JP2019209736A - Unmanned flight body with improved thrust - Google Patents

Abstract

To provide an unmanned flight body with improved thrust.SOLUTION: In an unmanned flight body which obtains thrust by rotation of plural propellers 12 and flies, an electrode 20 is located on an upper surface part 12s of the propeller 12 along a front edge part 12a in an exposed state. Further, an electrode 22 is located along a rear edge part 12b between the upper surface part 12s and a lower surface part 12r. AC voltage is inputted to the electrodes 20 and 22, thereby causing occurrence of dielectric barrier discharge between the electrodes 20 and 22, and generating plasma on the upper surface part 12s. Peel control, such that air current does not peel from the upper surface part 12s, is enabled.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an unmanned air vehicle with improved thrust.

  Conventionally, the use of a small unmanned air vehicle (also called “drone”) has been proposed. A technique for spraying agricultural chemicals or the like using such a drone has been proposed (for example, Patent Document 1).

JP 2017-24488 A

  A drone obtains thrust for flight by rotating a plurality of propellers with a motor. In order to load more pesticides, it is necessary to have a large thrust. If the propeller has the same rotation speed, the thrust increases as the angle of attack of the propeller increases. However, if the angle of attack increases, airflow separation on the blade surface is likely to occur, and the thrust does not increase.

  The present invention is an attempt to solve such a problem, and an object thereof is to provide an unmanned air vehicle with improved thrust.

  A first invention is an unmanned aerial vehicle that obtains thrust by rotation of a plurality of propellers and has plasma control means for generating plasma on a wing surface of the propeller.

  According to the configuration of the first invention, plasma can be generated on the blade surfaces of the plurality of propellers by the plasma control means. The plasma generated on the blade surface can prevent air flow separation on the blade surface and improve thrust.

  According to a second invention, in the configuration of the first invention, the propeller is a variable pitch propeller whose angle of attack can be changed, and the plasma control means generates plasma based on the angle of attack. This is an unmanned air vehicle.

  According to the configuration of the second invention, in the case of the angle of attack where airflow separation on the blade surface is unlikely to occur, plasma is not generated, and in the case of the angle of attack where airflow separation on the blade surface is likely to occur, plasma is not generated. The generated control can be implemented. Thereby, thrust can be improved while using a battery efficiently.

  According to a third aspect of the present invention, in the configuration of the first aspect or the second aspect, the plasma control unit is configured such that the rotation speed and the rotation time of the propeller are equal to or higher than a predetermined reference value, or An unmanned aerial vehicle configured to generate plasma and reduce the rotational speed of the propeller when expected to exceed a predetermined reference value after a predetermined time.

  According to the configuration of the third aspect of the invention, plasma is generated when the rotation speed and the rotation time of the propeller exceed a predetermined reference value or when it is expected to become the predetermined reference value after a predetermined time. And the rotational speed of the propeller is reduced. That is, a part of the thrust obtained by the rotation speed of the propeller is replaced by preventing airflow separation. Thereby, thrust can be improved, reducing the burden of the motor which rotates a propeller.

  According to a fourth invention, in any one of the first to third inventions, the plasma control means generates plasma on a blade surface of a part of the propellers among the plurality of propellers. Is an unmanned aerial vehicle configured to control the attitude of the unmanned aerial vehicle.

  According to the structure of 4th invention, it is comprised so that the attitude | position of an unmanned air vehicle may be controlled by producing | generating a plasma on the wing surface of some propellers among several propellers. That is, the attitude of the unmanned air vehicle is not controlled by controlling the rotation speed of the propeller, and the reaction force does not fluctuate due to the change in the rotation of the propeller. Great freedom of control.

  According to a fifth aspect of the present invention, in the configuration according to any one of the first to fourth aspects, the plasma control means controls the plasma generated on the wing surface of the propeller to thereby advance the unmanned air vehicle. An unmanned air vehicle configured to control speed.

