as the traveling direction. However, it may also be movable in the left-right direction (biaxial gimbal).

  The connecting portion may be controlled by a motor or the like. Thereby, the wobbling (natural vibration or the like) of the mounted object is further prevented during the flight.

  The shape / mechanism of the mounting portion is not particularly limited as long as it can store and hold the mounting target, and any method can be used as long as the mounting target can tilt or hold its position. It may be anything. In addition, on the mounting part, sensors for obtaining visual information such as cameras, various sensors for detecting the standby state such as wind power, information transmission devices such as speakers and monitors, gripping and cutting objects, etc. There may be provided a working unit for performing the above.

<Transmitter / receiver>
Arbitrary communication means such as wired communication or wireless communication is provided with other flying objects and pilots, and arbitrary information can be transmitted to and received from the control unit and power unit.

<Power source>
Provide an energy source such as a battery. You may provide not only electrical energy but chemical energy, such as gasoline, and an energy conversion module. Further, for example, a power storage module by non-contact power feeding such as wireless power transmission may be provided.

<Other sensors and operating parts>
There may be a sensor and an operation mechanism provided for the purpose of not taking part directly in realizing the flight such as aerial photography or radio wave relay. For example, there are a camera sensor, a temperature sensor, a gimbal mechanism, a property dropping mechanism, and the like.

  The configuration described above can be adopted in all or part of the embodiments described below. In addition, since the present application includes many embodiments, the same reference numerals may be assigned to different configurations in different embodiments. In this case, refer to each embodiment and each drawing referred to in the embodiment. Moreover, as long as the purpose does not contradict each embodiment, it is possible to combine some elements as appropriate.

(First embodiment)
As shown in FIGS. 2 to 4, the arm portion and the loading portion of the flying body according to the present embodiment are configured to be independently displaceable at least in the horizontal direction and the vertical direction. More specifically, as shown in FIG. 4, the flying object includes a plurality of (for example, four) rotor blades, a flight unit including a motor that rotates the rotor blades, and a frame that supports the motor, and the flight. And a mounting part located at the center of the part. The frame includes a portion having a rectangular shape in the center and an enclosed space inside. The mounting portion exists at least partially in the enclosed space. The frame and the mounting portion are connected by a gimbal and a gimbal that can be displaced in the pitch direction and the roll direction (more precisely, a partial rotational displacement). The mounting part has a rail part which can move a load.

  As shown in FIG. 2, a method of moving the load L mounted on the mounting portion between the first flying body (lower flying body) and the second flying body (upper flying body) is as follows. Done. First, the first flying object is positioned below the second flying object.

  At this time, the relative positions (velocities) of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software. In the figure, since the cargo L is being delivered while proceeding in the left direction, the flying portion is shown tilted, but in the stationary state, the flying portion is parallel to the horizontal direction.

  Subsequently, the load L in the loading unit of the first flying object is pulled up to the loading unit of the second flying object (see FIG. 2). Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

(Other moving methods of this embodiment)
Another moving method according to the present embodiment is performed as follows. First, the first flying object is located above the second flying object (not shown).

  At this time, the relative positions (velocities) of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled down to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

(Second Embodiment)
The mounted object replacement method according to the present embodiment transfers the mounted object that the first flying object has to the second flying object. Since the configuration of each flying object has the same configuration as that of the first embodiment, description thereof is omitted.

  Similar to the first embodiment, the moving method is performed as follows. First, the first flying object is positioned below the second flying object.

  At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  As shown in FIGS. 6-8, in the locked state, each of the range of rotation of the propeller of the first aircraft (the element that generates the wake) is at least partially with respect to the propeller of the second aircraft. It is maintained in a non-overlapping state. Accordingly, at least the wake region B2 of the upper second flying object does not overlap with the wake region B1 of the lower flying object.

  Subsequently, the load L in the loading unit of the first flying object is pulled up to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

  In the present embodiment, when the positions of the first flying object and the second flying object are relatively locked, the horizontal direction is shifted by approximately 45 degrees. Thereby, it becomes possible to minimize the disturbance of the wake of the propeller.

(Third embodiment)
As shown in FIG. 5, at the time of takeoff (initial state), the flying body takes off in a state (stacked state) in which the first flying body (master aircraft) and the second flying body (child aircraft) are stacked. .

  Since the airframes are connected to each other, the shape can be regarded as a pseudo octocopter in the stacked state.

  At the time of flight, the battery of the parent device may be prioritized and consumed. Thereby, the subunit | mobile_unit can start operation by a full charge at the time of isolation | separation.

  The slave unit can be separated (detached) from the master unit, and can be combined (docked) with another master unit (second master unit).

Hereinafter, the state at the time of takeoff and at the time of flight will be described in two patterns.
A: A parent device (stacks child devices) and B: A child device (having baggage L). In the following, “A” represents the parent device, “B” represents the child device, and the subscript numbers are individual.
<Pattern 1>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
At takeoff, the main unit A1 and the sub unit B1 fly in a combined state. In the sky, the child device B1 is separated from the parent device A1 (see FIG. 5B).
<Pattern 2>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
Distance extension 1 B1 + A2 (coupled to other base unit A2)
Base unit 2 separation B1 (separated from A2)
Distance extension 2 B1 + A3 (Further connected to other base unit A3)
Base unit 2 separation B1 (separated from A3)
As shown in FIG. 5 (c), at the time of takeoff, the main unit A1 and the sub unit B1 fly in a combined state (takeoff 1). After flying for a predetermined time in the sky, the slave unit B1 is separated from the master unit A1 (separation 2). The slave unit B1 is coupled to the other master unit A2 (couple 3). Up to this point, the pattern 2 is the same as the pattern 2 shown in FIG. When the flight distance is further increased in a state where the parent device A2 and the child device B1 are combined, the child device B1 is separated from the parent device A2 (separation 5). In the coupled state, the propeller of only the parent device (or the propeller of the child device) may be rotated only by the power source (battery) of the parent device. Further, the state of the battery of the slave unit may be detected, and the battery of the slave unit may be charged from the battery of the master unit accordingly.

  By carrying the luggage L on the slave unit and guiding the new master unit when the remaining battery level is low, it is possible to deliver the product over a long distance, which is impossible by itself.

<Configuration according to this embodiment>
A flying object comprising a first flying object and a second flying object that can be connected to and detached from the first flying object,
A flying object configured to be detachable from the second flying object in the air.

(Fourth embodiment)

  In the fourth embodiment, the power of the flying object in the third embodiment is changed from a power source derived from electric power such as a motor to an internal combustion engine. At the time of take-off (initial state), the flying body takes off in a state where the first flying body (master aircraft) and the second flying body (child aircraft) are stacked (stacked state) (example of aircraft structure: FIG. 6 to FIG. 6) (Shown in FIG. 8).

  The power source of the parent machine is an internal combustion engine.

  In the stacked state, the shape is a pseudo octocopter.

  At the time of flight, priority is given to the battery of the parent machine to consume power. Thereby, the subunit | mobile_unit can start operation by a full charge at the time of isolation | separation.

  The slave unit can leave the master unit and dock with another master unit (second master unit).

Hereinafter, the state at the time of takeoff and flight will be described.
A: A parent device (stacks child devices) and B: A child device (having baggage L).
<Pattern 1>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
<Pattern 2>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
Distance extension 1 B1 + A2
Base unit 2 separation B1 (separated from A2)
Distance extension 2 B1 + A3
Base unit 2 separation B1 (separated from A3)

  By carrying the luggage L on the slave unit and guiding the new master unit when the remaining battery level is low, it is possible to deliver the product over a long distance, which is impossible by itself.

<Configuration according to this embodiment>
A flying object comprising a first flying object that uses an internal combustion engine as a power source, and a second flying object that can be connected to and detached from the first flying object,
A flying object configured to be detachable from the second flying object in the air.

(Fifth embodiment)

  In the fifth embodiment, the flying body in the third embodiment is changed from a rotary wing aircraft to a fixed wing aircraft. At the time of take-off (initial state), the flying body takes off in a state (stacked state) in which the first flying body (master aircraft) and the second flying object (child aircraft) are stacked.

  The main aircraft is a fixed wing aircraft. That is, the main wing is fixed to the aircraft, and the aircraft advances to generate lift and fly.

  In the stacked state, the shape is a pseudo octocopter.

  At the time of flight, priority is given to the battery of the parent machine to consume power. Thereby, the subunit | mobile_unit can start operation by a full charge at the time of isolation | separation.

  The slave unit can leave the master unit and dock with another master unit (second master unit).

Hereinafter, the state at the time of takeoff and flight will be described.
A: A parent device (stacks child devices) and B: A child device (having baggage L).
<Pattern 1>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
<Pattern 2>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
Distance extension 1 B1 + A2
Base unit 2 separation B1 (separated from A2)
Distance extension 2 B1 + A3
Base unit 2 separation B1 (separated from A3)

  By carrying the luggage L on the slave unit and guiding the new master unit when the remaining battery level is low, it is possible to deliver the product over a long distance, which is impossible by itself. In addition, since the base unit has fixed wings, it is possible to deliver the luggage L farther.

