JP2022125239A - Flight device, flight method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology that, when a flight device loses control for flight and is led into a situation of falling, can avoid breakdown of the flight device due to a collision with another object by reducing a collision speed, and that is simpler than a parachute.

SOLUTION: A flight device 100 includes propulsion means 102 for flying the own device 100, air resistance means 110 stored in predetermined portions 106c of protection frames 106 of the propulsion means 102, and air resistance control means 401 for expanding the air resistance means 110 to close at least a part of a protection frame surface along the protection frame 106.

SELECTED DRAWING: Figure 6

COPYRIGHT: (C)2022,JPO&INPIT

Description

TECHNICAL FIELD The present invention relates to a technology for mitigating impact on a flight device flying in the air.

Currently, a small-sized flying device capable of unmanned flight called a drone is known (see, for example, Patent Document 1).

JP 2017-056921 A WO2017/073310

However, in the flight device disclosed in Patent Document 1, if the control for flight is lost for some reason and falls, the device will fall at a natural fall speed. There was a problem that the flight device would be destroyed.
Further, in the image capturing system and the like disclosed in Patent Document 2, a flight device equipped with a parachute that controls the speed at which the flying object falls is disclosed. I had to make it simpler.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems. To provide a technique capable of avoiding destruction of a device and simpler than a parachute.

In order to achieve the above object, one aspect of the flight device of the present invention includes:
a means of propulsion for flying the device;
air resistance means stored in a predetermined portion of the protective frame of the propulsion means;
air resistance control means for deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
comprising
It is characterized by
Further, in order to achieve the above object, one aspect of the flight method of the present invention is
A method of flying a flight device comprising propulsion means for flying the flight device and air resistance means housed in a predetermined portion of a protective frame of the propulsion device,
an air resistance control step of deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
including,
It is characterized by
In addition, in order to achieve the above object, one aspect of the program of the present invention is
a computer of the flight device comprising propulsion means for flying the flight device and air resistance means stored in a predetermined portion of a protective frame of the propulsion device;
Air resistance control means for deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
to function as
It is characterized by

According to the present invention, when control for flight is lost and falls, the collision speed is reduced to avoid destruction of the flight device due to collision with other objects. and provide a technology simpler than parachutes.

1A and 1B are diagrams showing the appearance of a flight device according to an embodiment, in which FIG. 1A shows the appearance of the flight device in a closed state and FIG. It is a figure which shows an example of the system configuration|structure of a flight device. It is the schematic of the rotor of a flight device, (a) is a side view, (b) is a top view. FIG. 4 is a cross-sectional view showing a state in which an air resistance film is stored in (a) a folded state and (b) a wound state in a support portion of a protective frame. 3(a) is a cross-sectional view taken along line YY in FIG. 3(b), and FIG. 3(b) is a plan view showing wires and the like arranged in the peripheral portion of the protective frame. FIG. 4 is a plan view showing a state in which an air resistance film is deployed along a protective frame; FIG. 4 is a plan view showing a state in which an air resistance film is developed along a protective frame; FIG. 10 is a diagram showing an example of an air resistance means composed of a plurality of strip-shaped or elongated triangular plate-shaped members; It is a figure showing the state etc. which a flying device inclines in the direction of this side in a figure, and falls.

Hereinafter, specific aspects of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.

First, a schematic configuration and the like of a flight device according to an embodiment of the present invention will be described. FIG. 1 is a diagram showing the appearance of a flight device 100 according to this embodiment. Specifically, FIG. 1(a) is a view showing the appearance of the flight device 100 with the rotor 102 closed (hereinafter referred to as the closed state), and FIG. 1(b) is a view showing the rotor 102 opened. 1 is a diagram showing the appearance of flight device 100 in a state (hereinafter referred to as an open state). FIG.
As shown in FIGS. 1( a ) and 1 ( b ), the flight device 100 includes a main frame 101 and four rotors 102 .

The rotors 102 are attached to the main frame 101 via hinges 103, respectively. The rotor 102 also has rotatable blades 104, a motor 105 for rotating the blades 104, a protective frame 106 for protecting the blades 104 and the motor 105, and the like.
The protection frame 106 is provided for each rotor 102 so that each blade 104 is protected by one protection frame 106 . A finger guard 107 is provided on the protection frame 106 .

