JP2020059387A - Unmanned flying body - Google Patents

Abstract

To provide an unmanned flying body capable of making high flying speed and a long flight range compatible.SOLUTION: An unmanned flying body 100 includes: an airframe body 10; front arms 11A and 11B which are symmetrically provided with respect to a center axis in a fore-and-aft direction of the airframe body 10 on both sides in a lateral direction of the airframe body 10; rear atms 12A and 12B which symmetrically branch off with respect to the center axis from middle parts of the front arms 11A and 11B; abd flotation rotors 13A, 13B, 13C, and 13D which are respectively provided on the front arms 11A, 11B and the arms 12A and 12B. Propulsion rotors 16A and 16B generating the thrust of a horizontal component are provided behind branch parts of the rear arms 12A and 12B in the front arms 11A and 11B and closer to the airframe body 10 then the rear arms 12A and 12B.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aerial vehicle.

  In recent years, an unmanned aerial vehicle capable of vertical takeoff and landing by providing a plurality of rotors has come to be used in various fields (for example, refer to Patent Document 1). Such unmanned aerial vehicles are called multicopters and drones.For example, by installing a camera and enabling remote control, it is used to obtain information by aerial photography of places where people can not enter. it can.

JP, 2014-240242, A

  With the increasing use of unmanned aerial vehicles, there is an increasing demand for faster flight speeds and longer cruising ranges.

  However, it is difficult to achieve both a high flight speed and a long cruising range in an unmanned aerial vehicle because the performance of a battery generally used as a power source of the unmanned aerial vehicle is a limitation.

  A main object of the present invention is to provide an unmanned aerial vehicle capable of achieving both high flight speed and long cruising range.

  In order to achieve the above-mentioned object, an unmanned aerial vehicle according to the present invention comprises an airframe body and a pair of fronts provided symmetrically with respect to a longitudinal center axis of the airframe body on both left and right sides of the airframe body. An arm, a pair of rear arms symmetrically branched from the pair of front arms with respect to the central axis, a levitation rotor provided on each of the pair of front arms and the pair of rear arms, and a pair of rear arms of the pair of front arms. A propulsion rotor that is provided rearward of the branch point and closer to the main body of the vehicle than the pair of rear arms, and that generates a thrust of a horizontal component.

  According to the unmanned aerial vehicle of the present invention, the rear arm is branched from the front arm, and the propulsion rotor that generates the thrust of the horizontal component is provided behind the branch point and closer to the body of the vehicle than the rear arm. Therefore, since the propulsion rotor can be separated from the rear arm or the levitation rotor provided on the rear arm, air acceleration by the propulsion rotor is less likely to be hindered by the rear arm or the levitation rotor provided on the rear arm. Therefore, since the horizontal thrust can be efficiently generated, it is possible to achieve both a high flight speed and a long cruising range.

  In the unmanned aerial vehicle according to the present invention, the cross sections of the pair of front arms and the pair of rear arms may be streamlined.

  With this configuration, lift force can be generated in the front arm and the rear arm when the horizontal velocity component is obtained by the propulsion rotor. Therefore, the energy consumption of the levitation rotor can be reduced, and a longer cruising range can be realized.

  In the unmanned aerial vehicle according to the present invention, the pair of front arms and the pair of rear arms may become thinner as the distance from the main body of the vehicle increases.

  By doing so, the weight of the front arm and the rear arm can be reduced while maintaining the strength of the portion of the front arm that is attached to the aircraft body and the portion of the rear arm that is attached to the front arm, resulting in a faster flight speed and a longer cruising range. And can be realized.

  According to the present invention, it is possible to provide an unmanned air vehicle capable of achieving both a high flight speed and a long cruising range.

It is the perspective view which looked at the unmanned aerial vehicle concerning one embodiment from the front. It is the perspective view which looked at the unmanned aerial vehicle concerning one embodiment from the back. It is the top view which looked at the unmanned aerial vehicle concerning one embodiment from the upper part. It is a figure which shows the cross-sectional shape of the front arm of the unmanned air vehicle which concerns on one Embodiment.

  Hereinafter, an unmanned air vehicle according to an embodiment of the present invention will be described with reference to the drawings. The scope of the present invention is not limited to the following embodiments and can be arbitrarily changed within the scope of the technical idea of the present invention. Further, in the following drawings, in order to make each configuration easy to understand, the scale and the number of each structure may be different from the actual structure.

