JP2023065070A - unmanned flying object - Google Patents

Abstract

To provide an unmanned flying object which may supply a medical agent to a work object properly.SOLUTION: An unmanned flying object includes: multiple rotary vanes 3; a guard frame 20 which protects the rotary vanes 3; a nozzle 35 which discharges a medical agent S; a nozzle drive part 40 which freely moves the nozzle 35 to change a discharge direction in which the medical agent S is discharged; and an attachment part 39 for attaching the nozzle drive part 40 to the guard frame 20. The nozzle 35 positioned at a predetermined position discharges the medical agent to a working object.SELECTED DRAWING: Figure 6

Description

The present invention relates to an unmanned flying object having a medicine supply function.

Work objects installed outdoors such as bridges and tunnels on railways and roads, equipment, facilities, and buildings deteriorate over time. For this reason, for example, a worker riding on a vehicle for high-elevation work carries out safety inspections at a predetermined timing, and carries out repair work by spraying a chemical against a work object in which an abnormal portion has been found.

There is an unmanned flying object that ejects a medicine to a work target that is located in a place that is difficult for human hands to reach (see, for example, Patent Literature 1). In the unmanned flying object of Patent Document 1, an air curtain generated around the trajectory of the medicine ejected from the nozzle interrupts the airflow generated by the rotation of the rotor blades, thereby reducing the turbulence of the trajectory of the medicine. Disclose.

JP 2018-202958 A

In Patent Document 1, it is difficult to accurately supply the chemical solution to the work object because the position of the unmanned flying object fluctuates and the ejection direction of the nozzle with respect to the work object cannot be determined accurately.

Accordingly, a technical problem to be solved by the present invention is to provide an unmanned flying object that can accurately supply a chemical agent to a work object.

In order to solve the above technical problems, the present invention provides the following unmanned flying object.

That is, the unmanned flying object according to the present invention is
a plurality of rotor blades;
a guard frame that protects the rotor;
a nozzle for ejecting a drug;
a nozzle drive unit that freely moves the nozzle to change the ejection direction of the medicine;
a mounting portion for mounting the nozzle driving portion to the guard frame;
The nozzle, which is positioned at a predetermined position, ejects the medicine toward the work target.

According to this aspect of the invention, the ejection direction of the nozzle is adjusted to a desired position by the nozzle driving section, so the medicine can be accurately supplied to the work target.

1 is a front perspective view of an unmanned flying object according to an embodiment of the present invention; FIG. FIG. 2 is an enlarged perspective view of a main part of a nozzle and a nozzle drive section on one side of the unmanned flying object shown in FIG. 1; FIG. 2 is an enlarged perspective view of main parts of a nozzle and a nozzle drive section on the other side of the unmanned flying object shown in FIG. 1; FIG. 4 is a perspective view of the other nozzle and the nozzle drive unit shown in FIG. 3 as seen from another angle; FIG. 2 is a functional block diagram of the unmanned flying object shown in FIG. 1; FIG. 4 is a schematic diagram illustrating how a nozzle ejects a medicine toward an ejection target of a work target in a state where the contact portion of the guard frame is in contact with the work target. It is a schematic diagram explaining a motion of a nozzle drive part. It is a schematic diagram explaining the movement of a nozzle in the vertical direction. It is a schematic diagram explaining the horizontal movement of a nozzle. It is a schematic diagram explaining the motion which a nozzle rotates.

An unmanned flying object 1 according to an embodiment will be described with reference to FIGS. 1 to 10. FIG. In the present invention, the term "front side" means the side where the discharge port 36 of the nozzle 35 installed on the unmanned flying object 1 faces the work object 80. As shown in FIG. In FIG. 1, the left side is the front side, the right side is the rear side, the upper side is the left side, and the lower side is the right side.

FIG. 1 is a front perspective view of an unmanned flying object 1 according to an embodiment of the present invention. FIG. 2 is an enlarged perspective view of the essential parts of the nozzle 35 and the nozzle driving section 40 on one side of the unmanned flying object 1 shown in FIG. FIG. 3 is an enlarged perspective view of the essential parts of the nozzle 35 and the nozzle driving section 40 on the other side of the unmanned flying object 1 shown in FIG. FIG. 4 is a perspective view of the nozzle 35 on the other side and the nozzle driving section 40 shown in FIG. 3 as seen from another angle. FIG. 5 is a functional block diagram of the unmanned flying object 1 shown in FIG. FIG. 6 is a schematic diagram illustrating how the nozzle 35 ejects the medicine S toward the ejection target 81 of the work object 80 in a state where the contact portion 27 of the guard frame 20 is in contact with the work object 80. FIG. be. 7A and 7B are schematic diagrams for explaining the movement of the nozzle drive unit 40. FIG. FIG. 8 is a schematic diagram for explaining the movement of the nozzle 35 in the vertical direction. FIG. 9 is a schematic diagram illustrating lateral movement of the nozzle 35. As shown in FIG. 10A and 10B are schematic diagrams illustrating the rotation of the nozzle 35. FIG.