  According to the configuration of the fifth aspect of the invention, for example, a large voltage can be applied to perform strong airflow control, and a large increase in thrust can be realized. A small increase in thrust can also be realized. Since the rotation speed of the propeller is maintained and plasma can be generated on the blade surface of the propeller, the reaction force does not fluctuate. For this reason, it is not necessary to consider the rotation direction of the propeller, and the degree of freedom in controlling the traveling speed is great.

  According to a sixth invention, in any one of the first to fifth inventions, the plasma control means is configured to generate plasma by dielectric barrier discharge, and is used for dielectric barrier discharge. An unmanned aerial vehicle configured to control the thrust of each of the propellers by controlling the voltage to be applied.

  According to the sixth aspect of the invention, for example, when the dielectric barrier discharge is performed with a relatively low voltage, the degree of increase in thrust is small, and the dielectric barrier discharge is performed with a relatively high voltage. In some cases, the degree of thrust increase is large. That is, the thrust of each propeller can be controlled by controlling the voltage used for dielectric barrier discharge for each propeller. Since the rotation speed of each propeller is not changed, the reaction force does not change. For this reason, the freedom degree of control of the thrust of each propeller is large.

  According to the present invention, an unmanned air vehicle with improved thrust can be provided.

1 is a schematic perspective view showing an unmanned air vehicle according to a first embodiment of the present invention. It is the schematic which shows the external appearance and the inside of a motor. It is the schematic plan view and sectional drawing which show a propeller. It is a schematic perspective view which shows the components etc. which are connected to a propeller and a propeller. It is a conceptual diagram which shows the voltage applied to a propeller. It is a conceptual diagram which shows a mode that a plasma is generated on the blade surface of a propeller. It is a conceptual diagram which shows the mode of the airflow control by plasma. It is the schematic which shows the functional block of an unmanned air vehicle. It is the schematic plan view and sectional drawing which show the propeller which concerns on 2nd embodiment of this invention. It is a schematic flowchart which shows operation | movement of an unmanned air vehicle. It is a schematic flowchart which shows operation | movement of the unmanned air vehicle which concerns on 3rd embodiment of this invention. It is a conceptual diagram which shows operation | movement of the unmanned air vehicle which concerns on 4th embodiment of this invention. It is a schematic flowchart which shows operation | movement of an unmanned air vehicle. It is a conceptual diagram which shows the voltage applied to the propeller of the unmanned air vehicle which concerns on 5th embodiment of this invention. It is a conceptual diagram which shows the mode of the airflow control by plasma. It is a conceptual diagram which shows operation | movement of an unmanned air vehicle. It is a schematic flowchart which shows operation | movement of an unmanned air vehicle. It is a conceptual diagram which shows operation | movement of the unmanned air vehicle which concerns on 6th embodiment of this invention.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail. In the following description, the same reference numerals are given to the same components, and the description thereof is omitted or simplified. Note that descriptions of configurations that can be appropriately implemented by those skilled in the art are omitted, and only the basic configuration of the present invention is described.

<First embodiment>
As shown in FIG. 1, the unmanned aerial vehicle 1 (hereinafter referred to as “unmanned aircraft 1”) of the present embodiment includes a housing 2, and an upper cover 4 (hereinafter referred to as “canopy 4”) on the housing 2. ") Is arranged. The drone 1 is an example of an unmanned air vehicle.

  A positioning device that uses positioning radio waves from a navigation satellite such as a computer, an autonomous flight device, a motor drive circuit, a wireless communication device, and a GPS (Global Positioning System) that controls each part of the drone 1 is provided inside the housing 2. Electronic parts such as a calculation unit, an inertia sensor, and an atmospheric pressure sensor are arranged.

  On the upper surface of the housing 2, the battery and the antenna of the positioning device are arranged at a position covered with the canopy 4.

  An arm root portion 6 is connected to the housing 2, and a round bar-like arm 8 is connected to each arm root portion 6 in such a manner as to extend outward from the housing 2. A motor 10 is connected to the end 8 a on the free end side of each arm 8, and a propeller 12 is connected to each motor 10. A leg portion 14 is disposed in the vicinity of the distal end portion of each arm 8. The canopy 4 is made of resin. The housing 2 and the arm 8 are made of, for example, carbon fiber reinforced plastic, and are lightweight while maintaining strength. The propeller 12 is made of an insulating material (dielectric material). The insulating material is, for example, a plastic resin or a glass fiber reinforced plastic resin.