<Configuration according to this embodiment>
A flying object comprising a first flying object having a fixed wing and a second flying object that can be connected to and detached from the first flying object,
A flying object configured to be detachable from the second flying object in the air.

(Sixth embodiment)

  As shown in FIGS. 9 and 10, the flying body according to the present embodiment is configured such that the arm portion and the loading portion can be independently displaced at least in the horizontal direction and the vertical direction.

  The movement method is performed as follows. First, the first flying object is positioned below the second flying object.

  At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled up to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

  As shown in FIGS. 9 and 10, the first flying object can change the distance between the motors (motor span) in the sky. That is, the length (from the center) of the motor arm is variable (or different lengths from the beginning for the first flying object and the second flying object). Thereby, when viewed from the vertical direction, the propellers of the first flying object and the second flying object do not overlap, so that the flight efficiency can be improved.

  The motor span may be variable for only the first aircraft, only the second aircraft, and both the first and second aircraft.

(Modification)
The moving method according to the modification of the present invention is performed as follows. First, the first flying object is located above the second flying object.

  At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled down to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

<Configuration according to this embodiment>
In the air, a method for moving the luggage L between the aircraft using the first aircraft and the second aircraft,
Each of the first flying body and the second flying body includes a plurality of rotor blades, a power unit that rotates each of the rotor blades, an arm unit that supports the power unit, and a load that loads the luggage L. And
A standby step in which the first aircraft is located below the second aircraft;
A fixing step of locking a relative position between the first flying object and the second flying object;
A replacement step of lifting the load L of the loading unit of the first flying object to the loading unit of the second flying object,
At least one of the first flying body and the second flying body moves the distances of the plurality of power units from each other, so that the first flying body has the first flying body when viewed from the vertical direction at least in the fixing step. The rotary wing and the rotary wing of the second flying object are configured not to overlap.
Luggage L movement method between flying bodies.

(Seventh embodiment)

  As shown in FIG. 11 to FIG. 13, the flying body according to the present embodiment is configured such that the arm portion and the loading portion can be displaced (bent) independently or automatically in at least the horizontal and vertical directions. Has been.

  The movement method is performed as follows. First, the first flying object 1 is positioned below the second flying object '.

  At this time, the relative positions of the first flying object 1 and the second flying object 'are locked (locked state). As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled up to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

  As shown in FIG. 11, in the upper second flying body, the wake generation direction of the rotor blade is changed by changing the angle of the arm in the sky. Specifically, each arm is displaced so as to form a predetermined angle with respect to the horizontal plane.

  Thereby, at least in the locked state, the rotor wings of the first aircraft do not overlap with the region where the wake generated from the rotor wings of the second aircraft acts.

  As described above, according to the present invention, when viewed from the vertical direction, the second aircraft wake region does not overlap the propeller of the first aircraft, so that the flight efficiency can be improved.

The bending angle may be such that only the first flying object, only the second flying object, or both the first flying object and the second flying object are displaced.
(Modification)
The moving method according to the modification of the present invention is performed as follows. First, the first flying object is located above the second flying object.

  At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled down to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

<Configuration according to this embodiment>
In the air, a method for moving the luggage L between the aircraft using the first aircraft and the second aircraft,
Each of the first flying body and the second flying body includes a plurality of rotor blades, a power unit that rotates each of the rotor blades, an arm unit that supports the power unit, and a load that loads the luggage L. And
A standby step in which the first aircraft is located below the second aircraft;
A fixing step of locking a relative position between the first flying object and the second flying object;
A replacement step of lifting the load L of the loading unit of the first flying object to the loading unit of the second flying object,
At least one of the first flying body and the second flying body changes the rearward flow generation direction of the rotary wing, thereby generating the rear generated from the rotary wing of the first flying body at least in the fixing step. It is configured so that the rotor of the second flying object does not overlap in the region where the flow acts,
Luggage L movement method between flying bodies.

(Eighth embodiment)
As shown in FIGS. 14 to 16, the arm portion of the flying body according to the present embodiment is configured to be independently displaceable at least in the horizontal direction and the vertical direction. In addition, the length of the motor arm of the flying object is variable.

  The movement method is performed as follows. First, the first flying object is positioned below the second flying object.

  At this time, the relative positions of the first flying object and the second flying object are locked (locked state). As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled up to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

  As shown in FIG. 2, the first flying object can change the distance between the motors (motor span: the length of the motor arm) in the sky. Thereby, when viewed from the vertical direction, the propellers of the first flying object and the second flying object do not overlap, so that the flight efficiency can be improved.

  Further, the first flying object is changed in the wake generation direction of the rotor wing by changing the angle of the arm in the sky.

  Thus, at least in the locked state, the rotor wing of the second aircraft does not overlap with the region where the wake generated from the rotor wing of the first aircraft acts.

  As described above, according to the present invention, when viewed from the vertical direction, the propellers of the first flying object and the second flying object do not overlap, so that the flight efficiency can be improved.

  The motor span may be variable for only the first aircraft, only the second aircraft, and both the first and second aircraft.

(Modification)
The moving method according to the modification of the present invention is performed as follows. First, the first flying object is located above the second flying object.

  At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or the positions of each other may be locked by software.

  Subsequently, the load L in the loading unit of the first flying object is pulled down to the loading unit of the second flying object. Thereby, the movement of the luggage L from the first flying object to the second flying object is completed.

<Configuration according to this embodiment>
In the air, a method for moving the luggage L between the aircraft using the first aircraft and the second aircraft,
Each of the first flying body and the second flying body includes a plurality of rotor blades, a power unit that rotates each of the rotor blades, an arm unit that supports the power unit, and a load that loads the luggage L. And
A standby step in which the first aircraft is located below the second aircraft;
A fixing step of locking a relative position between the first flying object and the second flying object;
A replacement step of lifting the load L of the loading unit of the first flying object to the loading unit of the second flying object,
At least one of the first aircraft and the second aircraft is:
At least one of the first flying body and the second flying body moves the distances of the plurality of power units from each other, so that the first flying body has the first flying body when viewed from the vertical direction at least in the fixing step. The rotor wing and the rotor of the second aircraft are configured so as not to overlap, and
By changing the direction of generation of the wake of the rotary wing, the rotary wing of the second flying body does not overlap with the region where the wake generated from the rotary wing of the first flying body acts at least in the fixing step. Configured as
Luggage L movement method between flying bodies.

(Ninth embodiment)

  The flying object according to the present embodiment is a multi-copter composed of a parent machine and a child machine equipped with different pitches of propellers.

  The aircraft aims to reach the highest altitude with a fixed pitch propeller.

  The propeller of the parent machine (first rotary wing machine) has a normal pitch. The subunit | mobile_unit (2nd rotary wing machine) has a deep pitch corresponding to a high place. That is, the inclination angle (rake angle) of the propeller of the slave unit is larger than that of the parent propeller.

  At a certain height from take-off, the rotor blades of both aircrafts are used to ascend. Disconnect the handset when it reaches a high altitude. The slave unit starts its operation in a fully charged state, and further rises to an altitude that cannot be reached by a normal multicopter by means of a propeller with a pitch deeper than usual.

  It can also be applied to industrial drones.

  With the security multicopter, it is possible to obtain the effect of shortening the time to reach a certain altitude within a few seconds of takeoff and extending the operation time.

  It can also be used for military purposes, and the parent aircraft has a so-called mother ship function.

<Configuration according to this embodiment>
A composite aircraft including a first rotary wing aircraft and a second rotary wing aircraft that can be connected to and detached from the first rotary wing aircraft,
An inclination angle related to a propeller of a rotary blade included in the first rotary wing machine and an inclination angle related to a propeller of a rotary blade included in the second rotary wing machine are different from each other.
Compound aircraft.

(Tenth embodiment)
The flying object according to the present embodiment is a multi-copter composed of a parent machine and a child machine equipped with different pitches of propellers.

  The aircraft aims to reach the highest altitude with a fixed pitch propeller.

  The propeller of the parent machine (first rotary wing machine) has a normal pitch. The subunit | mobile_unit (2nd rotary wing machine) has a deep pitch corresponding to a high place. That is, the inclination angle (rake angle) of the propeller of the slave unit is larger than that of the parent propeller.

  Further, the propeller of the slave unit according to the present embodiment has a variable pitch, and the tilt angle can be changed.

  Further, in order to further increase the flight efficiency, the propeller may be a counter-rotating rotor (twin rotor).

  At a certain height from take-off, the rotor blades of both aircrafts are used to ascend. Disconnect the handset when it reaches a high altitude. The slave unit starts its operation in a fully charged state, and further rises to an altitude that cannot be reached by a normal multicopter by means of a propeller with a pitch deeper than usual.

  It can also be applied to industrial drones.

