JP2019209776A - Mobile - Google Patents

Abstract

To provide a mobile having an excellent applicability in narrow places, protection performance, and ground mobility.SOLUTION: A plurality of propulsion bodies 11 have a pair of shells 21, a connecting member 22, and propulsion means 23. Each of the shells 21 has a shape that bulges outward and is arranged in a facing manner one another so that an inner space is created therebetween. The connecting member 22 connects the center of each of the shells 21 inside each of the shells 21 and makes each of the shells 21 rotatably about a first shaft 15 connecting the center of each of the shells 21. The propulsion means 23 is supported by the connecting member 22 and arranged inside each of the shells 21. The connecting body 12 is connected to the connecting member 22 of each propulsion body 11 through a gap between the shells 21, and makes each shell 21 of each propulsion body 11 rotatable independently of each other about a second shaft 16 substantially perpendicular to the first shaft 15 of each propulsion body 11.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving body.

  Conventionally, as a mobile body that can travel on the ground as well as fly and land with a propeller propulsion device, it is used for disaster response and infrastructure inspection, etc. Many have been proposed that have frame-like passive wheels for traveling on the ground, wall surfaces, ceilings, and the like. As such a moving body, for example, a frame in which two wheels are provided so as to sandwich the flying body (see, for example, Non-Patent Document 1 or 2), or a frame formed in a cylindrical shape, A flying object (for example, see Non-Patent Document 3 or 4), or a flying object placed inside a spherical shell-shaped frame (for example, Non-Patent Documents 5 to 9, Patent Document 1 or 2), and a pair of hemispherical frames arranged to face each other with a space therebetween (see, for example, Non-Patent Document 10, Patent Document 3 or 4). In these moving objects, the flying object is attached to the frame so as to be rotatable with 1 to 3 degrees of freedom.

”Parrot MINIDRONES -ROLLING SPIDER-”, [online], Parrot, [Search March 7, 2018], Internet <URL: http://global.parrot.com/au/products/rolling-spider/> Nana Takahashi, Shuhei Yamashita, Yurina Sato, Kutsuna Yuta, Manabu Yamada, “All-round two-wheeled quadrotor helicopters with protect-frames for air-land-sea vehicle (controller design and automatic charging equipment)”, Asvanced Robotics, 2015, Volume 29, p.69-87 Arash Kalantari, Matthew Spenko, “Design and experimental validation of HyTAQ, a Hybrid Terrestrial and Aerial Quadrotor”, Robotics and Automation (ICRA), 2013 IEEE International Conference Moyuru Yamada, Manabu Nakao, Yoshiro Hada, “Development and field test of novel two-wheeled UAV for bridge inspections”, Unmanned Aircraft Systems (ICUAS), 2017 International Conference Adrien Briod, Przemyslaw Kornatowski, Jean-Christophe Zufferey, Dario Floreano, “A Collision-resilient Flying Robot”, Journal of Field Robotics, 26 DEC 2013, Volume 31, Issue 4, Version of Record online Carl John O. Salaan, Yoshito Okada, Shouma Mizutani, Takuma Ishii, Keishi Koura, Kazunori Ohno, Satoshi Tasokoro, “Close visual bridge inspection using a UAV with a passiverotating spherical shell”, Journal of Field Robotics Early View, 27 FEB 2018, Version of Record online A. Kalantari, M. Spenko, “Design and Experimental Validation of HyTAQ, a Hybrid Terrestrial and Aerial Quadrotor”, IEEE International Conference on Robotics and Automation, 2013, p.4430-4435 A. Briod, P. Kornatowski, J.-C. Zufferey, and D. Floreano, “A Collision Resilient Flying Robot” ', J. Field Robotics, doi: 10.1002 / rob.21495, 2014 Masama Mizutani, Kazunori Ohno, Kazunari Yanagimura, Yoshito Okada, Eijiro Takeuchi, Satoshi Tadokoro, "Quad Rotor with a rotating spherical shell capable of flying in a complex structure", Japan Society of Mechanical Engineers Robotics and Mechatronics Lecture Robomech 2014, 2A1-E04 Carl John O. Salaan, Kenjiro Tadakuma, Yoshito Okada, Eri Takane, Kazunori Ohno, Satoshi Tadokoro, “UAV with Two Passive Rotating Hemispherical Shells for Physical Interaction and Power Tethering in a Complex Environment”, The 2017 IEEE International Conference on Robotics and Automation (ICRA2017)