Also, the rotor 102 is configured to support a motor 105 , and the blades 104 are fixed to the motor shaft of the motor 105 . In this embodiment, the rotor 102 constitutes a propulsion means for causing the device to fly.
In this embodiment, a plurality of (four in this embodiment) rotors 102 and protective frames 106 are provided. The protective frame 106 and air resistance means (described later) stored in the protective frame 106 will be described later in detail.

A camera 200 capable of capturing moving images and still images is attached to the center of the main frame 101 .
Further, the mainframe 101 accommodates various control devices (see FIG. 2, which will be described later), which will be described later.

The hinge 103 has a closed state suitable for throwing up the flight device 100 as shown in FIG. 1(a) and an open state suitable for flight of the flight device 100 as shown in FIG. 1(b). Each rotor 102 can be rotated in an angle range of 0 to 90 degrees so that it can be deformed. That is, each rotor 102 is configured to change its posture between a closed state and an open state rotated from the closed state.
In this embodiment, as shown in FIG. 1(a), the shape of the flying device 100 is spherical when the rotors 102 are closed, which is suitable for throwing up and carrying the flying device 100. . The main frame 101 is provided with a restricting member (not shown) that restricts each rotor 102 from rotating more than 90 degrees at the position of the open state in which each rotor 102 is rotated from the closed state by 90 degrees. It is

FIG. 2 is a diagram showing an example of the system configuration of the flight device 100. As shown in FIG.
As shown in FIG. 2, a controller 401 includes a camera system 402 including a camera 200, an ultrasonic sensor 403a for measuring the distance (altitude) between the flying device 100 and a reference plane, and an inclination detector for detecting the inclination of the flying device 100. A flight sensor 403 including a gyro sensor 403b and an acceleration sensor 403c for measuring the position of the device itself, a GPS (Global Positioning System) sensor 403d for measuring the position of the device, and the like is connected.

The controller 401 also includes a motor driver 404 that drives the motors 105 of the four rotors 102 (#1 to #4) described above, and a power supply that supplies power to each motor driver 404 while monitoring the voltage of the battery 406. A sensor 405 is connected.
Although not shown, the power of the battery 406 is also supplied to each of the control units 401-405.

The controller 401 acquires information about the altitude and attitude of the flight device 100 from the flight sensor 403 in real time. In addition, the controller 401 monitors the voltage of the battery 406 via the power sensor 405, and supplies power to the motor drivers 404 of the four rotors 102 (#1 to #4) according to the duty ratio based on pulse width modulation. Send an instruction signal. Thereby, the #1 to #4 motor drivers 404 respectively control the rotational speeds of the motors 105 of the four rotors 102 (#1 to #4).
Also, the controller 401 controls the camera system 402 to control the imaging operation of the camera 200 .

Here, the operation of the flight device 100 from the start of flight to the end of flight will be described.
The flight device 100 can change the attitude of each rotor 102 between a closed state (see FIG. 1(a)) and an open state (see FIG. 1(b)).
Then, the user can throw the flying device 100 in the closed state into the air like a ball, and after that, under the control of the controller 401 shown in FIG. The flight device 100 changes to the open state by generating lift by rotating the blades 104 . Thus, each rotor 102 is open during flight.

Then, the flying device 100 can take an image with the camera 200 while flying at a predetermined target altitude (for example, a height position of 2 m from the ground (reference plane)).
In addition, by stopping each motor 105 under the control of the controller 401 when the flight ends, the flight device 100 changes to the closed state, the rotors 102 are stored in the main frame 101, and the flight is started. It is supposed to end.

Next, in the flight device 100 according to the present embodiment, when it is determined that the flight device 100 has lost control for flight during flight and has fallen, a A configuration and the like for reducing the collision speed below the free fall speed will be described.
When the flight device 100 loses control for flight during flight and falls, for example, various malfunctions of the flight device 100 such as the dead battery 406 and the failure of the motor 105 have occurred. is assumed.
In this embodiment, as described above, the protection frame 106 of the rotor 102 houses the air resistance means.