  With the security multicopter, it is possible to obtain the effect of shortening the time to reach a certain altitude within a few seconds of takeoff and extending the operation time.

  It can also be used for military purposes, and the parent aircraft has a so-called mother ship function.

<Configuration according to this embodiment>
A composite aircraft including a first rotary wing aircraft and a second rotary wing aircraft that can be connected to and detached from the first rotary wing aircraft,
The tilt angle related to the propeller of the rotor blades of the first rotary wing machine and the tilt angle related to the propeller of the rotor blades of the second rotary wing machine are different from each other.
The inclination angle of the second rotary wing aircraft is variable;
Compound aircraft.

(Eleventh embodiment)
As shown in FIG. 17 to FIG. 19, the arm portion according to the present embodiment has a cross-sectional shape of a water drop type (sometimes called a scissors type or a tear type). The rounded front end portion faces upward (vertical direction), and the rear end portion, which is an edge, faces downward.

  The arm part is often present in the wake area of the propeller, and when the cross section is a square or a circle, the wake is hindered. By making the cross-sectional shape of the arm portion as described above, aerodynamic resistance can be reduced. According to the above, since the aerodynamics can be optimized without hindering the wake generated by the motor, the flight efficiency is improved.

<Configuration according to this embodiment>
A rotary wing machine having a power unit and an arm unit for supporting the power unit,
The arm portion has a water drop shape in cross section,
The rounded portion of the water drop type faces upward, and the edge of the water drop type faces downward,
Rotorcraft.

(Twelfth embodiment)
As shown in FIG. 20 to FIG. 22, the arm portion according to the present embodiment has a water-drop-shaped cross section (sometimes called a scissors shape or a tear shape). The rounded front end portion faces forward, and the rear end portion, which is an edge, faces rearward.

  According to this configuration, the arm portion can reduce air resistance when tilting forward. As for the shape of the arm portion, an appropriate angle of attack θ is set according to the position of the arm portion, the forward tilt angle of the rotary wing machine during forward movement, and the like. In addition, you may provide the mechanism which rotates an arm part around an axis | shaft. In this case, the angle-of-attack θ may be adjusted so that a virtual straight line connecting the front end and the rear end is in a predetermined direction according to the angle at the time of advance of the flying object (see FIG. 22).

  According to such a configuration, the wake generated by the motor is not hindered, and the aerodynamic force when the rotary wing aircraft is tilted forward can be optimized, thereby improving flight efficiency.

<Configuration according to this embodiment>
A rotary wing machine having a power unit and an arm unit for supporting the power unit,
The arm portion has a water drop shape in cross section,
The rounded portion of the water drop type faces forward, and the edge of the water drop type faces rearward,
Rotorcraft.

(Thirteenth embodiment)
As shown in FIG. 23 to FIG. 25, the arm portion according to the present embodiment has a water-drop-shaped cross section (sometimes called a spider-shaped or tear-shaped). The arm part has a first part in which the water-drop type rounded part faces upward and the water-drop type edge faces downward, and the water-drop type rounded part faces forward and the water-drop type round part The edge has a second portion facing rearward.

  The first part is located immediately below the rotation range of the propeller (that is, the position where the propeller wake flows) when viewed from above.

  The second part is located outside the region where the wake of the propeller is generated. In addition, an appropriate angle of attack is set as the shape of the arm portion according to the position of the arm portion, the forward tilt angle of the rotary wing machine during advance, and the like. That is, when the flying object is moving horizontally (that is, when the flying object is tilted forward), the second portion is parallel to the horizontal direction. That is, in the initial state, the second portion is given a positive angle of attack θ by a predetermined angle from the horizontal direction (see FIG. 23).

  According to this configuration, the arm portion can reduce air resistance when tilting forward.

  According to such a configuration, the wake generated by the motor is not hindered, and the aerodynamic force when the rotary wing aircraft is tilted forward can be optimized, thereby improving flight efficiency.

<Configuration according to this embodiment>
A rotary wing machine having a power unit and an arm unit for supporting the power unit,
The cross section of the arm portion has a water droplet shape,
The arm portion has a first portion in which the water-drop-type rounded portion faces upward, and the water-drop-type edge faces downward, and the water-drop-type rounded portion faces forward. The drop-shaped edge has a second portion facing rearward;
Rotorcraft.

(Fourteenth embodiment)
As shown in FIGS. 26 to 28, the motor pipe according to the present embodiment is a motor pipe optimized for generating an updraft.

  It is possible to reduce the upward projection area and improve the updraft resistance. When viewed from above, it is a Y-shaped pipe.

(Fifteenth embodiment)
As shown in FIGS. 29 to 31, the motor pipe according to the present embodiment is a motor pipe that has both a countermeasure for generating an updraft and an improvement in fuel consumption.

  It is possible to reduce the upward projection area and to improve the updraft resistance. A positive water drop type pipe can be applied to the position where the wake behind the propeller is strong. A reverse water drop type pipe can be applied to a portion where the propeller wake does not occur.

(Sixteenth embodiment)
As shown in FIGS. 32 to 35, the arm portion according to the present embodiment has a space for mounting the arm in the center in the cross section, and the overall shape thereof is a water drop type (eg, a spider type, a tear type). Have a name). The attachment is attached so as to sandwich the arm portion. The attachment and the arm are integrated with each other and have a water droplet shape (see FIG. 32). At this time, as a whole, the rounded portion of the water drop type faces upward, and the edge of the water drop type faces downward.

  Thus, aerodynamics can be optimized afterwards by attaching attachments to existing aircraft.

  In addition, it is good also as only attaching partially to the part which a propeller wake flows generate | occur | produces strongly.

  According to such a configuration, the wake generated by the motor is not hindered, and the aerodynamic force when the rotary wing aircraft is tilted forward can be optimized, thereby improving flight efficiency.

<Configuration according to this embodiment>
An attachment for a rotorcraft arm,
An attachment for an arm having a water droplet shape in which the arm and the attachment for the arm are integrated when the arm of the rotary wing machine is sandwiched.

(Seventeenth embodiment)
The rotary wing aircraft according to the present embodiment acquires the direction in which the camera is facing and the date and time by GPS.

  When determining that the camera unit is facing the light source direction such as the sun, the retrograde processing unit changes the imaging parameter of the camera unit to the retrograde mode.

<Configuration according to this embodiment>
A rotary wing machine having a camera unit,
When the camera unit is facing the light source direction, the camera unit further includes a retrograde processing unit that changes the imaging parameter to the retrograde mode.
Rotorcraft.

(Eighteenth embodiment)
The time measuring device according to the present embodiment includes a flying object and a detection unit that detects a shadow of the flying object.

  The detection unit detects the azimuth information and the shadow of the flying object against the sun, and calculates the current time.

(Nineteenth embodiment)
The rotorcraft according to the present embodiment is a method for flying a rotorcraft having a plurality of rotors and a control unit that controls the operation of the rotors.

  The control unit executes a step of detecting that an abnormality has occurred in any of the rotors, and a step of controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is directed in the traveling direction.

  As a result, the rotor in which an abnormality has occurred is positioned in a direction where the load is low, so that the risk of falling can be prevented.

<Configuration according to this embodiment>
A method of flying a rotorcraft having a plurality of rotors and a control unit that controls the operation of the rotors,
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Controlling the attitude of the rotorcraft so as to direct the rotor in which the abnormality has occurred in the traveling direction;
Run the
How to fly a rotorcraft.

(20th embodiment)
The rotorcraft according to the present embodiment relates to a rotorcraft that can be controlled safely even when the rotor is down by one system by making the center of gravity variable.

  A rotary wing machine includes a plurality of rotors, an arm provided with the rotor, a main body connected to be displaceable independently of the arm, and a control unit that controls the operation of the rotor. Is the flight method.

  The control unit performs a step of detecting that an abnormality has occurred in any of the rotors, and a step of controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is positioned forward in the traveling direction. .

  As a result, the rotor in which an abnormality has occurred is positioned in a direction where the load is low, so that the risk of falling can be prevented.

  Further, by making the position of the rotor variable, it is possible to safely control even when the rotor is down by one system.

  The rotary wing aircraft is a method of flying a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a control unit that can change the position of the rotor on the arms.

  The control unit executes a step of detecting that an abnormality has occurred in any of the rotors, and controlling the posture of the rotorcraft by adjusting the position of a rotor other than the rotor in which the abnormality has occurred.

  As a result, the rotor where the abnormality has occurred is positioned in a direction with less load, so that the risk of falling can be prevented.

<Configuration 1 according to this embodiment>
A method of flying a rotary wing aircraft, comprising: a plurality of rotors; an arm provided with the rotor; a main body connected to be displaceable independently of the arm; and a control unit that controls the operation of the rotor. And
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Controlling the attitude of the rotorcraft so as to direct the rotor in which the abnormality has occurred in the traveling direction;
Run the
How to fly a rotorcraft.