  As shown in FIG. 2, the motor 10 is an outer rotor type brushless DC (Direct current) motor. FIG. 2A shows the external appearance of the motor 10, and FIG. 2B shows an outline of the inside of the motor 10. As shown in FIG. 2B, a plurality of winding portions 10ab are radially fixed to the central portion 10aa of the stator 10a. Winding portion 10ab is configured by winding a copper wire around an iron core. A plurality of permanent magnets 10bd are fixed to the inner peripheral surface of the rotor 10b. Adjacent permanent magnets 10bd have different polarities. By controlling the current flowing through each winding portion 10ab, a rotating magnetic field is generated, and the winding portion 10ab and the permanent magnet 10bd are repeatedly attracted and repelled, whereby the rotor 10b rotates.

  As shown in FIG. 2A, the rotor 10b has a notch 10bc, and the winding 10ab of the stator 10a is cooled by air. Further, the rotor 10b is formed with a connection portion 10ba, and the propeller 12 is connected to the connection portion 10ba via a connection component.

  As shown in FIG. 3A, the propeller 12 includes a center portion 12C that is circular in a plan view, and rotor blade portions 12L and 12R that are connected to the center portion 12C. The propeller 12 is formed point-symmetrically about the rotation axis (center of the center portion 12C). The propeller 12 is configured to generate a thrust toward the front side of the paper surface by rotating in the direction indicated by the arrow A1 (clockwise). Since the rotary wing part 12L and the rotary wing part 12R are configured point-symmetrically, the rotary wing part 12R will be basically described below, and the description of the rotary wing part 12L will be omitted.

  Each part of the rotary blade part 12R is defined as a front edge part 12a, a rear edge part 12b, an upper surface part 12s, a lower surface part 12r, and a center vicinity S1. The upper surface portion 12s is an example of a blade surface.

  FIG. 3B is a schematic cross-sectional view of the central vicinity S1. The center vicinity portion S1 is configured with an angle of attack α1. The angle of attack α1 is, for example, 30 degrees.

  As shown to Fig.3 (a), in the upper surface part 12s, it arrange | positions in the state which the electrode 20 exposed along the front edge part 12a. Further, the electrode 22 is disposed along the rear edge portion 12b between the upper surface portion 12s and the lower surface portion 12r. The electrode 22 is embedded in the rotor blade 12R.

  As shown in FIG. 4, the electrode 20 and the electrode 22 are electrically connected to the metal ring of the slip ring 24 by lead wires. The slip ring is a rotary connector that can transmit electric power to the rotating body from the outside, and transmits electric power through a metal ring and a brush arranged on the rotating body. One end of the slip ring 24 is connected to the connection portion 10ba of the motor 10, and the other end is connected to the center portion 12C of the propeller 12. The rotor 10b, the slip ring 24, and the propeller 12 are configured to rotate together.

  The metal rings of the slip ring 24 are in contact with the brushes 102A and 102B that are electrically connected to the AC power source 100, respectively. Thereby, a voltage can be applied to the electrodes 20 and 22 of the rotating propeller 12 from the AC power supply 100. The rotary connector is not limited to a slip ring, and may be a rotary connector, for example. The AC power supply 100 is configured by converting a DC voltage from a battery, which is a DC power supply, into AC using an inverter, as will be described later.

  As shown in FIG. 5, the voltage V <b> 1 applied from the AC power supply 100 to the electrodes 20 and 22 is applied at a predetermined frequency in the unit time T.

  As shown in FIG. 6A, the rotor blade 12 </ b> R formed of an insulator (dielectric) is sandwiched between two electrodes 20 and 22 so that an AC voltage can be applied from the AC power supply 100. Is formed.