  In the following description, "horizontal" means a direction substantially parallel to the ground (or sea level), and "vertical" means a direction substantially vertical to the ground (or sea level). Means

  Further, the present embodiment is intended for an unmanned aerial vehicle having a levitation rotor that mainly generates vertical component thrust and a propulsion rotor that mainly generates horizontal component thrust, and is lifted by the levitation rotor unless otherwise specified. Direction is "up", the opposite direction is "down", the direction of forward movement by the propulsion rotor is "front", the opposite direction is "rear", and the left side is "left" when the aircraft body is viewed from "front". The right-hand side of the machine body when viewed from “front” is called “right”.

  FIG. 1 is a perspective view of an unmanned aerial vehicle according to the present embodiment as seen from the front, FIG. 2 is a perspective view of the unmanned aerial vehicle as seen from the rear, and FIG. 3 is a plan view of the unmanned aerial vehicle as seen from above. It is a figure.

  As shown in FIGS. 1 to 3, the unmanned aerial vehicle 100 of the present embodiment includes a machine body 10, front arms 11A and 11B, and rear arms 12A and 12B. The inside of the machine body 10 has a hollow structure, and a flight control system, a battery, a measuring instrument, etc. are mounted in the inside. The machine body 10 has an air inlet 10a in the front part and an air outlet 10b in the rear part in order to release the heat generated from the mounted equipment.

  The front arms 11A and 11B are provided on both sides of the machine body 10 in the left-right direction and symmetrically with respect to the center axis of the machine body 10 in the front-rear direction (hereinafter referred to as the machine center axis). The front arms 11A and 11B extend in a substantially straight line obliquely forward so as to form an angle of, for example, about 45 ° with respect to the center axis of the machine body.

  The rear arms 12A and 12B are branched symmetrically with respect to the center axis of the machine body from the middle of the front arms 11A and 11B. The rear arms 12A and 12B extend obliquely rearward and substantially linearly so as to form an angle of, for example, about 25 ° with respect to the center axis of the body. That is, the front arm 11A and the rear arm 12A, and the front arm 11B and the rear arm 12B form an angle of, for example, about 110 °.

  In addition, in order to secure sufficient strength, a portion of the front arms 11A and 11B from a mounting portion to the machine body 10 to a branch portion of the rear arms 12A and 12B may be formed thicker than other portions.

  The levitation rotors 13A, 13B, 13C and 13D are provided together with the levitation motors 14A, 14B, 14C and 14D at the upper ends of the front arms 11A and 11B and the rear arms 12A and 12B. The levitation rotors 13A, 13B, 13C, 13D have, for example, two blades. The respective rotation surfaces of the levitation rotors 13A, 13B, 13C and 13D may be located in the same plane. Further, in the plane, the rotation shafts of the levitation rotors 13A, 13B, 13C, and 13D (levitation motors 14A, 14B, 14C, and 14D) may be arranged at the vertices of a substantially square shape.

  Further, as shown in FIGS. 1 to 3, short arms 15A and 15B are provided symmetrically with respect to the center axis of the machine body above the attachment positions of the front arms 11A and 11B on both sides of the machine body 10 in the left-right direction. Has been. Propulsion rotors 16A and 16B are provided at the front ends of the respective short arms 15A and 15B together with propulsion motors 17A and 17B. The rotation shafts of the propulsion rotors 16A and 16B are set substantially parallel to the machine body central axis. The propulsion rotors 16A and 16B have, for example, three blades. The propulsion rotors 16A, 16B may be smaller than the levitation rotors 13A, 13B, 13C, 13D. By operating the propulsion rotors 16A and 16B, the unmanned aerial vehicle 100 produces a horizontal velocity component.

  Support legs 18 are attached to the lower portions near the center of the front arms 11A and 11B and the lower rear portion of the machine body 10.

  As shown in FIGS. 1 to 3, in this embodiment, the rear arms 12A and 12B are provided so as to branch from the middle of the front arms 11A and 11B, and the propulsion rotors 16A and 16B include the front arms 11A and 11B. Is provided behind the branch points of the rear arms 12A and 12B and closer to the machine body 10 than the rear arms 12A and 12B. Therefore, the propulsion rotors 16A, 16B can be separated from the rear arms 12A, 12B or the levitation rotors 13C, 13D provided on the rear arms 12A, 12B. As a result, air acceleration by the propulsion rotors 16A, 16B is less likely to be hindered by the rear arms 12A, 12B or the levitation rotors 13C, 13D. Therefore, since the horizontal thrust can be efficiently generated, it is possible to achieve both a high flight speed and a long cruising range.