<Configuration 2 according to the present embodiment>
A method of flying a rotorcraft having a plurality of rotors, an arm provided with the rotor, and a control unit that makes the position of the rotor variable on the arm,
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Controlling the attitude of the rotorcraft by adjusting the position of a rotor other than the rotor in which the abnormality has occurred;
Run the
How to fly a rotorcraft.

(Twenty-first embodiment)
The rotorcraft according to the present embodiment relates to a rotorcraft that can be controlled safely even when the rotor is down by one system by making the center of gravity variable.

  The rotary wing aircraft is a method of flying a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a flap portion. The flap part may be movably attached to the propeller, or may be provided at a place other than the propeller.

  A control part performs the step which detects that abnormality has generate | occur | produced in either of the rotors, and the step which controls the attitude | position of this rotary wing machine by enlarging resistance using a flap part.

  As a result, the rotor where the abnormality has occurred is positioned in a direction with less load, so that the risk of falling can be prevented.

<Configuration according to this embodiment>
A method of flying a rotorcraft having a plurality of rotors, an arm provided with the rotor, and a flap portion,
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Controlling the attitude of the rotorcraft using the flap;
Run the
How to fly a rotorcraft.

(Twenty-second embodiment)
The rotorcraft according to the present embodiment relates to a rotorcraft that can be safely controlled even when the rotor is down by one system.

  The rotary wing aircraft is a method of flying a rotary wing aircraft having a plurality of rotors, an arm portion provided with the rotor, and a tilt portion attached to the arm portion for tilting the rotor.

  The control unit executes a step of detecting that an abnormality has occurred in any of the rotors, and a step of controlling the attitude of the rotorcraft by tilting the rotor and changing the direction of thrust.

  As a result, the rotor in which an abnormality has occurred is positioned in a direction where the load is low, so that the risk of falling can be prevented.

<Configuration according to this embodiment>
A method of flying a rotorcraft having a plurality of rotors, an arm portion provided with the rotor, and a tilt portion attached to the arm portion for tilting the rotor,
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Controlling the attitude of the rotorcraft by tilting the rotor using the tilt unit;
Run the
How to fly a rotorcraft.

(Twenty-third embodiment)
The rotorcraft according to the present embodiment relates to a rotorcraft that can be controlled safely even when the rotor is down by one system by making the center of gravity variable.

  The rotary wing aircraft is a method of flying a rotary wing aircraft having a plurality of rotors, an arm portion provided with the rotor, and a tilt portion that tilts the arm portion.

  The control unit performs a step of detecting that an abnormality has occurred in any of the rotors, and a step of controlling the attitude of the rotorcraft by tilting the rotor together with the arms using the tilt unit. .

  As a result, the rotor in which an abnormality has occurred is positioned in a direction where the load is low, so that the risk of falling can be prevented.

<Configuration according to this embodiment>
A method of flying a rotorcraft having a plurality of rotors, an arm portion provided with the rotor, and a tilt portion for tilting the arm portion,
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Controlling the attitude of the rotorcraft by tilting the rotor together with the arm using the tilt unit;
Run the
How to fly a rotorcraft.

(24th Embodiment)
The rotorcraft according to the present embodiment relates to a rotorcraft that can be safely controlled even when the rotor is down by one system.

  The rotary wing aircraft is a method of flying a rotary wing aircraft having a plurality of rotors having a variable pitch propeller unit, an arm provided with the rotor, and a control unit that controls the operation of the rotor.

  The control unit executes a step of detecting that an abnormality has occurred in any of the rotors, and a step of controlling the rotational direction of at least a part of the rotor.

  As a result, the rotor in which an abnormality has occurred is positioned in a direction where the load is low, so that the risk of falling can be prevented.

<Configuration according to this embodiment>
A method of flying a rotorcraft having a plurality of rotors having a variable pitch propeller unit, an arm provided with the rotor, and a control unit for controlling the operation of the rotor,
The control unit is
Detecting that an abnormality has occurred in any of the rotors;
Maintaining the attitude of the rotorcraft by controlling the direction of rotation of at least a portion of the rotor;
Run the
How to fly a rotorcraft.

(25th embodiment)
The rotorcraft according to the present embodiment relates to a VR photographing material lens mounted on a multicopter.

  When a plurality of cameras are mounted on a VR drone, lenses having the same field angle are generally used.

However, when it is installed in a drone, there may be a merit of using the difference by combining different angles of view.

<Configuration according to this embodiment>
An aircraft including a plurality of camera units having different angles of view.

(Twenty-sixth embodiment)
This is a stitching method of image data acquired from a flying object including a first camera unit, a second camera unit, and an arm unit that supports these.

The first camera unit is provided above the second camera unit in the vertical direction. The first image data and the second image data are connected such that the area of the first image data photographed by the first camera unit is larger than the area of the second image data photographed by the second camera unit. To do.

  The existing software does not have the concept of setting the range of use for each material, but controls to make effective use of the material range of the lower camera.

<Configuration according to this embodiment>
An image processing method for image data acquired from a flying object including a first camera unit, a second camera unit, and an arm unit that supports these,
The first camera unit is provided above the second camera unit in the vertical direction,
The first image data and the second image data are set such that the area of the first image data photographed by the first camera unit is larger than the area of the second image data photographed by the second camera unit. Concatenate,
Image processing method.

(Twenty-seventh embodiment)
As shown in FIGS. 36 to 39, the flying object includes a plurality of camera units and an arm unit that supports the camera units. The arm portion supports the plurality of camera portions so as to be positioned on the virtual spherical surface.

  In a conventional multicopter, photographing is often performed with two camera sets that are divided into upper and lower parts.

  In this method, image quality degradation is concentrated on the horizon. The present invention distributes this image quality degradation over the entire screen.

  The cameras are arranged on a sphere, but need not be equally spaced.

<Configuration according to this embodiment>
A flying object including a plurality of camera units and an arm unit for supporting the camera units,
The arm unit is a flying object that supports the plurality of camera units so as to be positioned on a virtual spherical surface.

(Twenty-eighth embodiment)
As shown in FIG. 2, the flying method includes a motor unit. The method includes the steps of obtaining a log including information relating to the vibration of the vehicle during hovering, and prompting the user to replace the motor unit when a certain level of vibration is exceeded.

<Configuration according to this embodiment>
A flying object including a motor unit,
Obtaining a log containing information on the vibration of the vehicle during hovering;
If the vibration exceeds a certain level, the user is prompted to replace the motor unit.
Warning method.

  The warning method as described above, further comprising a step of forcibly stopping the flight when a state exceeding a certain level of vibration has elapsed for a certain period of time or when the vibration becomes strong.

(Twenty-ninth embodiment)
It is a warning method for users of rotorcraft equipped with multiple flight controllers by comparing flight controller and tachometer logs,
A warning method that prompts the user to replace the flight controller that seems to be defective by comparing the logs.

<Configuration according to this embodiment>
It is a warning method for users of rotorcraft equipped with multiple flight controllers by comparing flight controller and tachometer logs,
A warning method that prompts the user to replace the flight controller that seems to be defective by comparing the logs.

(Thirty Embodiment)
This is a warning method that urges the ESC to be replaced by comparing the flight controller and tachometer logs.

<Configuration according to this embodiment>
A warning method that compares the flight controller and tachometer logs to encourage ESC replacement that appears to be defective.

(Thirty-first embodiment)
If you use a lot of straight running posture, the load concentrates on a specific motor. During the operation period, consumption will be concentrated on a specific motor / motor controller.
From the viewpoint of distributing this, the concept of the “previous” position is periodically replaced.
Basically, self-sustained flight is assumed.

<Configuration according to this embodiment>
A propeller, a motor that rotates the propeller, an arm portion that supports the motor, and a detection unit that detects at least the state of the motor; A control method for a rotary wing aircraft that moves in a direction,
A rotary wing machine that changes a moving direction of the rotary wing machine according to a forward operation from the operator to a second horizontal direction different from the first horizontal direction based on the state detected by the detection unit. Control method.

(Thirty-second embodiment)
If you use a lot of straight running posture, the load concentrates on a specific motor. During the operation period, consumption will be concentrated on a specific motor / motor controller. From the viewpoint of distributing this, the concept of the “previous” position is periodically replaced. Basically, self-sustained flight is assumed.

  The rotary wing machine includes a propeller, a motor that rotates the propeller, an arm unit that supports the motor, and a detection unit that detects at least the state of the motor. According to the forward operation from the operator, at least the front or rear direction indication display in the first horizontal direction of the rotorcraft is displayed in a first pattern.

  When the addition is concentrated on the motor by the detection unit, the load distribution operation is activated. At this time, the moving direction of the rotorcraft according to the forward operation from the operator is changed to a second horizontal direction different from the first horizontal direction, and at least a front or rear direction indication display in the second horizontal direction is displayed. Display in 2 patterns.

  Specifically, the advancing direction display LED of the aircraft is automatically switched. When a load balancing operation occurs, the aircraft flies while changing the color of the LED.