  As shown in FIG. 6B, the AC voltage input to the electrodes 20 and 22 generates a dielectric barrier discharge between the electrodes 20 and 22 and generates plasma on the upper surface portion 12s, as shown in FIG. As described above, it is possible to perform the separation control so that the airflow Asu does not separate from the upper surface portion 12s. That is, the above-described structure of the rotary blade 12R is a Dielectric Barrier Discharge (DBD) plasma actuator.

  The pressure difference between the airflow Asd on the lower surface of the rotary blade 12R and the airflow Asu on the upper surface portion 12s becomes the thrust. Here, when the air flow Asu of the upper surface portion 12s deviates from the upper surface portion 12s, the difference in pressure becomes smaller and the thrust is reduced. Conversely, if the separation control is performed so that the airflow Asu of the upper surface portion 12s does not deviate from the upper surface portion 12s, the thrust does not decrease. In the present embodiment, the thrust of each propeller 12 is controlled by the separation control for each propeller 12, and the flight attitude and the flight speed of the drone 1 are controlled.

  FIG. 8 is a diagram illustrating a functional configuration of the drone 1. As shown in FIG. 8, the drone 1 includes a CPU (Central Processing Unit) 50, a storage unit 52, a wireless communication unit 54, a satellite positioning unit 56, an inertial sensor unit 58, an image processing unit 60, a drive control unit 62, a propeller. A voltage control unit 64 and a power supply unit 66 are included.

  The drone 1 can communicate with the radio transmitter 70 by the wireless communication unit 54. The prop 70 is a control device for controlling the drone 1 by transmitting a control signal. However, the drone 1 can fly autonomously without receiving a control signal from the propo 70.

  The drone 1 can measure the position of the drone 1 itself by the satellite positioning unit 56 and the inertial sensor unit 58. The satellite positioning unit 56 basically measures the position of the drone 1 by receiving positioning radio waves from four or more navigation satellites. The inertial sensor unit 58 measures the position of the drone 1 by accumulating the movement of the drone 1 from the starting point using, for example, an acceleration sensor and a gyro sensor. The position information of the drone 1 itself is used for determining the movement route of the drone 1 and autonomous movement, and also for linking image data photographed by the image processing unit 60 and coordinates (position). .

  The image processing unit 60 allows the drone 1 to acquire an external image by operating a camera (not shown).

  With the drive control unit 62, the drone 1 controls the rotation of the propeller 12 connected to each motor 10 (see FIGS. 1 and 2), and controls postures such as vertical movement, air suspension, and tilt. ing.

  The power supply unit 66 corresponds to, for example, a replaceable rechargeable battery (battery) and supplies power to each unit of the drone 1. The battery generates a DC voltage.

  The propeller voltage control unit 64 controls the drone 1 to control the voltage applied to the propeller 12 to the electrodes 20 and 22. The propeller voltage control unit 64 is configured to convert a DC voltage from the battery into an AC voltage using an inverter, generate a high voltage using a booster circuit, and apply the high voltage to the electrodes 20 and 22.

  The storage unit 52 stores a plasma control program in addition to various data and programs necessary for unmanned flight such as data indicating a flight plan for autonomous flight from a starting point to a target position. The CPU 50 and the plasma control program are examples of plasma control means.

  The drone 1 applies a high-voltage alternating voltage to the electrodes 20 and 22 to the propeller 12 according to the plasma control program, generates a dielectric barrier discharge between the electrodes 20 and 22, and generates plasma on the upper surface portion 12 s of the propeller 12. To prevent airflow separation. Thereby, even if the angle of attack α1 of the propeller 12 is large, it is possible to prevent airflow separation and fly without reducing the thrust. Further, even when the rotation speed of the propeller 12 is increased, by generating plasma on the upper surface portion 12s of the propeller 12, it is possible to prevent the separation of the airflow and to fly without reducing the thrust.

<Second Embodiment>
The second embodiment will be described with reference to FIGS. 9 and 10. Description of matters common to the first embodiment will be omitted, and only matters different from the first embodiment will be described.