The unmanned flying object 1 is a small flying object that flies by remote control or autopilot. As shown in FIG. 1, an unmanned flying object 1 includes, for example, a main body 2, four wing support arms 4, four electric motors 7, four rotary wings 3, two leg frames 6, and a guard frame 20.

A body 2 is formed in a central region of the unmanned flying object 1 . As shown in FIG. 5, the main body 2 includes, for example, a control unit 60, a memory 61 such as RAM, ROM, and flash memory, and various sensors such as an inertial sensor 62, a GPS sensor 63, an atmospheric pressure sensor 64, and an electronic compass 65. a flight controller having a The flight controller has a function of controlling the flight attitude and flight route of the unmanned flying object 1 by remote control or automatic control. Also, the main body 2 is equipped with a battery that functions as a drive power source for the unmanned flying object 1 .

The controller 60 is a central processing unit (CPU). For example, the motor 7 , the nozzle driving section 40 , the discharge control section 30 , the photographing section 50 and the communication device 67 are electrically connected to the control section 60 . The operation terminal 70 transmits commands to the unmanned flying object 1 according to the user's operation, and displays various information (for example, position and captured image) transmitted from the unmanned flying object 1 . The operation terminal 70 performs wireless or wired communication with the communication device 67 of the unmanned flying object 1 . The operation terminal 70 is a portable information device such as a dedicated controller, tablet terminal, smart phone, or mobile personal computer.

The four wing support arms 4 are arranged so as to extend from the main body 2 in a substantially cross shape in a plan view. Four motors 7 are arranged at the tip of each wing support arm 4 . Four rotor blades 3 are arranged on top of each motor 7 . A rotor blade 3 is connected to a drive shaft of a motor 7 . The flight controller controls the number of rotations of the drive shafts of the motors 7 corresponding to the rotor blades 3, and the unmanned flying object 1 ascends and descends, and flies in the front-rear and left-right directions.

The photographing unit 50 is arranged on the lower installation surface of the main body 2 and the leg frame 6 . The imaging unit 50 is, for example, a camera such as a CCD (Charge Coupled Device) that captures moving images. The leg frame 6 is arranged below the main body 2 and serves as a support leg when the unmanned flying object 1 takes off and lands.

The guard frame 20 has a substantially rectangular upper frame 21 , a substantially rectangular lower frame 22 , a plurality of vertical frames 23 , and a plurality of connecting portions 25 . The upper frame 21 is positioned above the rotor blades 3 and the lower frame 22 is positioned below the rotor blades 3 . The upper frame 21 and the lower frame 22 are configured to overlap each other in plan view, and have a larger size so as not to interfere with the four rotor blades 3 . The vertical frame 23 connects the upper frame 21 and the lower frame 22 and has a separation height that does not interfere with the four rotor blades 3 . The guard frame 20 is thus configured to surround and protect the rotor blades 3 .

The configuration of the guard frame 20 will be described in detail below.

The substantially rectangular upper frame 21 has four linear upper side frames 21a, four arc-shaped upper corner frames 21b, and two upper second frames 21d in plan view. The upper frame 21a is arranged at four locations on the front side, the rear side, the left side, and the right side. The upper corner frames 21b are arranged at four locations, namely, the front left side, the front right side, the rear left side, and the rear right side. The two upper second frames 21d extend linearly in the left-right direction and are spaced apart in the front-rear direction. The front right upper corner frame 21b is arranged at four locations, namely, the front left side, the front right side, the rear left side, and the rear right side. For example, the linearly extending frames such as the upper frame 21a are made of carbon, and the curved frames such as the upper corner frame 21b are made of aluminum. Thereby, the weight of the substantially rectangular upper frame 21 can be reduced.

The substantially rectangular lower frame 22 includes four linear lower side frames 22a, four arc-shaped lower corner frames 22b, two lower first frames 22c, and two lower second frames 22d. have. The lower frame 22a is arranged at four locations on the front side, the rear side, the left side, and the right side. The lower corner frames 22b are arranged at four positions, i.e., the front left side, the front right side, the rear left side, and the rear right side. The two lower first frames 22c extend linearly in the front-rear direction and are spaced apart in the left-right direction. The two lower second frames 22d extend linearly in the left-right direction and are spaced apart in the front-rear direction. For example, the linearly extending frames such as the lower frame 22a are made of carbon, and the curved frames such as the lower corner frame 22b are made of aluminum. Thereby, the weight of the substantially rectangular lower frame 22 can be reduced.