<Configuration according to this embodiment>
A propeller, a motor that rotates the propeller, an arm portion that supports the motor, and a detection portion that detects at least the state of the motor, and the first horizontal of the rotorcraft according to a forward operation from an operator A method for controlling a rotary wing machine, wherein a direction indication display at least forward or backward of a direction is displayed in a first pattern,
Based on the state detected by the detector, the moving direction of the rotorcraft according to the forward operation from the operator is changed to a second horizontal direction different from the first horizontal direction, and the first A control method for a rotary wing machine, wherein the direction indication display at least forward or backward in two horizontal directions is displayed in a second pattern.

(Thirty-third embodiment)
If you use a lot of straight running posture, the load concentrates on a specific motor. During the operation period, consumption will be concentrated on a specific motor / motor controller. From the viewpoint of distributing this, the concept of the “previous” position is periodically replaced. Basically, self-sustained flight is assumed.

  The rotary wing machine includes a propeller, a motor that rotates the propeller, an arm unit that supports the motor, and a detection unit that detects at least the state of the motor. According to the forward operation from the operator, at least the front or rear direction indication display in the first horizontal direction of the rotorcraft is displayed in a first pattern.

  When the addition is concentrated on the motor by the detection unit, the load distribution operation is activated. At this time, the moving direction of the rotorcraft according to the forward operation from the operator is changed to a second horizontal direction different from the first horizontal direction, and at least a front or rear direction indication display in the second horizontal direction is displayed. Display in 2 patterns.

  Specifically, the advancing direction display LED of the aircraft is automatically switched. When a load balancing operation occurs, the aircraft flies while changing the color of the LED. In addition, the color of the LED is changed and the equipment mounting part including the skid is rotated.

<Configuration according to this embodiment>
A propeller, a motor that rotates the propeller, an arm portion that supports the motor, and a detection portion that detects at least the state of the motor, and the first horizontal of the rotorcraft according to a forward operation from an operator A method for controlling a rotary wing machine, wherein a direction indication display at least forward or backward of a direction is displayed in a first pattern,
Based on the state detected by the detector, the moving direction of the rotorcraft according to the forward operation from the operator is changed to a second horizontal direction different from the first horizontal direction, and the first A control method for a rotary wing machine, wherein the direction indication display at least forward or backward in two horizontal directions is displayed in a second pattern.

(Thirty-fourth embodiment)
As shown in FIGS. 40 to 42, the rotary wing machine includes a connecting portion that connects the mounting portion to the arm portion in a state where the mounting portion is movable within a predetermined range. Although the position of the connecting portion is above the center of gravity of the arm portion, it may be below the center of gravity, or may substantially match or match the center of gravity, depending on the application. Furthermore, when the connecting portion coincides with the center of gravity of the mounting portion, it becomes difficult to transmit the swing of the arm portion to the mounting portion. However, depending on the application, it may be above or below the center of gravity of the mounting portion. Ideally, the connecting portion is preferably provided at a location that matches or substantially matches both the center of gravity of the entire arm portion and the center of gravity of the mounting portion.

  The rotary wing machine further includes a hook portion that is connected to the mounting portion and hangs the rotary wing machine.

  In the conventional suspended rotary wing machine, it is difficult to suspend it from an overhead line depending on the direction of the wind. In other words, the wind is strong and it is impossible to take off. In the present proposal, for example, the corresponding arm portion and the mounting portion can be independently displaced by performing displacement with respect to the cross wind or the like, so that the hook portion of the mounting portion can always keep the vertical direction.

<Configuration according to this embodiment>
A plurality of rotor blades,
An arm portion for supporting the plurality of rotor blades;
A mounting section for mounting an object;
A connecting portion for connecting the mounting portion to the arm portion in a state where the mounting portion is movable within a predetermined range;
The position of the connecting portion substantially coincides with each of the center of gravity of the arm portion and the center of gravity of the mounting portion;
A rotorcraft,
The mounting portion further includes a hook portion.
Rotorcraft.

(Thirty-fifth embodiment)
As shown in FIG. 43 to FIG. 45, the rotary wing machine according to the present embodiment includes a plurality of rotary wings, an arm part that supports the plurality of rotary wings, and a detachable observation device (having a hook part). Mounting portion).

  It is not a rotorcraft that “hangs a drone on an electric wire”, but “the observation device only hangs on an electric wire, and the drone (flight part) becomes a transport aircraft” (see FIG. 43).

  It is possible to hang an I-type device consisting of a hook, a battery, an observation device, and the like on an electric wire. It can also be applied as a temporary monitoring camera at an event.

It is also assumed that countless observation cameras will be installed immediately after the tsunami. When a large-scale tsunami damage occurs,
Because the terrain changes greatly, data prepared in advance often does not work.
The purpose is to collect information in such an environment. The observation device can be a temporary mobile base station.

<Configuration according to this embodiment>
A rotary wing aircraft including a flying unit and an observation unit,
The observation unit is configured to be detachable from the rotorcraft, and has a hook part for hanging the observation unit.
Rotorcraft.

(Thirty-sixth embodiment)
As shown in FIGS. 46 to 48, the rotary wing aircraft according to the present embodiment includes a flying unit and an observation unit. The observation unit is configured to be detachable from the rotorcraft, and has a self-supporting unit for making the observation unit self-supporting.

  It is not a rotary wing aircraft that “hangs a drone on an electric wire”, but “the observation device is made independent on the ground, and the drone (flight part) becomes a transport aircraft” (see FIG. 46).

  I-type equipment consisting of members such as legs, batteries, observation equipment, etc., is made to stand at the destination. Assuming a temporary surveillance camera at an event.

It is also assumed that countless observation cameras will be installed immediately after the tsunami. When large-scale tsunami damage occurs, the topography changes greatly, so data prepared in advance often does not work.
The purpose is to collect information in such an environment. The observation device can be a temporary mobile base station.

<Configuration according to this embodiment>
A rotary wing aircraft including a flying unit and an observation unit,
The observation unit is configured to be detachable from the rotorcraft, and has a self-supporting unit for making the observation unit independent.
Rotorcraft.

(Thirty-seventh embodiment)
As shown in FIGS. 49 to 51, the rotary wing aircraft according to the present embodiment includes a flying portion and a pile driving portion. The pile driving portion is configured to be detachable from the rotary wing machine, and the pile driving portion has a pile.

  The drone (flying part) also functions as a moving pile driving device.

  The pile is an I-type device composed of a battery and an observation device, and exhibits a desired function at the destination.

It is also assumed that countless observation cameras will be installed immediately after the tsunami. When large-scale tsunami damage occurs, the topography changes greatly, so data prepared in advance often does not work.
The purpose is to collect information in such an environment. The observation device can be a temporary mobile base station.

<Configuration according to this embodiment>
A rotary wing machine including a flying part and a pile driving part,
The pile driving portion has a pile configured to be detachable from the rotary wing machine,
Rotorcraft.

(Thirty-eighth embodiment)
As shown in FIGS. 52 to 54, the rotary wing aircraft includes a flying unit and an observation unit. The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit includes an observation device and a magnet unit for fixing the observation device to the ceiling or wall.

  When the rotorcraft arrives at the destination, the magnet unit is attracted to the ceiling or wall, and the position is fixed (hangs).

  The magnet portion is provided with a biaxial gimbal. As a result, the rotorcraft can be fixed on the ceiling at any angle.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A rotary wing aircraft equipped with a flight unit and an observation unit,
The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that detachably holds the observation unit,
The observation unit includes an observation device and a magnet unit for fixing the observation device to a ceiling or a wall.
Rotorcraft.

(Thirty-ninth embodiment)
As shown in FIGS. 55 to 57, the rotary wing aircraft includes a flying unit and an observation unit. The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit is detachably attached to the rotorcraft. An observation device and a magnet unit for fixing the observation device to the ceiling or wall are provided.

  When the rotorcraft arrives at the destination, the magnet unit is attracted to the ceiling or wall, and the position is fixed (hangs).

  The magnet portion is provided with a biaxial gimbal. As a result, the rotorcraft can be fixed on the ceiling at any angle.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A rotary wing aircraft equipped with a flight unit and an observation unit,
The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that detachably holds the observation unit,
The observation unit is detachably attached to the rotorcraft, and includes an observation device and a magnet unit for fixing the observation device to a ceiling or a wall.
Rotorcraft.

(40th embodiment)
As shown in FIGS. 58 to 60, the rotary wing aircraft includes a flying unit and an observation unit. The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit includes an observation device and a suction unit (suction cup) for fixing the observation device to a ceiling or a wall.

  When the rotary wing machine arrives at the destination, it adsorbs the suction part (suction cup) to the ceiling or wall and fixes the position (hangs).