The air resistance means is configured to have an air resistance film made of vinyl, paper, or the like, and is stored in a predetermined portion of the protective frame 106 during flight of the device itself.
In this embodiment, as shown in FIGS. 3A and 3B, the protective frame 106 of the rotor 102 has a central portion 106a in which a motor 105 for rotating the blades 104 is arranged, and a blade A pillar portion 106c is formed to connect the peripheral portion 106b of the peripheral portion 104 and the like. Note that the illustration of the finger guard 107 and the like is omitted in FIGS. 3(a) and 3(b).

The air resistance film 110 is stored in the post portion 106c of the protective frame 106 in a folded state (see FIG. 4A) or a wound state (see FIG. 4B).
4(a) and 4(b) are sectional views taken along line XX in FIG. 3(b). Further, in this embodiment, as shown in FIGS. 3A and 3B, one protective frame 106 (that is, one rotor 102) is provided with a plurality of strut portions 106c. An air resistance film 110 is housed in each of the pillar portions 106c. As described above, in the present embodiment, the air resistance film 110 is divided and stored in the plurality of column portions 106c of the protective frame 106. It can also be configured to be housed in only one of the strut portions 106c.

In this embodiment, the air resistance film 110 is deployed along rails provided on the peripheral portion 106b of the protective frame 106 of the rotor 102. As shown in FIG.
A specific description will be given below with reference to FIGS. 5(a) and 5(b). 5(a) is a cross-sectional view taken along the line YY in FIG. 3(b).

In this embodiment, the peripheral portion 106b of the protective frame 106 is formed in a circular shape, and the inside of the peripheral portion 106b is hollow to form a rail L having a curtain rail structure. A wire 111 is arranged in the rail L over the entire area of the rail L, that is, the peripheral portion 106 b , and one end of the air resistance film 110 is fixed to the wire 111 .
In this embodiment, a flange 110 a is formed integrally with the portion of the air resistance film 110 fixed to the wire 111 , and the flange 110 a is fixed to the wire 111 . By engaging the flange 110a with the rail L (that is, the inner wall of the peripheral portion 106b of the protective frame 106), one end of the air resistance film 110 fixed to the wire 111 is prevented from coming off the rail L. .

In this embodiment, both ends of the wire 111 arranged in the rail L of the peripheral portion 106b of the protective frame 106 are hinged 103 (not shown in FIG. 5(b), FIGS. 1(a) and 1(b)). )) is pulled out to the main frame 101 side of the flight device 100 .
One of both ends of the wire 111 can be pulled by driving a motor (not shown) arranged in the main frame 101 .

When the wire 111 is pulled by the motor, it moves along the rail L (periphery 106b) within the rail L (see arrow A in FIG. 5B).
Then, when the wire 111 moves within the rail L, it pulls the air resistance film 110 stored in the pillar portion 106c of the protective frame 106 and draws out the air resistance film 110 along the protective frame 106 as shown in FIG. The air resistance film 110 can be deployed by pressing (see arrow A in FIG. 6).

In FIG. 6 and FIGS. 7 and 9, which will be described later, the air resistance film 110 (air resistance means) is shown with dots to make it easier to see.
Further, instead of pulling one end of the wire 111 drawn out to the main frame 101 side of the flight device 100 by driving the motor, for example, a spring may be attached to one end to pull the wire 111. It is also possible to configure the wire 111 to be pulled by the elastic force of the spring when the resistive film 110 is deployed.

On the other hand, the controller 401 of the flight device 100 according to the present embodiment functions as determination means and air resistance control means. If the determination means determines that the flying device 100 is falling, the air resistance control means sets the collision speed of the own device when colliding with another object to be higher than the free fall speed. In order to reduce the air resistance, the air resistance means is deployed along the protective frame 106 so as to cover at least a portion of the protective frame plane (i.e., the plane passing through the central portion 106a, the peripheral portion 106b, and each strut portion 106c of the protective frame 106). It is designed to
A specific description will be given below.

In this embodiment, the controller 401 is configured to function as determination means and air resistance control means. It is also possible to configure it separately from 401 .
Further, the determination means 401 performs control to descend the own device when detecting that the own device is descending during flight, for example, based on information acquired from the flight sensor 403 (acceleration sensor 403c, etc.). Determine whether the descent is the result of the When it is determined that the aircraft is not descending as a result of the control, it is determined that the flight control is lost and the aircraft is falling.