JP 2010-52713 A International publication WO2014 / 198774 JP2015-111003A JP 2017-35996 A

  In such a mobile body, in order to effectively use it for disaster response and infrastructure inspection, etc., it is as small as possible, applicable in narrow places where it can enter even in narrow places, protection performance to protect propellers and other propulsion functions, only in the air It is required to have excellent ground mobility that can move in all directions even on the ground. Non-Patent Documents 1 and 2 in which the flying object is sandwiched between two wheels are inadequate in protection performance because the propulsion function such as a propeller is exposed except on the side where the wheels are present. . On the ground, two wheels can only move in one direction and rotate on the spot, and although it is possible to move in all directions, it is difficult, and the ground mobility is somewhat inferior.

  Non-Patent Documents 3 and 4, in which a flying object is arranged inside a cylindrical frame, can move only in one direction on the ground due to the rotation of the cylinder in the circumferential direction. Inferior. Further, non-patent documents 5 to 9, patent documents 1 and 2 described in which a flying body is arranged inside a spherical shell frame, and non-patent documents 10 and patent documents 3 and 4, a pair of In the case where the flying object is arranged inside the hemispherical frame, the size of the spherical shell frame or the pair of hemispherical frames is large because the entire flying object is housed in the spherical shell frame or the pair of hemispherical frames. It has become somewhat inferior to narrow space applicability.

  Thus, in the conventional mobile body, any of narrow space applicability, protection performance, and ground mobility is inferior, and there is a problem that none of these characteristics are excellent. .

  The present invention has been made paying attention to such a problem, and an object of the present invention is to provide a moving body excellent in narrow space applicability, protection performance, and ground mobility.

  In order to achieve the above object, a moving body according to the present invention has a pair of convexly outwardly swelled shapes and a space between them so as to form a space on the inside and spaced from each other. A shell, and a connecting member that connects the center of each shell inside each shell, and a first axis that connects the centers of each shell, and each shell is rotatably provided; A plurality of propulsion bodies each having propulsion means supported by the coupling member and disposed inside each shell, and connected to the coupling member of each propulsion body through the spacing of each shell, And a connecting body provided so that each shell of each propulsion body can be rotated independently of each other about a second axis substantially perpendicular to the first axis.

  The moving body according to the present invention can be moved by the propulsion means disposed inside each shell of each propulsion body. The propulsion means may be anything as long as it is movable, and includes, for example, a propeller, a floating body, legs and wheels, an endless track, an engine, a motor, and the like. By such propulsion means, the mobile body according to the present invention can fly in the air, move on the water or in the water, move on the ground surface, and travel. When traveling on the surface of the earth, it is preferable that each shell rotates relative to the ground.

  In the moving body according to the present invention, each propulsion body has (A) rotation of each shell around the first axis, and (B) a second axis substantially perpendicular to the first axis. And rotation of each shell about the center. The mobile body according to the present invention is arbitrary when each shell of a plurality of propulsion bodies is independently grounded on the ground, a wall, a ceiling, etc. by performing the rotation of (A) and the rotation of (B). It is possible to move in the direction of. For this reason, the moving body according to the present invention can efficiently release the impact even if each shell collides with the colliding object, and damages or breaks the moving body itself or the colliding object. Can be prevented.

  In addition, the moving body according to the present invention is such that each shell rotates with the rotation of (A) and (B) with respect to the propulsion means of each propulsion unit, regardless of the direction of rotation due to a collision or the like. The whole can be prevented from rotating. The moving body according to the present invention can be converted into a posture with high mobility at the time of takeoff or at the start of movement by utilizing the rotation of each shell of each propulsion body (A) and (B), This makes it easier to take off and move.