  The suction part (suction cup) is provided with a biaxial gimbal. As a result, the rotorcraft can be fixed on the ceiling at any angle.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A rotary wing aircraft equipped with a flight unit and an observation unit,
The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that detachably holds the observation unit,
The observation unit includes an observation device and an adsorption unit for fixing the observation device to a ceiling or a wall.
Rotorcraft.

(Forty-first embodiment)
As shown in FIGS. 61 to 63, the rotary wing aircraft includes a flying unit and an observation unit. The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit is detachably attached to the rotorcraft. An observation device and a suction part (suction cup) for fixing the observation device to the ceiling or wall are provided.

  When the rotary wing machine arrives at the destination, it adsorbs the suction part (suction cup) part to the ceiling or wall, and fixes the position (hangs).

  A biaxial gimbal is provided in the suction part (suction cup). As a result, the rotorcraft can be fixed on the ceiling at any angle.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A rotary wing aircraft equipped with a flight unit and an observation unit,
The flying unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that detachably holds the observation unit,
The observation unit is detachably attached to the rotorcraft, and includes an observation device and a suction unit for fixing the observation device to a ceiling or a wall.
Rotorcraft.

(Forty-second embodiment)
As shown in FIGS. 64 to 67, the rotary wing aircraft includes a flying portion and a suction portion. The flying unit includes a plurality of rotor blades and an arm unit that supports the rotor blades. The suction part is connected to the arm part so as to be displaceable within a predetermined range.

  The adsorption part fixes the rotary wing machine to the ceiling or wall. Although the adsorption | suction part in this Embodiment is a suction cup, it is not restricted to this.

  When the rotary wing machine arrives at the destination, it adsorbs the suction part (suction cup) part to the ceiling or wall, and fixes the position (hangs).

  By moving a plurality of suction cups, it is possible to park by suction under the conditions from right above, including right next to it.

  This fixes the position of the rotorcraft in at least either the vertical direction or the horizontal direction.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A parking method for a rotary wing aircraft including a power unit and an adsorption unit,
By fixing the suction part to the ceiling or wall, the position of the rotary wing machine in at least one of the vertical direction and the horizontal direction is fixed.
Parking method.

(Forty-third embodiment)
As shown in FIGS. 68 to 71, the rotary wing machine includes a power unit and an observation unit.

  The observation unit includes a suction unit that fixes the position of the rotorcraft to at least one of the vertical method and the horizontal direction by being fixed to the ceiling or the wall. Furthermore, the observation unit is detachably attached to the rotorcraft.

  The parking method includes a step of moving the rotorcraft to a destination, a step of attracting the suction portion to the fixed target surface at the destination, and a step of disconnecting the rotorcraft.

  The adsorption part fixes the observation part to the ceiling or wall. Although the adsorption | suction part in this Embodiment is a suction cup, it is not restricted to this.

  As a result, the position of the observation unit in at least the vertical direction or the horizontal direction is fixed.

  It can be used as a temporary observation device in the event of an earthquake disaster. For example, in a tsunami-damaged area, the glass surface of a house or vehicle is more likely to be used as an anchor than an electric wire.

  Since this glass is a horizontal plane, the suspension system cannot be used, so this idea is effective.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A parking method of the observation unit by a rotary wing aircraft comprising a power unit and an observation unit,
The observation unit has an adsorption unit that fixes the position of the rotary wing machine in at least one of a vertical method and a horizontal direction by being fixed to a ceiling or a wall. It is attached detachably,
Moving the rotorcraft to a destination;
Adsorbing the adsorbing portion to a fixed surface at the destination;
Separating the rotorcraft,
Parking method.

(44th embodiment)
The rotary wing machine includes a power unit and an observation unit.

  The observation unit includes a suction unit that fixes the position of the rotorcraft to at least one of the vertical method and the horizontal direction by being fixed to the ceiling or the wall. Furthermore, the observation unit is detachably attached to the rotorcraft.

  The parking method includes a step of cleaning the suction part, a step of moving the rotary wing machine to the destination, a step of sucking the suction part to the fixed target surface at the destination, and a step of disconnecting the rotary wing machine. Contains.

  The adsorption part fixes the observation part to the ceiling or wall. Although the adsorption | suction part in this Embodiment is a suction cup, it is not restricted to this.

  As a result, the position of the observation unit in at least the vertical direction or the horizontal direction is fixed.

  It can be used as a temporary observation device in the event of an earthquake disaster. For example, in a tsunami-damaged area, the glass surface of a house or vehicle is more likely to be used as an anchor than an electric wire.

  Since this glass is a horizontal plane, the suspension system cannot be used, so this idea is effective.

  The use of the present invention is a building having a metal structure, and specifically includes, but is not limited to, a building of a nuclear power plant.

<Configuration according to this embodiment>
A parking method of the observation unit by a rotary wing aircraft comprising a power unit and an observation unit,
The observation unit has an adsorption unit that fixes the position of the rotary wing machine in at least one of a vertical method and a horizontal direction by being fixed to a ceiling or a wall. It is attached detachably,
Washing the suction part;
Moving the rotorcraft to a destination;
Adsorbing the adsorbing portion to a fixed surface at the destination;
Separating the rotorcraft,
Parking method.

(Forty-fifth embodiment)
As shown in FIGS. 72 to 74, the rotary wing machine has a power feeding cable.

  The method according to the present embodiment is intended to take measures against the rising airflow of a multicopter used for bridge inspection.

  Control with motor threshold setting, over spec motor, tension meter. Actively use ground power cables for “ground restraint”.

  Even when an ascending air current is generated, since the motor does not fall below the minimum number of revolutions, the balance is not lost in theory.

<Configuration according to this embodiment>
A parking method for a rotorcraft having a power supply cable,
By applying a predetermined tension to the power supply cable, the rotorcraft is maintained in a predetermined position.
Parking method.

(Forty-sixth embodiment)
This is a method for countermeasures against upward airflow of multicopter for bridge inspection. Motor threshold setting, ・ Equipped with upper monitoring sensor, strap, and airframe that does not use power supply cable.

  When performing stick operation below hovering (including self-contained navigation), do not drop the rotation below the motor threshold at any time.

Control below the threshold is allowed only when the value of the upper monitoring sensor is below the set value.

(Forty-seventh embodiment)
To provide a countermeasure against rising airflow of a multicopter by changing the angle of the upper angle of the motor. As shown in FIG. 75 to FIG. 77, it is possible to cope with generation of ascending air current by changing the motor mounting angle of the multicopter.

  The motor mounting angle is moved in an environment where it is assumed to be horizontal during normal times and ascending airflow is expected to occur.

(Forty-eighth embodiment)
As shown in FIG. 78 to FIG. 80, a heliport that assumes a general multi-copter takeoff / landing is provided from heavy equipment, a trailer, and a vehicle.

  Calculate the relative wind speed and tilt of the instrument base, and calculate the helipat tilt.

  Smooth take-off and landing from sloping vehicles and heavy equipment running.

(49th Embodiment)
81 and 82 provides a mechanism that is assumed to be mounted on a home delivery drone having a general shape.

  A reverse-luggage-shaped luggage L guard is attached to the loading section.

  Deploy at landing and take measures against updrafts by blocking the propeller wake.

  This guard also functions as a landing leg.

  In the case of the reverse bud shape, the vortex behind the propeller is optimized, so that an improvement in fuel consumption can be expected.

(50th embodiment)
Provide emergency disconnect skids. It is particularly suitable for use in stricken areas where tsunami damage has occurred and water is not drawn.

  Under the conditions immediately after the occurrence of the tsunami, it is assumed that the location where the drone will land cannot be secured.

In addition, it can be assumed that people are left behind in houses that have been washed away by the sea. The luggage L can be delivered urgently in such an environment where landing is difficult.

  As shown in FIG. 83, the load L is only separated under the landing possible condition, but the skid and the luggage L are simultaneously separated when the take-off is impossible. At this time, assuming that the luggage L is dropped on the water, the skid has a function of generating buoyancy. (For example, it is good also as providing the site | part on the balloon opened with compressed air in the front-end | tip part of a skid.

(Embodiment 51)
Provide a simple anemometer.

  Simple air speed and direction in the sky are calculated from the absolute velocity based on the inclination of the aircraft and GPS signals.

(52nd embodiment)
84 and 85, a small multicopter intended for use in the surveying field is provided.

  As a landing form, the "one-handed landing form" is possible with the arm at A2 lowered directly below.

  When the road surface is in good condition, the arm can be moved forward so that normal landing is possible.

  In the case of surveying use, it is possible to operate on site by one person. In the case of aerial photography work, the aircraft can be recovered even if there is no landing site on the site.

(53rd embodiment)
In the present embodiment, it is intended to ensure the positional accuracy regarding the photographing / observation data from the drone.

The purpose of the observation method is to objectively supplement the drone observation data at this time.
Steps to shoot with an automatic tracking video camera from the ground,
Step of measuring the drone position from the ground in real time Step of adding position information from the ground of the drone to the video Step of adding position information from the drone to the video Step of warning if there is a difference in the position information .