Then, when the determination means 401 determines that the control for flight is lost during flight and falls, the air resistance control means 401 drives the motor in the main frame 101 as described above. The wire 111 is moved within the rail L by pulling the wire 111, and as shown in FIG.
Then, as shown in FIG. 7, an air resistance film 110 (air resistance means) is developed along the protection frame 106 so as to block the surface of the protection frame.

If the air resistance film 110 (air resistance means) is not deployed (see FIG. 5(b), etc.), the air will flow from bottom to top inside the protective frame 106 of the rotor 102 when the flight device 100 falls. Since the flying device 100 passes through without being hit, the flying device 100 falls at a natural fall speed.
On the other hand, if the air resistance film 110 is deployed when the flight device 100 falls as in the present embodiment (see FIG. 7), the air resistance film 110 blocks the protective frame surface along the protective frame 106 . Therefore, air cannot pass through the protective frame 106 of the rotor 102 from bottom to top, and air resistance is generated.

As described above, with the flight device 100, the flight method, and the program according to the present embodiment, even when it is determined that the flight device 100 loses control for flight and falls, the deployed air resistance means ( Since air resistance is generated by the air resistance film 110), the falling speed of the flight device 100 can be made lower than the natural falling speed.
Therefore, the collision speed of the device when colliding with another object such as the ground can be made lower than the free fall speed, thereby avoiding destruction of the flying device 100 due to collision with another object. It becomes possible to

Further, if the flying device 100 is configured to have a parachute, as in the image capturing system disclosed in Patent Document 2, the main frame 101 of the flying device 100 (FIGS. 1(a) and 1(b)) ), which may increase the size of the flying device 100 or require a large-scale operation to deploy the parachute.
However, in this embodiment, as described above, the air resistance means (air resistance film 110) can be housed in a predetermined portion such as the strut portion 106c of the protective frame 106 of the rotor 102. Since the air resistance means can be deployed so as to block the protective frame surface along the line, the configuration and operation for deploying the air resistance means can be made simpler than those of a parachute. Therefore, the air resistance means can be mounted on the flight device 100 without increasing its size, and the air resistance means can be operated accurately.

In the above embodiment, the air resistance film 110 deployed from a predetermined portion of the protective frame 106 such as the strut portion 106c is automatically recovered to a predetermined portion such as the strut portion 106c after the flight device 100 falls. Although it is not intended to be stored (restored), it is also possible to configure the air resistance membrane 110 to be automatically retrieved after being dropped.
Further, in the above-described embodiment, the case where the air resistance film 110 is stored in the pillar portion 106c of the protective frame 106 as described above has been described. It is also possible to store it in the portion 106b and deploy it from there toward the peripheral portion 106b or the central portion 106a of the protective frame 106. FIG.

Furthermore, in the above-described embodiment, the case where the air resistance means is the air resistance film ¹¹⁰ has been described, but as illustrated in FIG. It is also possible to form the plate-like members 110a ^* connected to each other.
In this case, for example, the plate-shaped members 110a ^* are stacked and stored in a predetermined portion such as the column portion 106c of the protective frame 106, and pulled out one by one to deploy the air resistance means 110 ^* . configured as

Further, in the above-described embodiment, the air resistance means (air resistance film 110) is pulled out from each of the strut portions 106c of the protective frame 106, and the air resistance means is extended along the protective frame 106 so as to block the entire surface of the protective frame surface. I explained how to expand.
However, if the falling speed of the flight device 100 and the collision speed with other objects can be sufficiently reduced below the natural fall speed, for example, one or two of the three strut portions 106c It is also possible to deploy the air resistance means along the protection frame 106 so as to block a part of the surface of the protection frame by pulling the air resistance means only from 106c.

Further, in the above-described embodiment, it is assumed that all the rotors 102 deploy air resistance means (air resistance films 110) along the protection frame 106 so as to cover the entire surface of the protection frame. However, in the present invention, it is not necessary to deploy the air resistance means in all the rotors 102, and the falling speed of the flight device 100 and the collision speed with other objects can be sufficiently reduced below the natural fall speed. If it is possible, it is also possible to configure so that only some of the rotors 102 out of all the rotors 102 deploy the air resistance means.