  The moving body according to the present invention can protect each propulsion means by covering it with each shell. Also, each shell can be reduced to a size that covers only one propulsion means. For this reason, as compared with the case where all of the plurality of propulsion means are covered with one spherical shell or the like, the whole can be reduced in size and can enter a narrower place. Thus, the moving body according to the present invention is excellent in narrow space applicability, protection performance, and ground mobility.

  In the movable body according to the present invention, the first axis and the second axis need only be substantially vertical, if not completely vertical, and may have an angle of about 80 degrees to 90 degrees. Each shell is preferably rotatable clockwise or counterclockwise with respect to the connecting member. The connecting member is preferably provided so that the connected shells can rotate independently of each other. In these cases, ground mobility can be further improved. Moreover, it is preferable that the propulsion means of each propulsion body is arranged at the position of the center of gravity of each shell or in the vicinity thereof. Each shell is preferably made of a material having elasticity or flexibility that can absorb the impact to some extent when an impact is applied from the outside. Moreover, it is preferable that the connection part of each shell and a connection member, and the contact part of a connection member and a propulsion means are also comprised so that an impact can be absorbed. In these cases, it is possible to enhance the effect of preventing the object to be collided and the moving body itself from being damaged during the collision.

  In the movable body according to the present invention, it is preferable that the propulsion unit is attached to the connection body via the connection member so as to be rotatable about the second axis with respect to the connection member. In this case, it is possible to prevent the rotation of the shells (A) and (B) from affecting the propulsion means. For this reason, the posture of each propulsion means can be maintained, and the posture can be controlled by each propulsion means. Also, by attaching a weight or the like to each propulsion means, each propulsion means can be automatically maintained in the same posture. As a result, a series of operations such as movement start (takeoff), movement, and stop (landing) can be stably performed.

  The moving body according to the present invention preferably has an operating means for operating the propulsion means of each propulsion body, and has a main body provided on the connection body outside each shell of each propulsion body. In this case, electric power can be supplied by wiring each propulsion means from the operating means of the main body through the interval between the shells of the propulsion bodies. Thereby, even if it moves or each shell rotates, wiring does not wind up or become entangled. Moreover, the propelling means of all the propelling bodies can be operated with one operating means. It is preferable that the operating means can operate the propelling means of each propulsion body independently.

  Moreover, when it has this main-body part, various apparatuses, such as a camera and a measuring device, may be mounted in the main-body part. At this time, since various devices are arranged outside the shells, it is possible to perform photographing and measurement without the shells getting in the way. Moreover, since electric power can be supplied to the operating means and various devices even while moving, it can be driven for a long time compared to the case of battery driving. In addition, even when the battery is driven, it is easy to charge the battery by wire. Further, access to operating means and various devices is easy, and maintenance such as replacement and repair of parts and batteries is easy. In addition, by disposing each propulsion body so as to surround the main body, each shell can prevent collision with an external substance, and the impact caused by the collision can be released by rotation of each shell. And damage to various devices can be prevented.

  Further, in the case of having the main body, each propulsion body is provided so that the propulsion direction by the propulsion means is substantially the same direction, and the main body is configured to move in a direction substantially perpendicular to the propulsion direction. You may have a moving means. Moreover, it does not have a moving means and you may provide so that the propulsion direction of the propulsion means of each propulsion body may be oblique. At this time, the moving means and the propulsion means whose propulsion directions are oblique can be moved in a direction perpendicular to the propulsion direction by the respective propulsion means, and the movement range can be expanded. For example, when each propulsion means is composed of a propeller and is propelled in the vertical direction from the ground, it can be moved along the ground plane by the moving means or the propulsion means whose propulsion directions are oblique. Moreover, it is preferable that the operating means, the moving means, and various devices are configured to be controllable wirelessly or by wire.