  The propeller 120 (see FIG. 9) of the second embodiment is a variable pitch propeller capable of changing the angle of attack. A description of the mechanism for changing the angle of attack of the rotary blade portions 12R and 12L will be omitted. For example, the angle of attack at the center vicinity portion S1 of the rotary blade portion 12R can be changed at an angle between the angle α1 (see FIG. 9B) and the angle α2 (see FIG. 9C). For example, the angle α1 is 30 degrees and the angle α2 is 20 degrees.

  At the angle α2, airflow separation is unlikely to occur, but at the angle α1, airflow separation is likely to occur. The drone 1 generates a plasma by applying a voltage to the electrodes 20 and 22 based on the future angle of attack of the rotor blades 12R and 12L by a plasma control program. For example, the drone 1 does not generate plasma if the angle of attack after a predetermined time Δt1 is less than a predetermined reference angle, and generates plasma if the angle of attack is equal to or greater than the predetermined reference angle.

  The predetermined time Δt1 is, for example, 0.1 second (s). The reference angle is, for example, an intermediate angle between the angle α1 and the angle α2, and is 25 degrees in the present embodiment. Thereby, the angle of attack of the propeller 120 can be changed according to the required thrust, and even if the angle of attack becomes equal to or greater than the reference angle, airflow separation can be prevented and the necessary thrust can be obtained. In addition, since the processing for generating plasma is performed based on the future angle of attack, plasma has already been generated when the angle of attack reaches the reference angle, and airflow separation can be prevented in advance.

  Hereinafter, the operation of the drone 1 will be described with reference to FIG. When the drone 1 starts flying, it determines whether or not an increase in thrust is necessary (step ST1 in FIG. 10). If it is determined that an increase in thrust is necessary, the angle of attack required for the increase in thrust is calculated. (Step ST2). In addition, you may use together the increase in the rotation speed of the propeller 120 for the increase in thrust. The drone 1 determines whether or not the angle of attack necessary for increasing the thrust is equal to or greater than the reference angle (step ST3). If the angle of attack is less than the reference angle, the voltage is not applied to the propeller 120. The angle of attack is changed (step ST4). On the other hand, if the angle of attack is equal to or greater than the reference angle, a voltage is applied to propeller 120 to generate plasma and change the angle of attack (step ST5).

<Third embodiment>
A third embodiment will be described with reference to FIG. Description of matters common to the first embodiment will be omitted, and only matters different from the first embodiment will be described.

  The drone 1 determines whether or not the product β1 of the rotation speed and the rotation time of the propeller 12 becomes equal to or greater than the reference value β after a predetermined time Δt2 by the plasma control program (step ST51 in FIG. 11). The predetermined time Δt2 is, for example, 1 second (s). In the motor 10, if the state of the predetermined number of rotations continues for a predetermined rotation time, the burden on the motor 10 increases. Although the predetermined rotation speed and the predetermined rotation time depend on the specifications of the motor 10, for example, the predetermined rotation speed is 6000 rpm (round per minute) and the rotation time is 1 minute. The reference value β is a product of the rotation speed and the rotation time, and is 6000, for example. That is, even if the rotation speed is low, if the rotation time is long, the rotation state of the motor 10 is equal to or greater than the reference value β. If the rotation speed is high, the rotation state of the motor 10 is equal to or greater than the reference value β even if the rotation time is short. It becomes.

  When the drone 1 determines that the product β1 of the rotation speed and the rotation time of the propeller 12 becomes equal to or greater than the reference value β after the predetermined time Δt2, the drone 1 applies a voltage to the propeller 12 to reduce the rotation speed of the propeller 12 (step) ST52). Thereby, the drone 1 can maintain a thrust, avoiding the state where the burden of the motor 10 becomes excessively large in advance.

<Fourth embodiment>
A fourth embodiment will be described with reference to FIGS. 12 and 13. Description of matters common to the first embodiment will be omitted, and only matters different from the first embodiment will be described.