Furthermore, in the present invention, it is not an essential requirement to start deployment of the air resistance means (air resistance membranes 110) on all rotors 102 at the same time.
When the flying device 100 falls, it is rare that the flying device 100 falls without tilting as shown in FIG. 1(b). tilt and fall. Note that FIG. 9 shows a state in which the flying device 100 is tilted forward in the drawing (that is, tilted so that the front side is lower than the back side) and falls. Also, in FIG. 9, the illustration of the blade 104 and the like is omitted.

When the flying device 100 tilts and falls like this, one or a plurality of specific protective frames 106A in the direction of tilt (protective frames 106A in the forward direction in FIG. 9) are attached to other protective frames. If the air resistance film 110 (air resistance means) is deployed earlier than 106B to 106D, the tilt of the flight device 100 is corrected, and the tilted state shown in FIG. close).
By deploying the air resistance film 110 on the other protective frames 106B to 106D, it becomes possible to drop the flight device 100 in a non-tilted state (or a nearly non-tilted state).

Therefore, when the determination means 401 determines that the control for flight is lost and falls, as described above, the information acquired from the gyro sensor 403b and the acceleration sensor 403c (see FIG. 2) described above. , it is determined whether or not there is a tilt in a certain direction (in the case of FIG. 9, a tilt in the front direction).
Then, when the inclination in a certain direction is continuously detected for a predetermined period of time, the air resistance control means 401 selects one or a plurality of specific protective frames in the direction of inclination among the plurality of protective frames 106. It is possible to configure the air resistance film 110 (air resistance means) to deploy to 106A (in the case of FIG. 9, the protective frame 106A in the front direction) earlier than the other protective frames 106B to 106D.

With this configuration, when the flying device 100 collides with the ground G (see FIG. 9) or the like, the lower end portion of the main frame 101 (see FIG. 1B) of the flying device 100 or a portion close to it collides. become.
Therefore, the flight device 100 collides with the ground G etc. while being tilted, and one of the rotors 102 (especially the rotor 102 in the direction of inclination (in the case of FIG. 9, the rotor 102 having the protective frame 106A in FIG. 9)) collides with the ground G etc. It is possible to accurately avoid collision and damage.

In order to prevent the rollers 102 from colliding with the ground G or the like and being damaged, the flight device 100 may further include drop attitude control means for changing the rotors 102 to the closed state immediately before receiving the impact of the drop. It is also possible to configure
In this case as well, the controller 401 (see FIG. 2) can be configured to function as drop attitude control means. A separate configuration is also possible.

As described above, when the judgment means 401 judges that the control for the flight of the device is lost and falls, the air resistance control means 401 controls each rotor 102 along the protection frame 106. to deploy the air resistance means (air resistance film 110, etc.).
Then, when the determining means 401 determines that the control for the flight of the device itself is lost and falls, the falling attitude control means 401 obtains from the ultrasonic sensor 403a (see FIG. 2) It monitors the altitude of its own device (the distance between its own device and the ground) based on the information.

Then, the drop posture control means 401 opens each rotor 102 (Fig. 1(b) ) to the closed state (see FIG. 1(a)).
In this case as well, it is assumed that the air resistance means deployed along the protective frame 106 of each rotor 102 is automatically recovered (restored) in a predetermined portion such as the strut portion 106c of the protective frame 106. Although not done, it is also possible to configure the air resistance means to automatically withdraw at the time of changing to the closed state.

When the flight device 100 collides with the ground or the like, if the rotor 102 collides with the ground in the open state (open state), the rotor 102 may be more seriously damaged than in the case of the rotor 102 colliding with the ground in the closed state. be.
However, with the configuration described above, since the rotor 102 is in the closed state when the flight device 100 collides with the ground or the like, even if the rotor 102 collides with the ground or the like, damage can be avoided or reduced. It becomes possible to

In addition, in the present embodiment, as described above, when the flight device 100 loses control for flight and falls, the air resistance means are deployed in each rotor 102. The impact velocity with Etc. is well reduced below the free fall velocity.
Therefore, even if each rotor 102 is changed to the closed state immediately before receiving the impact of the drop, the flight device 100 collides with the ground or the like at a collision speed sufficiently lower than the natural fall speed, so that the rotors 102 do not contact the ground or the like. Even in the event of a collision, damage can be avoided or at least mitigated.