The intersections of the front right upper corner frame 21b, the right upper side frame 21a, the vertical frame 23, and the upper second frame 21d are connected by a connecting portion 25. As shown in FIG. Intersections of the front left upper corner frame 21b, the left upper side frame 21a, the vertical frame 23, and the upper second frame 21d are connected by a connecting portion 25. As shown in FIG. The intersections of the rear right upper corner frame 21b, the right upper side frame 21a, the vertical frame 23, and the upper second frame 21d are connected by a connecting portion 25. As shown in FIG. Intersections of the rear left upper corner frame 21b, the left upper side frame 21a, the vertical frame 23, and the upper second frame 21d are connected by a connecting portion 25. As shown in FIG.

The upper corner frame 21 b on the front right side and the vertical frame 23 are connected by a connecting portion 25 . The front left upper corner frame 21 b and the vertical frame 23 are connected by a connecting portion 25 . The upper corner frame 21 b on the rear right side and the vertical frame 23 are connected by a connecting portion 25 . The rear left upper corner frame 21 b and the vertical frame 23 are connected by a connecting portion 25 .

Intersections of the front right lower corner frame 22b, the right lower side frame 22a, the vertical frame 23, and the lower second frame 22d are connected by connecting portions 25. As shown in FIG. Intersections of the front left lower corner frame 22b, the left lower side frame 22a, the vertical frame 23, and the lower second frame 22d are connected by connecting portions 25. As shown in FIG. The intersections of the rear right lower corner frame 22b, the right lower side frame 22a, the vertical frame 23, and the lower second frame 22d are connected by connecting portions 25. As shown in FIG. The intersections of the rear left lower corner frame 22b, the left lower side frame 22a, the vertical frame 23, and the lower second frame 22d are connected by connecting portions 25. As shown in FIG.

The intersections of the front right lower corner frame 22b, the front lower side frame 22a, the vertical frame 23, and the lower first frame 22c are connected by connecting portions 25. As shown in FIG. Intersections of the front left lower corner frame 22b, the front lower side frame 22a, the vertical frame 23, and the lower first frame 22c are connected by connecting portions 25. As shown in FIG. The intersections of the lower corner frame 22b on the rear right side, the lower frame 22a on the rear side, the vertical frame 23 and the lower first frame 22c are connected by connecting portions 25. As shown in FIG. The intersections of the rear left lower corner frame 22b, the rear lower side frame 22a, the vertical frame 23, and the lower first frame 22c are connected by connecting portions 25. As shown in FIG.

The lower corner frame 22 b on the front right side and the vertical frame 23 are connected by a connecting portion 25 . The lower corner frame 22 b on the front left side and the vertical frame 23 are connected by a connecting portion 25 . The lower corner frame 22 b on the rear right side and the vertical frame 23 are connected by a connecting portion 25 . The lower corner frame 22 b on the rear left side and the vertical frame 23 are connected by a connecting portion 25 .

At least one of the lower first frame 22c and the lower second frame 22d is supported by each of the four wing support arms 4, and fixed to the four wing support arms 4 by fixing means such as screws and binding bands. As a result, the guard frame 20 can be installed on the unmanned flying object 1 without interfering with the rotor blades 3 .

The contact portion 27 is a portion where the guard frame 20 contacts the work object 80 when the medicine S is discharged toward the discharge target 81 of the work object 80, as will be described later. At least one of the upper side frame 21a, the lower side frame 22a, and the two vertical frames 23, 23 located on the front side constitutes a contact portion 27. As shown in FIG. The front side of the guard frame 20 , i.e., the contact portion 27 contacts the work object 80 , thereby improving the positional stability of the unmanned flying object 1 and the positional stability of the nozzle 35 . The supply of medicine S is stabilized.

The contact portion 27 changes according to the form of the work object 80 and the attitude of the unmanned flying object 1 . For example, when the work object 80 is a vertical wall extending in the vertical direction, such as a bridge pier, the front surface of the guard frame 20 contacts the vertical wall as the contact portion 27 . In this case, at least one of the upper side frame 21a, the lower side frame 22a, and the two vertical frames 23, 23 located on the front side functions as the contact portion 27. As shown in FIG. In order to improve the stability of the position and posture of the unmanned flying object 1, a rectangular portion of the front surface including the upper frame 21a, the lower frame 22a, and the two vertical frames 23, 23 located on the front side is used as a contact portion 27. work.