  The drone 1 is configured to control the flight attitude of the drone 1 by generating plasma on the wing surfaces of some of the propellers 12 of the plurality of propellers 12 according to the plasma control program. Conventionally, in a drone, the flight attitude is controlled by controlling the rotational speeds of a plurality of propellers. In contrast, the drone 1 controls the flight posture by generating plasma on the wing surface of the propeller 12.

  FIG. 12 is a schematic plan view of the drone 1 and a schematic side view of the housing 2. As shown in FIG. 12, a plurality of propellers 12 are distinguished as propellers 12A to 12F. When the drone 1 moves in the arrow X1 direction indicated by the dotted line in the state of FIG. 12A, the thrust of the propellers 12A and 12B behind the arrow X1 increases, and the rear of the housing 2 Control is performed so that the casing 2 is lifted in the direction of the arrow Y1 and the casing 2 is inclined by the angle θ1. In the present specification, the inclination of the housing 2 is synonymous with the inclination of the rotation surfaces of the propellers 12A to 12F. The rotation surfaces of the propellers 12A to 12F are common. That is, tilting the housing 2 by the angle θ1 is synonymous with tilting the rotation surfaces of the propellers 12A to 12F by the angle θ1. As a means for increasing the thrust of the propellers 12A and 12B, the drone 1 applies a voltage to the propellers 12A and 12B and generates plasma on the upper surface portion 12s by a plasma control program.

  When the thrust of the propellers 12A and 12B is increased and the casing 2 is inclined by θ1 (see FIG. 12B) that is a predetermined angle, the drone 1 applies voltage to all the propellers 12A to 12F by the plasma control program. Is applied to generate plasma. Thereby, the drone 1 increases the thrust of the propellers 12A to 12F in the state where the casing 2 is inclined by the angle θ1, and proceeds in the direction of the arrow X1. The increase in thrust after tilting by the angle θ1 may be performed by increasing the rotation speed of the propellers 12A to 12F, or both generating plasma and increasing the rotation speed may be used in combination.

  Hereinafter, the operation of the drone 1 will be described with reference to FIG. When the drone 1 starts flying, it determines whether or not to change the traveling direction (step ST100 in FIG. 13). If it determines that the traveling direction is to be changed, the drone 1 applies a voltage to the propeller behind the traveling direction. (Step ST101). When it is determined that the inclination of the predetermined angle θ1 has been completed (step ST102), the drone 1 rotates all the propellers 12A to 12F according to the scheduled speed (step ST103).

<Fifth embodiment>
The fifth embodiment will be described with reference to FIGS. 14 to 17. Descriptions common to the fourth embodiment are omitted, and only matters different from the fourth embodiment are described.

  The drone 1 is configured to control the traveling speed by generating plasma on the blade surface of the propeller 12 by a plasma control program.

  As shown in FIG. 14, the drone 1 is configured to apply voltages of different magnitudes. For example, as shown in FIG. 14A, the drone 1 can apply an AC voltage of voltage V1 to the propeller 12A and the like, and an AC voltage of voltage V2 is applied to the propeller as shown in FIG. 14B. It can also be applied to 12A or the like. The voltage V1 is larger than the voltage V2. The drone 1 can change the magnitude of the voltage steplessly.

  When the voltage V1 is applied to the propeller 12A or the like, the air flow Asu on the upper surface portion 12s flows without departing from the upper surface portion 12s (FIG. 15A). When the voltage V2 is applied to the propeller 12A or the like, the air flow Asu on the upper surface portion 12s flows without departing from the upper surface portion 12s (see FIG. 15B), but to the extent that it does not deviate (hereinafter, referred to as “the air flow Asu”). "Degree of peeling control") is lower than when the voltage V1 is applied. For this reason, the increase in thrust U2 when the voltage V2 is applied is smaller than the increase in thrust U1 when the voltage V1 is applied. That is, the drone 1 controls the degree of separation control by controlling the voltage to be applied, and controls the thrust generated by each propeller 12A and the like.