  In the movable body according to the present invention, it is preferable that each shell has a frame shape in which a portion bulging outward is curved or polyhedral, and at least a part thereof is open. In the case of a curved surface, compared to the case of a polyhedral shape, vibrations are less likely to occur when rolling on the ground, and the propulsion means and various devices can be prevented from being damaged or broken. The curved surface in the case of a curved surface is not limited to a hemisphere, and may be, for example, a curved surface of a part of a sphere or an ellipsoid. In the case of a polyhedral shape, it is easy to manufacture and the manufacturing cost can be suppressed. Further, since each shell has a frame shape, it is easy to visually recognize the inside of each shell and management of the propulsion means is easy.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body excellent in narrow place applicability, protection performance, and ground mobility can be provided.

It is a perspective view which shows the moving body of embodiment of this invention. It is the (a) top view, (b) front view, (c) side view of the moving body shown in FIG. It is the perspective view which shows the (a) shell of the moving body shown in FIG. 1, (b) The side view which shows a connection member.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 3 show a moving body according to an embodiment of the present invention.
As shown in FIGS. 1 and 2, the moving body 10 includes a plurality of propulsion bodies 11, a connection body 12, and a main body portion 13.

  The propulsion body 11 is composed of four parts, each having a pair of shell bodies 21, a connecting member 22, and propulsion means 23 made of a propeller. As shown in FIG. 3A, each shell 21 has a hemispherical shell shape that bulges outward. Each shell 21 is configured in a frame shape by elastic parts corresponding to meridians, latitudes, and poles 21a in a sphere. The parts forming meridians and latitudes have an elliptical cross-sectional shape. Each shell 21 is formed by temporarily fixing the contact position of each component with a pin, and then fixing each component using an adhesive. Each shell 21 can absorb the impact to some extent when an impact is applied from the outside. As shown in FIG. 1 and FIG. 2, the shells 21 are arranged to face each other at an interval with the pole portion 21 a facing outside so as to form a substantially spherical space on the inside.

  As shown in FIG.3 (b), the connection member 22 consists of an elongate and ellipse-shaped member, and has substantially semicircle shape. As shown in FIG. 1 and FIG. 2, the connecting member 22 is disposed inside each shell 21, and both end portions 22 a are attached to the pole portions 21 a of each shell 21, and the shells are spaced apart. 21 are connected. The connecting member 22 is provided so that the connected shell bodies 21 can rotate independently of each other clockwise and counterclockwise around the first shaft 15 connecting the pole portions 21a of the shell bodies 21. . In addition, the connecting member 22 has a through hole 22 b that faces the central direction of a substantially spherical space surrounded by the shells 21 at the center position corresponding to the interval between the shells 21.

  As shown in FIGS. 1 and 2, the connection body 12 includes a body portion 24 and two shafts 25. The body portion 24 has a prismatic cylindrical shape. The two shafts 25 are attached to both ends of the body part 24 so as to extend perpendicular to the body part 24 so as to be parallel to each other. Each shaft 25 is attached so that both ends are separated from the body portion 24 by the same distance. As for the connection body 12, the propulsion body 11 is attached to the both ends of each shaft 25 one each so that each shell 21 of each propulsion body 11 may not contact each other.

  Each propulsion body 11 is attached to the connection body 12 by passing the end portion of the corresponding shaft 25 through the through hole 22b of the coupling member 22 from the interval between the shell bodies 21. Each propulsion body 11 is attached such that the tip of the corresponding shaft 25 is arranged at the substantially center of a substantially spherical space surrounded by each shell body 21. Each propulsion body 11 is attached such that each connecting member 22 is rotatable about a second axis 16 along the central axis of the shaft 25 passing through the through hole 22b. Thereby, each propulsion body 11 is provided with each shell 21 rotatably about the second axis 16 in a direction substantially perpendicular to the first axis 15. In the moving body 10, when each shell 21 of each propulsion body 11 is formed as one spherical shell, the respective spherical shells are rotatable independently of each other. In addition, each propulsion body 11 is attached so that each first shaft 15 is not completely parallel, and is at an angle of about 80 to 90 degrees with respect to the second shaft 16. .