Further, for example, when the work target 80 is a semi-cylindrical wall such as a tunnel, the upper frame 21a located on the front side as the contact portion 27 contacts the semi-cylindrical wall. However, depending on the radius of curvature of the semi-cylindrical wall, the upper side frame 21a and the lower side frame 22a located on the front side may contact the semi-cylindrical wall. Therefore, when the work object 80 is a semi-cylindrical wall such as a tunnel, at least the upper frame 21a located on the front side acts as the contact portion 27. As shown in FIG.

Further, for example, when the work object 80 is a flat ceiling extending in the horizontal direction, the upper frame 21 of the guard frame 20 as the contact portion 27 contacts the ceiling. In this case, the upper frame 21 including the upper side frame 21a positioned on the front side acts as the contact portion 27. As shown in FIG.

As shown in FIGS. 1 and 6, the unmanned flying object 1 includes a spray can 10 that serves as a container for storing the medicine S. As shown in FIG. The spray can 10 is installed on the upper installation surface of the main body 2 by the container holder 14 and the container installation portion 15 . A discharge control unit 30 is attached to the top of the spray can 10 . The discharge control section 30 has, for example, a mounting section, a lever section, a pressing section, a link section, a drive motor, and a battery. The discharge control unit 30 controls pressing of a discharge button provided on the top of the spray can 10 . When the ejection button is pressed, the medicine S is ejected toward the work target 80 . Thereby, the ejection timing and ejection amount of the medicine S can be automatically controlled.

The spray can 10 is filled with compressed gas for ejecting the medicine S. As shown in FIG. Compressed gas is, for example, liquefied petroleum gas such as propane or butane, dimethyl ether, Freon or alternative Freon, nitrogen, or the like. A spray can 10 suitable for the application is selected from commercially available spray cans 10.例文帳に追加This simplifies the handling and preparation of the medicine S, and makes it possible to reduce the size of the container and the ejection control unit 30 , so that it can be easily mounted on the unmanned flying object 1 .

Work targets 80 installed outdoors, such as bridges and tunnels on railroads and roads, equipment, facilities, and buildings, deteriorate over time. Therefore, for example, after performing a safety inspection of the work target at a predetermined timing, repair work is performed on the discharge target 81 that is an abnormal portion of the work target 80 . In repair work, repair agents are used, for example, to repair concrete cracks and partial color unevenness.

The chemical S filled in the spray can 10 is, for example, a repair chemical. For example, when filling and repairing cracks (ejection target 81) in concrete, the repair agent is a cement composition containing ultra-rapid hardening cement and an organic solvent. The restorative agent of the cement composition can include an admixture. This makes it possible to safely and easily carry out repair work at high places that are difficult for human hands to reach.

The discharge end of spray can 10 is connected to nozzle 35 via tube 33 . The tube 33 is, for example, a flexible elastomer such as urethane, silicone, or fluorine. Accordingly, by bending the tube 33, the positions of the nozzle 35 and the mounting portion 39 can be appropriately changed. The tube 33 is attached to the lower first frame 22c or the like by a holding band. When the unmanned flying object 1 has two nozzles 35, the tube 33 branches into two, and the nozzles 35 are connected to each of the branched tubes. The nozzle 35 is arranged in the nozzle driving section 40 . The nozzle drive section 40 is attached to the guard frame 20 via the attachment section 39 .

Hereinafter, the configuration of the nozzle driving section 40 will be described in detail with reference to FIGS. 1 to 4. FIG.

As shown in FIG. 1 , the unmanned flying object 1 has two nozzle drive units 40 . When the unmanned flying object 1 is viewed from the front side, the nozzle drive units 40 are arranged on the right side (one side) and the left side (the other side). A first nozzle (right nozzle) that functions as the nozzle 35 is attached to the right nozzle drive unit 40 . A second nozzle (left nozzle) that functions as the nozzle 35 is attached to the left nozzle drive unit 40 . The two nozzles (first nozzle and second nozzle) 35 are spaced apart in the extending direction (horizontal direction) of the lower frame 22a on the front side.