(Fifty-fourth embodiment)
In the observation method according to the 53rd embodiment, monitoring from above is made possible. A correction means for correcting the relative position of the observation drone is used.

(55th embodiment)
86 and 87, a method for spraying agricultural chemicals for paddy fields using a self-propelled drone and a multicopter is provided.

  Pesticide spraying drone used in paddy fields. Safety, labor saving, and speed can be solved by realistic methods.

One of the existing methods for spraying agricultural chemicals is “handing a chemical spray hose between the ends of the paddy field and spraying while holding the hose with two people”. Replace this method with the ground parent unit and the multicopter above.

  The method includes a ground parent unit (capable of traveling on a kite) and a multicopter child unit (ground feed type and holding the end of the hose). At least the parent unit or the child flight unit has a hose winding function.

  The structure of the ground parent unit is as follows. Movement is done by engine or motor. In the case of the engine type, a generator is further provided. Supply medicine and power to the child flight unit. The medicine is sprayed from a spray hole provided in a hose between the parent and child units. It is also possible to contract the hose according to the distance of the child unit.

  The structure of the child flight unit is as follows. The child flight unit flies by receiving power from the parent unit. Since the medicine spraying hose is maintained without bending, the child flight unit is subjected to a large load in the direction of the parent unit. The child flight unit moves directly above the kite while monitoring directly below.

(56th embodiment)
As another example of the method according to the above-mentioned 55th embodiment, as shown in FIG. 88 and FIG. 89, it can be constituted by two sets of parent units.

  The medicine is sprayed from a spray hole provided in a hose between the parent and child units. It is also possible to contract the hose according to the distance of the child unit.

(57th embodiment)
Provide a differential observation method. It can be used for road and overhead line maintenance.

  During normal times, shooting is performed with a determined route and angle, and position and angle information is added to the data.

  The inspection flight is also taken immediately after the disaster occurs.

  At this time, the normal time image corresponding to the position angle information of the real-time shooting data is displayed simultaneously.

  As a result, it is possible to immediately grasp what kind of change has occurred due to the disaster.

  In addition, it is possible to grasp information even when it is difficult for a person to distinguish the road surface at an event. (Understand manholes and sidewalk locations)

  Since it is possible to grasp the position of the side groove when it snows, it is possible to identify vehicles that have fallen into the side groove due to heavy snow.

(58th embodiment)
Providing a self-position marking system by request for relief and drone. This is an earthquake disaster countermeasure (other applications can be diverted).

When the user activates from the smartphone application, the disaster marking drone enters the corresponding area and fires a marking bullet toward the user's smartphone (near the entrance of the remaining building).

Type of report A: Buried in rubble (marking target)
B: Cannot move (arrangement of observation drone)
C: Streamed (arrangement of observation drone)

The following examples are possible as the reporting condition.
・ Earthquake occurred ・ Users request rescue from smartphone

Regarding the marking, the following examples are possible.
-Marking near the entrance for buildings that have not collapsed-Marking at 45 degrees oblique view from true south for buildings that have collapsed-Marking ammunition is a special color for "Emergency Rescue"

The following examples are possible for the database.
・ Registration triggers are issued. ・ Disclosed location information to third parties ・ Rescue completed, and personal information of rescue completed is disclosed

  By marking at the site, it becomes possible for a third party to notice the discovery of the victims left in the disaster area. Since the error is smaller than the position information between the smartphone and the base station, more efficient rescue is possible. Since it is activated by the user's intention, it is possible to determine the survival of the user at the reporting stage. This system can also be used for avalanche disasters.

(59th embodiment)
Provide unknown person search system. It can be used for earthquake disaster countermeasures and locating missing persons. Although the 58th embodiment is operated by one's own intention, this embodiment is automatically performed.

  The basic goal is to quickly search for missing persons. It is another object of the present invention to rank rescue orders in conjunction with the 58th embodiment.

Notification conditions / triggers have moved within the past few days (about 3 days) from the occurrence of the earthquake / trigger time (to exclude unused smartphones)
-No movement has occurred within a certain period of time (about 4 hours) from the trigger occurrence time (cannot move by own intention)
・ Smartphone operation is not performed for a certain period of time from the trigger occurrence time. * The conditions from past movement and occurrence time can be changed by administrator authority.

・ Marking the applicable smartphone by marking drone ・ Marking with a different identification color from the 58th embodiment

By combining with the 58th embodiment, two types of markings are made on the debris of the disaster area.

  In the 58th embodiment, marking is made by one's own intention. Are marked regardless of their will. In other words, it is possible to visually determine that the priority of rescue is low, and priority can be given to the rescue according to the 58th embodiment, which seems to have a high lifesaving effect.

(60th embodiment)
We provide an automatic marking system for arbitrary persons linked to the occurrence of the earthquake disaster. This is an earthquake disaster countermeasure, which is a form different from the 58th embodiment.

The user 1 calls the disaster marking drone and performs marking on the position of the smartphone or the dedicated terminal of the user 2.

  Since the 59th embodiment is an automatic process, a certain time is required until marking.

Reporting conditions, earthquake occurrence, user 1 requests rescue to user 2

The present case enables immediate rescue of a known user at that location by making another user's immediate marking.
Intended for infants and bedridden elderly people who cannot use the 58th embodiment.

(61st embodiment)
A location system for victims is provided by AR. For earthquake disaster countermeasures.
In the 58th embodiment, the approximate location is specified by the location data of the smartphone, and the drone enters the site.

The drone performs high-precision positioning using a beacon or the like, and registers the position in the database.
Based on this location information, the location of the victim is provided by AR.

(62nd embodiment)
Provided are an identification number notation based on LED lighting timing and an identification method using the identification number.

A method for identifying drones flying over the sky.
・ Individual number is assigned to autonomous flight drone ・ Individual number is expressed by the lighting timing of LED ・ People can discriminate about large classification (for home delivery, surveying, hobby)

(Thirty-sixth embodiment)
The aircraft determined by the autonomous drone identification or the like by the AR is displayed on the terminal.

・ Displays the route up to now and the future route ・ Displays up to the future route ・ Presence / absence of camera installed ・ Purpose of use ・ Danger

(64th embodiment)
A jig (maintenance tool) for obtaining the Z-axis center of gravity of a multicopter is provided.

Jig for determining the center of gravity position of the multicopter in the Z-axis direction ・ Install two sets of jigs A between the motors in the horizontal position ・ If the mounting position is changed, the X-axis and Y-axis can be indexed

(65th embodiment)
Provide drone with optical camouflage. Although it is a research drone as a use, it may be used as a drama prop.

The heel part is “always horizontal” or “facing the object”

Acupuncture functions and optical camouflage (including infrared rays)
・ Sound absorbing material ・ Stealth (Radar wave absorption)

(66th embodiment)
As shown in FIGS. 90 to 92, a cover-like sound absorbing material for suppressing the sound generated by the drone is provided.

  The target is an object existing in the flight direction of the drone. When viewed from the side, a cover with a sound absorbing material attached to the L shape (front and top) is attached. The bottom, side, and back are omitted from the perspective of the propeller wake and weight.

(67th embodiment)
A cover is provided to reduce the sound emitted in a specific direction from the planned flight location. The same cover as that of the 66th embodiment and the flying part are connected via the connecting part so as to be independently displaceable.

  Soundproofing is achieved by rotating and displacing the scissors with respect to the direction of soundproofing.

(68th embodiment)
93 to 95, a suspension control mechanism (anchor) such as a winch is provided above the buoyancy center of the flying part. In the present embodiment, the anchor position of the load L is located above the center of lift generated by the rotor blades. The anchor position may coincide with the center of lift.

  Furthermore, the anchor may be provided at a position substantially coincident with or coincident with the center of gravity of the entire flying part.

  According to such a configuration, the gain change after the luggage L is separated becomes gentle. In addition, even if the load L shakes during unloading, there is little influence on the flying part.

(69th embodiment)
In the 68th embodiment described above, means for cutting a wire for holding a load may be further provided.

  When it becomes necessary to quickly separate the fuselage and the luggage L for some reason, the wire can be cut by the cutting mechanism provided in the flying part.

(Seventh Embodiment)
The flying object may have a fuse function. When the baggage L is delivered over a certain level, the baggage L can be separated if tension is applied.

  The fuse function stops when it is in the winding state (moving). That is, control is performed so that the fuse does not work due to the load during winding. On the other hand, when it is detected that a predetermined load is applied to the winch portion while the luggage L is being fed out, the wire is released or cut.

(71st embodiment)
A variable landing leg is provided as shown in FIGS. 96-98.

  The landing leg can be retrofitted to a conventional aircraft. In the state of being retrofitted, the landing leg is attached so as to be independently displaceable from the main body. The landing leg according to the present embodiment is suitable for landing on strong winds and rough terrain. The landing leg is fixed at a general position during level flight. When entering the landing mode, it becomes displaceable, and when it touches, it is fixed at the inclination at that time.