  The propulsion means 23 of each propulsion body 11 is attached to the tip of the corresponding shaft 25 and is rotatable about the second shaft 16 with respect to each shell 21 and the connecting member 22. Each propulsion means 23 is supported by the connecting member 22 via a shaft 25 and is disposed at a substantially center of gravity position inside each shell 21. Each propulsion means 23 is provided to rotate about an axis that forms an angle of 0 to 10 degrees with respect to the first axis 15 of each propulsion body 11 so that the propulsion directions are substantially the same. Each propulsion means 23 is attached so as to rotate without contacting each shell 21 and the connecting member 22.

  As shown in FIG. 2, the main body portion 13 is attached to the body portion 24 of the connection body 12 surrounded by the respective propulsion bodies 11 outside the respective shell bodies 21 of the respective propulsion bodies 11. The main body 13 has operating means 26 for operating each propulsion means 23. The operating unit 26 is connected to each propulsion unit 23 through a cable from the body portion 24 through each shaft 25, and can supply electric power to each propulsion unit 23. The operation means 26 is configured to be able to operate each propulsion means 23 independently and to control the operation state of each propulsion means 23 wirelessly or by wire.

Next, the operation will be described.
The moving body 10 is configured with reference to the moving body 10 described in Non-Patent Document 10 and Patent Document 4 and having two degrees of freedom for rotation. The moving body 10 can move in the air by the propulsion means 23 arranged inside each shell 21 of each propulsion body 11. In the moving body 10, each propulsion body 11 has (A) rotation of each shell 21 around the first axis 15, and (B) a second axis substantially perpendicular to the first axis 15. Each shell 21 around 16. When the mobile body 10 is grounded on the ground, a wall, a ceiling, or the like by independently rotating the shells 21 of the plurality of propulsion bodies 11 (A) and (B), the mobile body 10 It can move in the direction. For this reason, even if each shell 21 collides with the colliding object, the moving body 10 can efficiently release the impact, and the moving body 10 itself or the colliding object can be damaged or damaged. Can be prevented.

  In addition, the moving body 10 is rotated by the rotations (A) and (B) with respect to the propulsion means 23 of each propulsion body 11 by rotation of (A) and (B), regardless of which direction rotation is applied due to a collision or the like. The whole can be prevented from rotating. The mobile body 10 can be converted to a highly mobile posture at takeoff or at the start of movement by utilizing the rotation of the shells 21 (A) and (B) of each propulsion body 11. And making it easier to start moving.

  The moving body 10 can protect each propulsion means 23 by covering it with each shell 21. Moreover, each shell 21 can be reduced to a size that covers only one propulsion means 23. For this reason, compared with the case where all the several propulsion means 23 are covered with one spherical shell etc., the whole can be reduced in size and can enter a narrower place. Thus, the moving body 10 is excellent in narrow place applicability, protection performance, and ground mobility.

  Since each propulsion means 23 is not affected by the rotation of the shells 21 (A) and (B), the mobile body 10 can maintain the posture of each propulsion means 23. The attitude can be controlled. Further, by attaching a weight or the like to each propulsion means 23, each propulsion means 23 can be automatically maintained in the same posture. As a result, a series of operations such as movement start (takeoff), movement, and stop (landing) can be stably performed.

  Since each shell 21 has a curved surface, the mobile body 10 is unlikely to vibrate when each shell 21 rolls on the ground, and the propulsion means 23 and the like are damaged or broken. Can be prevented. Since each shell 21 has a frame shape, the moving body 10 is lightweight, easy to visually recognize the inside of each shell 21, and easy to manage each propulsion means 23. Further, since each shell 21 has a frame shape, and each part of each shell 21 and the connecting member 22 have an elliptical cross-sectional shape, the moving body 10 has the propulsion means 23 made of a propeller. It is hard to disturb the wind.