  Further, as compared with a so-called X-shaped drone in which the rear arm is directly attached to the body of the vehicle, when the rear arms 12A and 12B are provided so as to branch from the middle of the front arms 11A and 11B as in the present embodiment, they are as follows. The effect is obtained. That is, when the flight speed is a horizontal component, the air resistance to the rear arms 12A and 12B (particularly the portions near the front arms 11A and 11B) can be reduced by the front arms 11A and 11B. Therefore, higher flight speed and longer cruising range can be realized.

  Also, comparing with a so-called H-shaped drone, which has a pair of arms provided on both sides in the left-right direction of the machine body perpendicular to the machine body central axis, and is branched forward and backward parallel to the machine body central axis, The present embodiment has the following advantages. That is, in the H-type drone, the total length of the arms extending in the same direction parallel to the center axis of the machine becomes large, and flight stability deteriorates due to the influence of the wind from the left and right directions of the machine body. On the other hand, in the present embodiment, the extending direction of each arm is different, so that it is less susceptible to the influence of wind and the like, and flight stability is improved.

  Further, in the present embodiment, the machine body 10 has a streamlined shape when viewed from above, as shown in FIG. That is, the front end of the machine body 10 has a round shape, and the rear end has a sharp shape. As a result, the air resistance of the body 10 can be reduced, and a faster flight speed and a longer cruising range can be realized.

  Further, in the present embodiment, the cross sections of the front arms 11A and 11B and the rear arms 12A and 12B are streamlined. That is, the front arms of the front arms 11A and 11B and the rear arms 12A and 12B have rounded front ends and the rear ends of the rear arms have a pointed shape. Accordingly, when the horizontal velocity component is obtained by the propulsion rotors 16A and 16B, lift force can be generated in the front arms 11A and 11B and the rear arms 12A and 12B. Therefore, energy consumption by the levitation rotors 13A, 13B, 13C, 13D can be reduced, and a longer cruising range can be realized.

  FIG. 4 is a diagram showing an example of a cross-sectional shape of the front arms 11A and 11B in the vicinity of the attachment position to the machine body 10. As shown in FIG. 4, the front ends of the front arms 11A and 11B are round, and the rear ends of the rear arms are pointed. Further, as shown in FIG. 4, the angle θ formed by the sectional center axis J1 of the front arms 11A and 11B with respect to the body center axis J0 is set so that the front end positions of the front arms 11A and 11B are higher than the rear end positions. For example, it may be set to about 10 °. By doing so, for example, the nose of the machine body 10 is moved in order to generate the thrust of the horizontal component also on the levitation rotors 13A, 13B, 13C, 13D so that the velocity component in the horizontal direction becomes about 10 m / s. Even if the angle is lowered by about °, lift can be generated on the front arms 11A and 11B and the rear arms 12A and 12B.

  Further, in the present embodiment, the front arms 11A and 11B become thinner as the distance from the machine body 10 increases. Similarly, the rear arms 12A and 12B also become thinner as they move away from the front arms 11A and 11B (that is, the machine body 10). As a result, the front arms 11A, 11B and the rear arms 12A, 12B are maintained while maintaining the strength of the mounting parts of the front arms 11A, 11B to the machine body 10 and the rear arms 12A, 12B to the front arms 11A, 11B. Can be made lighter to achieve faster flight speeds and longer range.

  Further, in the present embodiment, when the unmanned aerial vehicle 100 generates a horizontal velocity component by operating the propulsion rotors 16A and 16B, the rotation speeds of the levitation rotors 13A, 13B, 13C, and 13D. May be reduced. As a result, energy consumption by the levitation rotors 13A, 13B, 13C, 13D can be reduced, so that a longer cruising range can be realized.

  Further, in the present embodiment, the machine body 10, the front arms 11A and 11B, the rear arms 12A and 12B, and the other components of the unmanned aerial vehicle 100 may be formed of a lightweight material such as carbon fiber or aluminum. .

  Further, in the present embodiment, the front arms 11A and 11B and the rear arms 12A and 12B may have a hollow structure inside. By doing so, the weight of the front arms 11A, 11B and the rear arms 12A, 12B can be reduced, and a faster flight speed and a longer cruising range can be realized. Further, by utilizing the hollow internal structure of the front arms 11A, 11B and the rear arms 12A, 12B, the flight control system and the battery housed inside the body 10 and the levitation motors 14A, 14B, 14C, 14D are installed. It can be electrically connected.

  Further, in the present embodiment, the machine body 10, the front arms 11A and 11B, and the rear arms 12A and 12B may be integrally formed by using, for example, carbon fiber. On the other hand, the levitation motors 14A, 14B, 14C and 14D are attached to the front arms 11A and 11B and the rear arms 12A and 12B, the short arms 15A and 15B are attached to the machine body 10, and the propulsion motors are attached to the short arms 15A and 15B. A screw or the like may be used for attaching 17A and 17B.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the invention. That is, the above description of the embodiments is merely exemplary in nature, and is not intended to limit the present invention, its application, or its use.