Note that when the flight device 100 loses control for flight and falls, it may collide with, for example, a building, a tree, or the like instead of the ground.
However, even in such a case, in the present embodiment, if it is determined that the flight device 100 has lost control for flight and falls, air resistance along the protective frame 106 of the rotor 102 will increase. Since the means are deployed, the collision speed with buildings, trees, etc. can be sufficiently reduced.

Further, in the present embodiment, as described above, the air resistance means is deployed when it is determined that the flight device 100 has fallen out of control during flight and falls. A communication means for receiving a direct control signal by communication from an external device outside the flight device 100 may be further provided, and the air resistance means may be deployed according to the control signal received by the communication means.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments, etc., but includes the scope of the invention described in the claims and equivalent ranges thereof. The invention described in the scope of claims originally attached to the application form of the present application will be additionally described below. The numbering of the claims described in the appendix is as in the scope of the claims originally attached to the filing of the present application.
[Appendix]
<Claim 1>
a means of propulsion for flying the device;
air resistance means stored in a predetermined portion of the protective frame of the propulsion means;
air resistance control means for deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
comprising
A flight device characterized by:
<Claim 2>
Further comprising determination means for determining whether or not the device has lost control for flight during flight and fallen,
When the determination means determines that the device falls into the falling situation, the air resistance control means reduces the collision speed of the device when colliding with another object below the free fall speed. deploying the air resistance means for
The flight device according to claim 1, characterized in that:
<Claim 3>
the propulsion means includes a rotor having rotatable blades, and the protective frame protects the blades;
The flight device according to claim 1 or 2, characterized in that:
<Claim 4>
The self-device is provided with a plurality of the rotors and a plurality of the protection frames,
The flight device according to claim 3, characterized in that:
<Claim 5>
including a gyro sensor or an acceleration sensor that detects the inclination of the device,
In the event that the device falls and the gyro sensor or the acceleration sensor continues to detect the inclination in a certain direction for a predetermined period of time, the air resistance control means deploying the air resistance means to one or more specific protective frames in the direction of inclination among the plurality of protective frames earlier than other protective frames other than the specific protective frames;
5. The flight device according to claim 4, characterized in that:
<Claim 6>
The air resistance means includes an air resistance film,
The air resistance film is folded or rolled up and stored in the predetermined portion of the protective frame during the flight of the self-device.
The flight device according to any one of claims 1 to 5, characterized in that:
<Claim 7>
The predetermined portion is a support portion that connects the central portion and the peripheral portion of the protective frame,
The flight device according to any one of claims 1 to 6, characterized in that:
<Claim 8>
A plurality of the strut portions are provided in one of the protective frames, and the air resistance film is divided and stored in the plurality of strut portions.
The flight device according to claim 7, characterized in that:
<Claim 9>
The air resistance control means deploys the air resistance film along the rails of the peripheral portion of the protective frame.
The flight device according to claim 7 or 8, characterized in that:
<Claim 10>
the other object includes the ground;
The flight device according to any one of claims 1 to 9, characterized in that:
<Claim 11>
The propulsion means is configured to be able to change its posture between a closed state and an open state rotated from the closed state, and is in the open state during flight,
Further comprising falling attitude control means for changing the propulsion means to the closed state immediately before falling to the ground,
11. The flight device according to claim 10, characterized in that:
<Claim 12>
12. The flight device according to claim 11, wherein the shape of the device when the propulsion means is in the closed state is spherical.
<Claim 13>
Further comprising a communication means for receiving a control signal from an external device existing outside the own device,
In response to the control signal received by the communication means, the air resistance control means deploys the air resistance means.
The flight device according to claim 1, characterized in that:
<Claim 14>
A method of flying a flight device comprising propulsion means for flying the flight device and air resistance means housed in a predetermined portion of a protective frame of the propulsion device,
an air resistance control step of deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
including,
A flight method characterized by:
<Claim 15>
a computer of the flight device comprising propulsion means for flying the flight device and air resistance means stored in a predetermined portion of a protective frame of the propulsion device;
Air resistance control means for deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
to function as
A program characterized by