  As shown in FIG. 16 (a), when the voltage V1 is applied to the propeller 12A or the like in a state where the housing 2 is inclined by the angle θ1, it proceeds at a speed D1 in the direction of the arrow X1. As shown in FIG. 16 (b), when the voltage V2 is applied to the propeller 12A and the like in a state where the housing 2 is inclined by the angle θ1, it proceeds at the speed D2 in the direction of the arrow X1. The speed D1 is faster than the speed D2.

  Hereinafter, the operation of the drone 1 will be described with reference to FIG. When the drone 1 starts flying, it determines whether or not to change the traveling direction (step ST100 in FIG. 17). If it is determined that the traveling direction is to be changed, the drone 1 applies a voltage to the propeller behind the traveling direction. (Step ST101). When the drone 1 determines that the inclination of the predetermined angle θ1 has been completed (step ST102), it calculates the voltage to be applied to the propellers 12A to 12F according to the scheduled speed (step ST103A), and applies the voltage to the propeller 12A and the like. (Step ST104).

<Sixth embodiment>
The sixth embodiment will be described with reference to FIG. Description of matters common to the fifth embodiment will be omitted, and only matters different from the fifth embodiment will be described.

  The drone 1 is configured to control the traveling speed by generating a plasma by applying a voltage to some of the propellers 12A among the propellers 12A and the like according to the plasma control program.

  As shown in FIG. 18A, the voltage V1 is applied to the propellers 12A, 12B, 12D, and 12E while the housing 2 is inclined by the angle θ1. No voltage is applied to the propellers 12C and 12F. Since the propellers 12C and 12F are positioned in the middle of the forward propellers 12D and 12E and the rear propellers 12A and 12B in the traveling direction X1, the thrust does not affect the angle θ1, but only affects the traveling speed D3. give. By not generating plasma in the propellers 12C and 12F, the speed can be reduced as compared with the case where plasma is generated in all the propellers 12A and the like.

  Further, as shown in FIG. 18B, in a state where the housing 2 is inclined by the angle θ1, the voltage V1 is applied to the propellers 12C and 12F, and no voltage is applied to the propellers 12A, 12B, 12D, and 12E. . Since the propellers 12C and 12F are located between the front propellers 12D and 12E and the rear propellers 12A and 12B in the traveling direction X1, the thrust does not affect the angle θ1, but only affects the traveling speed D4. give. For this reason, by generating plasma only in the propellers 12C and 12F, the speed can be reduced as compared with the case where plasma is generated in all the propellers 12A and the like. The traveling speed D4 is slower than the traveling speed D3 described above.

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

DESCRIPTION OF SYMBOLS 1 Unmanned air vehicle 2 Case 4 Upper cover 6 Arm root part 8 Arm 10 Motor 12, 12A, 12B, 12C, 12D, 12E, 12F Propeller 14 Leg part 20, 22, Electrode 24 Slip ring 100 AC power supply 120 Propeller

Claims (6)

An unmanned aerial vehicle that obtains thrust by rotation of a plurality of propellers,
Having plasma control means for generating plasma on the blade surface of the propeller;
Unmanned air vehicle. The propeller is a variable pitch propeller capable of changing the angle of attack,
The plasma control means is configured to generate plasma based on the angle of attack,
The unmanned aerial vehicle according to claim 1. The plasma control means generates plasma when the rotation speed and the rotation time of the propeller are equal to or higher than a predetermined reference value, or when it is expected to become equal to or higher than a predetermined reference value after a predetermined time, Configured to reduce the rotation speed of the propeller,
The unmanned aerial vehicle according to claim 1 or 2. The plasma control means is configured to control the attitude of the unmanned air vehicle by generating plasma on the wing surfaces of some of the propellers among the plurality of propellers.
The unmanned aerial vehicle according to any one of claims 1 to 3.   The said plasma control means is comprised so that the advancing speed of the said unmanned air vehicle may be controlled by controlling the plasma generated on the wing | blade surface of the said propeller. The unmanned air vehicle described.   The plasma control unit is configured to generate plasma by dielectric barrier discharge, and is configured to control thrust of each propeller by controlling a voltage used for dielectric barrier discharge. The unmanned aerial vehicle according to any one of claims 1 to 5.