  In the mobile unit 10, various devices such as a camera and a measurement device can be mounted on the main body 13 in addition to the operating means 26. Thereby, since various apparatuses are arrange | positioned outside each shell 21, each shell 21 can perform imaging | photography, a measurement, etc., without getting in the way. In addition, since the moving body 10 can supply power to the operating means 26 and various devices even while moving, it can be driven for a long time compared to the case of battery driving. In addition, even when the battery is driven, it is easy to charge the battery by wire. Further, the moving body 10 can easily access the operating means 26 and various devices, and can easily perform maintenance such as replacement and repair of parts and batteries. Moreover, since each propulsion body 11 is arrange | positioned so that the main body part 13 may surround the mobile body 10, while preventing the collision with an external substance with each shell 21, the impact by the collision is each shell 21 It is possible to prevent the operating means 26 and various devices from being damaged.

  The moving body 10 may have moving means for moving the main body 13 in a direction substantially perpendicular to the propulsion direction of each propulsion means 23. The propulsion direction may be provided so as to be oblique. In these cases, the moving means or the respective propulsion means 23 can move along the ground plane. Further, the rotation direction and rotation amount of each shell 21 of each propulsion body 11 and the operation state of the moving means may be configured to be independently controllable wirelessly or by wire. . In this case, an arbitrary movement can be actively performed, and the usage application can be expanded. Various devices may also be configured to be controllable wirelessly or by wire.

  The moving body 10 is not limited to one in which each propulsion means 23 is composed of a propeller, and may be composed of a floating body, legs and wheels, an endless track, an engine, a motor, and the like. By such a propulsion means 23, the moving body 10 can fly in the air, move on the water or in the water, move on the ground surface, and travel. The mobile body 10 can freely move to a desired place by using an appropriate propulsion means 23. For example, it is possible to freely enter and exit a narrow space and move within the narrow space. For this reason, various exploration activities can be performed efficiently. The mobile body 10 can be used for inspection of social infrastructure such as bridges and tunnels, and for exploring disaster sites. The moving body 10 may be composed of any movable object such as a flying object, a wheel, a legged moving object, an underwater propulsion mechanism, a crawler, and other complex moving mechanisms.

DESCRIPTION OF SYMBOLS 10 Moving body 11 Propulsion body 21 Shell 21a Pole part 22 Connecting member 22a End part 22b Through-hole 23 Propulsion means 12 Connection body 24 Body part 25 Shaft 13 Main body part 26 Operating means 15 1st axis | shaft 16 2nd axis | shaft

Claims (7)

A pair of shells that are spaced from each other so as to form an outwardly convex shape and form a space inside, and the center of each shell inside each shell And a connecting member that is rotatably provided around the first axis that connects the center of each shell, and is disposed inside each shell supported by the connecting member. A plurality of propulsion bodies each having a propulsion means;
The shells of the propulsion bodies are connected to the connecting members of the propulsion bodies through the intervals of the shells, and the shells of the propulsion bodies are connected to each other around a second axis substantially perpendicular to the first axis of the propulsion bodies. A connection body that is independently rotatable,
A moving object comprising:   The moving body according to claim 1, wherein the connecting member is provided so that the connected shell bodies can rotate independently of each other.   3. The movement according to claim 1, wherein the propulsion unit is attached to the connection body via the coupling member so as to be rotatable about the second axis with respect to the coupling member. body.   4. The apparatus according to claim 1, further comprising an operating unit that operates the propulsion unit of each propulsion unit, and further including a main body provided on the connection body outside the shell of each propulsion unit. The moving body according to item 1. Each propulsion body is provided such that the propulsion direction by the propulsion means is substantially the same direction,
The moving body according to claim 4, wherein the main body has moving means for moving in a direction substantially perpendicular to the propulsion direction.   6. Each of the shells has a frame shape in which at least a part of the shell body is curved or polyhedral, and at least a part thereof is open. The moving body described in 1. The moving body according to any one of claims 1 to 6, wherein the propulsion means of each propulsion body includes a propeller and is provided so as to be able to fly.