  For example, in the present embodiment, the levitation rotors 13A, 13B, 13C and 13D are provided at the respective tips of the front arms 11A and 11B and the rear arms 12A and 12B. However, the front arms 11A, 11B and the rear arms 12A, 12B may be further extended from the mounting positions of the levitation rotors 13A, 13B, 13C, 13D. This makes it possible to protect the levitation rotors 13A, 13B, 13C, and 13D by the extended portion.

  In addition, in the present embodiment, the levitation rotors 13A, 13B, 13C, and 13D are provided on the upper ends of the front arms 11A and 11B and the rear arms 12A and 12B, respectively. However, the levitation rotor may be provided together with the levitation motor also under the respective tips of the front arms 11A and 11B and the rear arms 12A and 12B. As a result, the vertical thrust of the unmanned aerial vehicle 100 can be increased.

  Further, in this embodiment, the front arms 11A and 11B and the rear arms 12A and 12B have a streamlined cross section. However, the cross-sectional shapes of the front arms 11A and 11B and the rear arms 12A and 12B may not be streamlined, and wings for generating lift may be separately provided in the body body 10.

  Further, in the present embodiment, the front arms 11A and 11B and the rear arms 12A and 12B are made thinner as they are separated from the machine body 10. However, the front arms 11A and 11B and the rear arms 12A and 12B can be made to have a constant thickness or can be made to be partially thin depending on the strength and density of the arm material.

  Further, the directions in which the front arms 11A, 11B and the rear arms 12A, 12B extend (mounting angles) and the branch positions of the rear arms 12A, 12B in the front arms 11A, 11B are not limited to the examples of this embodiment, and are not limited to the unmanned air vehicle. It can be arbitrarily set according to the flight speed, cruising range, etc. required by the 100.

  Further, in this embodiment, the short arms 15A and 15B are provided on both sides of the machine body 10 in the left-right direction, and the propulsion rotors 16A and 16B are provided at the respective tips of the short arms 15A and 15B. However, the mounting position and the number of mounting of the propulsion rotor are not particularly limited as long as the air acceleration by the propulsion rotor is not hindered by the rear arms 12A and 12B or the levitation rotors 13C and 13D. For example, in the present embodiment, the propulsion rotors 16A and 16B are provided at the front ends of the short arms 15A and 15B, but the propulsion rotors are also provided at the rear parts of the short arms 15A and 15B. You may provide with a motor. Thereby, the thrust in the horizontal direction of the unmanned aerial vehicle 100 can be increased.

  Further, in the present embodiment, the rotation axes of the propulsion rotors 16A and 16B are set to be substantially parallel to the machine body central axis. However, in order to further reduce the interference with the rear arms 12A, 12B of the air acceleration by the propulsion rotors 16A, 16B or the levitation rotors 13C, 13D, or from the viewpoint of the balance of the body attitude, the propulsion rotors 16A, 16B are The rotation axis may be tilted in the horizontal direction and / or the vertical direction with respect to the machine body central axis. That is, the propulsion rotors 16A and 16B may generate thrust of the vertical component.

100 unmanned aerial vehicle 10 airframe body 10a air inlet 10b air outlet 11A, 11B front arm 12A, 12B rear arm 13A, 13B, 13C, 13D levitation rotor 14A, 14B, 14C, 14D levitation motor 15A, 15B short arm 16A , 16B Propulsion rotor 17A, 17B Propulsion motor 18 Support leg

Claims (3)

With the body of the aircraft,
A pair of front arms provided symmetrically with respect to the center axis of the machine body in the front-rear direction, on both left and right sides of the machine body,
A pair of rear arms that are symmetrically branched from the middle of the pair of front arms with respect to the central axis;
A levitation rotor provided on each of the pair of front arms and the pair of rear arms,
A propulsion rotor that is provided rearward of a branch point of the pair of rear arms in the pair of front arms and closer to the machine body than the pair of rear arms, and that generates a thrust component of a horizontal component;
Is equipped with,
Unmanned aerial vehicle. The unmanned aerial vehicle according to claim 1,
Each cross section of the pair of front arms and the pair of rear arms is streamlined,
Unmanned aerial vehicle. The unmanned aerial vehicle according to claim 1 or 2,
The pair of front arms and the pair of rear arms become thinner as they move away from the body of the machine.
Unmanned aerial vehicle.

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