(Embodiment 72)
As shown in FIGS. 99 to 101, takeoff can be performed using the landing legs according to the 71st embodiment. Suitable for takeoff in strong winds and rough terrain.

  For example, when taking off from rough terrain, the posture is held (locked) so that the flying part is horizontal (see FIG. 99).

When taking off under strong wind, in the initial state, the attitude is held (locked) so that the flying part is in the horizontal direction.
-Free when a certain lift occurs after the motor starts

(73rd embodiment)
As shown in FIG. 102, the flying object has a winch 73c capable of winding and unwinding a wire 73b connected to a mounting portion 73a on which a load L is placed. The winch and the flying part are connected by a biaxial gimbal 73d so as to be independently displaceable.

  The position of the winch is above the center of lift generation by the propeller 73e.

(74th embodiment)
As shown in FIG. 103 and FIG. 104, a spray part separation type pesticide (water, fertilizer, seed) spraying drone is provided.

  The object of the present embodiment is to reduce the influence of the propeller wake on the crop. Electric power and medicine are provided from the parent device 1 to the child device 1 ′. The subunit | mobile_unit 1 'by this Embodiment is provided only with the motor for minimum attitude | position control. As shown in FIG. 103, the parent aircraft flies at an altitude that can maintain a sufficient distance from the corresponding crop. Thereby, since agrochemicals etc. do not adhere to an expensive master machine, the maintenance frequency of master machine 1 can be lowered.

(75th embodiment)
As shown in FIG. 105 and FIG. 106, agrochemicals and the like are sprayed using the master unit 1 and the slave unit 1 ′ in a room such as a greenhouse in the same manner as in the 74th embodiment.

  In the present embodiment, the master unit can move a rail 75a installed on the ceiling of the greenhouse. Electric power and medicine are provided from the parent device 1 to the child device 1 ′. The subunit | mobile_unit 1 'by this Embodiment is provided only with the motor for minimum attitude | position control. The base unit 1 provides an arm (expandable) / hose. The subunit | mobile_unit 1 'can also perform harvesting.

(76th embodiment)
Provides a retractable and rotating arm by monitoring the position of the drone. One of the mechanisms of the 75th embodiment

  The handset will fly in the house. At this time, it is assumed that the connection with only the hose is entangled.

Tangle is prevented by pushing out the arm directly above the small drone. Install one or more arms on the base of the greenhouse. The position of the drone in charge is monitored by the arm camera. The arm rotates and contracts to maintain the position just above the drone.

(77th embodiment)
As shown in FIGS. 107 to 110, there is provided a landing method for a VR shooting drone 1 equipped with two sets of cameras V.

  The flying body is provided with a VR camera at the tip of an arm extending vertically. The VR camera can be bent from the connection portion C of the aircraft body.

  At the time of landing, as shown in FIG. 110, it is transformed into a landing form. At this time, the VR camera V is bent and becomes parallel to the horizontal.

(78th embodiment)
As shown in FIGS. 111 to 116, a drone landing method equipped with a camera set V is provided.

  Multi-copter landing deformation mechanism with an inexpensive VR camera mounted below. It is also possible to turn off the aircraft by adding a fixed camera above. Similar to the 77th embodiment, at the time of landing, as shown in FIG. 111, the camera is bent from the connection portion C to be transformed into a landing form.

(79th embodiment)
As shown in FIGS. 117 to 121, a high-end VR camera V mounted on a conventional multicopter is mounted.

  The lower camera set V1 is connected by a triaxial gimbal C1. The upper camera set V2 is also connected by a triaxial gimbal C2.

(Eighth Embodiment)
The simplest VR imaging drone will be described with reference to FIGS. 122 to 126. FIG. The VR camera V is mounted on the upper part of the aircraft and one camera C is mounted on the lower part of the aircraft.

(81st embodiment)
With reference to FIGS. 127 to 129, a simple VR drone provided with photographing units V before and after the aircraft is provided.

  The flying object according to the present embodiment is particularly suitable for an extremely narrow flight environment or when the right and left image quality is not important (such as a drone race).

(82nd embodiment)
As shown in FIGS. 130 to 132, a reverse mode of the VR camera-equipped machine is provided.

  It is a part of the function of the aircraft equipped with the drone maneuvering method regardless of the actual flight attitude. Pressing the “reverse button” on the propo side reverses the direction of travel by 180 °. It is suitable for applications such as going back and forth inside a pipe.

(83th embodiment)
Provides home position mode for VR cameras.

  Pressing the “Home position button” will reverse the direction of travel 180 ° It has an auxiliary function when the pilot position (home position) is unclear. Press the home position switch and perform “forward” to return to the pilot.

(84th embodiment)
A GPS antenna mounted on a VR shooting drone is provided.

  It is the GPS antenna of the 77th embodiment (landing method of VR photographing drone equipped with two sets of cameras).

When the flight mode is changed to the landing mode, the GPS antenna is tilted. It functions as a mechanism for canceling this inclination.

(85th embodiment)
A 4-axis gimbal for a camera mounted at a position away from the center of gravity of the aircraft is provided.

With the existing 3-axis gimbal, the camera position moves up and down if the aircraft tilts during hovering. This disturbance is noticeable in close-up aerial photography.

In order to cancel this, an axis that cancels the vertical movement of the camera is added.
This idea is very effective in short-distance hovering shooting using a quadcopter, multicopter, or octocopter equipped with a camera at a position away from the center of gravity of the aircraft.

In order to achieve a perfect effect, it is preferable to adopt a 6-axis gimbal.

(86th embodiment)
As shown in FIGS. 133 to 135, a stabilizer optimized for short-distance aerial photography using a multicopter is provided.

  It is a stabilizer that assumes a small quadcopter.

A lens unit is mounted at the forward position at the bottom of the aircraft using a saddle-shaped arm.

  The stabilizer motor is installed near the position of the center of gravity, and realizes a multicopter in which the three-dimensional position of the camera does not move even if attitude control is entered during hovering. The tilt / roll axis exists near the center of gravity. The pan axis is near the camera.

(87th embodiment)
Provide ceiling charging drone. The mounting part and the flying part can be displaced independently.

  As shown in FIGS. 136 to 138, the following configuration is provided. A charging mechanism is installed at the top of the aircraft. Restrain the aircraft from the charging port side. The restraining method includes magnetic adhesion and mechanical type, but is not limited thereto. Charging can be done with or without contact.

(Eighth Embodiment)
As shown in FIGS. 139 to 141, a ceiling drone charger is provided. The flying object is installed on the ceiling. Power is distributed from the existing crescent. The flying object is fixed to the ceiling by being magnetically attached to the metal part of the ceiling.

(89th embodiment)
As shown in FIGS. 142 to 144, a drone is provided that includes a visual lamp on a bar that maintains vertical.

  A plurality of LED identification lights are provided in the vertical bar portion.

  In conventional aircraft, there are conditions in which the nose lights and tail lights can all be seen from the pilot position, and the traveling direction of the aircraft may be lost. In the case of the installation position of the present invention, it is possible to adjust the irradiation range of the taillight strictly. It becomes possible to grasp.

(90th embodiment)
Provide a method for guiding intersections on drone routes.

Rules for drones not touching at intersections on the route ・ In the vicinity of an intersection, priority is given to the intersection guidance system for the Z-axis control. ・ Assume that the aircraft on the A route flies up and the B route flies down. Aircraft on the route can only be operated by judging the aircraft in the upward direction. Aircraft on the route B can be manipulated by judging the aircraft only in the downward direction. Both aircraft can fly freely within the range permitted by the route.

(91st embodiment)
A mechanism to correct the center of gravity of the load of a delivery drone using a biaxial gimbal mechanism is provided. This is a modification of the 73rd embodiment.

  In a balance adjustment mechanism using a brushless motor, the mechanism may not work if the center of gravity of the load greatly deviates from the design value.

  Moreover, in the state where the balance is lost, power is consumed to maintain the posture more than necessary.

  The purpose is to mount a balance adjustment mechanism on the fuselage side and handle various loads.

  When packing the load in a box, placing the X and Y axes near the center is relatively easy to balance, but it is difficult to adjust the Z axis, so this proposal focuses on adjusting the Z axis. Put.

  Add one or more balance correction mechanisms.

(92nd embodiment)

  A method for stabilizing the load of a delivery drone using a biaxial gimbal mechanism is provided.

If the drone changes its position in the sky, G will add an unexpected weight to the load.

Specifically, the contents of home delivery are biased.

  In order to counter this, the inclination of the luggage L changes in a direction to cancel out the occurrence of G.

  The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.

Claims (1)

An image processing method for image data acquired from a flying object including a first camera unit, a second camera unit, and an arm unit that supports these,
The first camera unit is provided above the second camera unit in the vertical direction, and an area of the first image data captured by the first camera unit is captured by the second camera unit. 2. An image processing method for connecting the first image data and the second image data so as to be larger than the area of the two image data.