100 flight device (flight device, own device)
102 rotor (propulsion means)
104 blade 106 protective frame 106a central portion 106b peripheral portion 106c strut portion (predetermined portion)
110 air resistance film (air resistance means, air resistance film)
110 ^* Air resistance means 401 Controller (air resistance control means, falling attitude control means)
403b gyro sensor 403c acceleration sensor G ground L rail

In order to achieve the above object, one aspect of the flight device of the present invention includes:
a means of propulsion for flying the device;
air resistance means stored in a predetermined portion of a frame surrounding the propulsion means;
air resistance control means for deploying the air resistance means along the frame so as to cover at least a portion of the frame surface ;
comprising
It is characterized by
Further, in order to achieve the above object, one aspect of the flight method of the present invention is
A method of flying a flight device comprising: propulsion means for causing the flight device to fly; and air resistance means stored in a predetermined portion of a frame surrounding the propulsion means,
an air resistance control step of deploying the air resistance means along the frame so as to cover at least a portion of the frame surface ;
including,
It is characterized by
In addition, in order to achieve the above object, one aspect of the program of the present invention is
a computer of the flight device comprising propulsion means for causing the flight device to fly, and air resistance means stored in a predetermined portion of a frame surrounding the propulsion means;
air resistance control means for deploying the air resistance means along the frame so as to cover at least a portion of the frame surface ;
to function as
It is characterized by

Claims (15)

a means of propulsion for flying the device;
air resistance means stored in a predetermined portion of the protective frame of the propulsion means;
air resistance control means for deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
comprising
A flight device characterized by: Further comprising determination means for determining whether or not the device has lost control for flight during flight and fallen,
When the determination means determines that the device falls into the falling situation, the air resistance control means reduces the collision speed of the device when colliding with another object below the free fall speed. deploying the air resistance means for
The flight device according to claim 1, characterized in that: the propulsion means includes a rotor having rotatable blades, and the protective frame protects the blades;
The flight device according to claim 1 or 2, characterized in that: The self-device is provided with a plurality of the rotors and a plurality of the protection frames,
The flight device according to claim 3, characterized in that: including a gyro sensor or an acceleration sensor that detects the inclination of the device,
In the event that the device falls and the gyro sensor or the acceleration sensor continues to detect the inclination in a certain direction for a predetermined period of time, the air resistance control means deploying the air resistance means to one or more specific protective frames in the direction of inclination among the plurality of protective frames earlier than other protective frames other than the specific protective frames;
5. The flight device according to claim 4, characterized in that: The air resistance means includes an air resistance film,
The air resistance film is folded or rolled up and stored in the predetermined portion of the protective frame during the flight of the self-device.
The flight device according to any one of claims 1 to 5, characterized in that: The predetermined portion is a support portion that connects the central portion and the peripheral portion of the protective frame,
The flight device according to any one of claims 1 to 6, characterized in that: A plurality of the strut portions are provided in one of the protective frames, and the air resistance film is divided and stored in the plurality of strut portions.
The flight device according to claim 7, characterized in that: The air resistance control means deploys the air resistance film along the rails of the peripheral portion of the protective frame.
The flight device according to claim 7 or 8, characterized in that: the other object includes the ground;
The flight device according to any one of claims 1 to 9, characterized in that: The propulsion means is configured to be able to change its posture between a closed state and an open state rotated from the closed state, and is in the open state during flight,
Further comprising falling attitude control means for changing the propulsion means to the closed state immediately before falling to the ground,
11. The flight device according to claim 10, characterized in that: The shape of the self-device when the propulsion means is in the closed state is spherical.
12. The flight device according to claim 11, characterized in that: Further comprising a communication means for receiving a control signal from an external device existing outside the own device,
In response to the control signal received by the communication means, the air resistance control means deploys the air resistance means.
The flight device according to claim 1, characterized in that: A method of flying a flight device comprising propulsion means for flying the flight device and air resistance means housed in a predetermined portion of a protective frame of the propulsion device,
an air resistance control step of deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
including,
A flight method characterized by: a computer of the flight device comprising propulsion means for flying the flight device and air resistance means stored in a predetermined portion of a protective frame of the propulsion device;
Air resistance control means for deploying the air resistance means along the protective frame so as to cover at least a portion of the surface of the protective frame;
to function as
A program characterized by

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