As shown in FIGS. 2 to 4, for example, the nozzle driving section 40 is installed via the mounting section 39 in the vicinity of the intersection where the front lower side frame 22a and the lower first frame 22c intersect. The mounting portion 39 is arranged so as to extend in the horizontal direction. The attachment portion 39 is made of, for example, carbon and has a plate-like shape. A plurality of mounting holes are formed in the mounting portion 39 . For example, in the mounting portion 39, the holding band is wound around the lower side frame 22a and the lower first frame 22c positioned on the front side in a state in which the holding band is inserted through the mounting hole. By tightening the holding band, the mounting portion 39 is fixed to the lower side frame 22a and the lower first frame 22c located on the front side. The mounting position of the mounting portion 39 with respect to the lower frame 22a and the lower first frame 22c is configured to be adjustable in the extending direction (front-rear direction) of the lower first frame 22c and the extending direction (horizontal direction) of the front lower frame 22a. be done. In other words, the attachment portion 39 is configured to be movable so that the separation distance between the ejection port 36 of the nozzle 35 and the ejection target 81 of the work target 80 can be adjusted. Accordingly, the separation distance of the nozzle 35 from the ejection target 81 can be appropriately adjusted according to the ejection target 81 of the work target 80 .

The nozzle drive section 40 has a first drive section 41 and a second drive section 45 . The first driving section 41 has a first shaft 42 and a servomotor that drives the first shaft 42 to rotate. The second driving section 45 has a second shaft 46 and a servomotor that drives the second shaft 46 to rotate. The servo motor detects the respective rotational positions of the first shaft 42 and the second shaft 46 by means of encoders (rotation detectors). Since each rotational position of 46 is controlled, highly accurate positioning is possible. By sending a pulse signal having a predetermined pulse width, each of the first shaft 42 and the second shaft 46 rotates at an angle corresponding to the pulse width. As the first driving section 41 and the second driving section 45, for example, an air digital servo manufactured by Futaba Corporation can be used.

As shown in FIGS. 2 and 3 , the first drive section 41 is arranged above the second drive section 45 . The second drive portion 45 is attached to the attachment portion 39 and screwed into an attachment hole formed in the attachment portion 39 . The attachment of the second driving portion 45 to the attachment portion 39 is configured to be adjustable in the extending direction (front-rear direction) of the lower first frame 22c and the extending direction (left-right direction) of the lower side frame 22a on the front side. By adjusting the position of the second drive unit 45, the separation distance between the ejection port 36 of the nozzle 35 and the ejection target 81 of the work target 80 can be changed.

The second shaft 46 of the second driving portion 45 extends in the vertical direction (the direction in which the vertical frame 23 extends, for example, the vertical direction). The second shaft 46 is connected to the first drive section 41 via, for example, a connection adapter, and rotatably supports the first drive section 41 . The first shaft 42 of the first driving portion 41 extends in the extending direction (for example, left-right direction) of the lower frame 22a on the front side. The tip portion of the first shaft 42 is located on the opposite side of the connecting portion 25 arranged near the nozzle driving portion 40 .

A nozzle 35 is attached to the tip of the first shaft 42 . The nozzle 35 is connected to the tube 33 on the proximal side and has a discharge port 36 on the distal side.

The nozzle 35 is attached to the tip of the first shaft 42 so as to be perpendicular to the axial direction of the first shaft 42 via a nozzle adapter (not shown). The nozzle 35 is for example screwed to the nozzle adapter. Attachment of the nozzle 35 to the nozzle adapter is configured to be adjustable in the extending direction of the lower first frame 22c (for example, the front-rear direction). By adjusting the position of the nozzle 35, the separation distance between the ejection port 36 of the nozzle 35 and the ejection target 81 of the work target 80 can be changed. In other words, the nozzle 35 is movable so that the separation distance between the ejection port 36 of the nozzle 35 and the ejection target 81 of the work target 80 can be adjusted. Accordingly, the separation distance of the nozzle 35 from the discharge target 81 of the work target 80 can be appropriately adjusted according to the discharge target 81 of the work target 80 .

The discharge port 36 of the nozzle 35 is located at a position recessed inwardly from the front lower frame 22 a that functions as the contact portion 27 in a plan view. As a result, the ejected medicine S can be prevented from rebounding and adhering to the nozzle 35, the nozzle drive unit 40, and the like.

A discharge port 36 of the nozzle 35 is positioned outside the rotor blade 3 in plan view. As a result, the effect of the airflow generated by the rotation of the rotor blades 3 can be suppressed, and the medicine S can be accurately supplied to the ejection target 81 of the work target 80 .

As shown in FIG. 7, the surface formed by the lower side frame 22a and the lower first frame 22c located on the front side (the surface extending in the lateral direction) is centered on the second shaft 46 of the second driving section 45. , the first drive unit 41 rotates. Further, the nozzle 35 rotates about the first shaft 42 of the first drive section 41 on the plane formed by the lower first frame 22c and the vertical frame 23 (the plane extending in the vertical direction).

The first shaft 42 of the first driving section 41 and the second shaft 46 of the second driving section 45 rotate independently, and each can rotate at an angle of 360 degrees. Accordingly, the ejection direction of the medicine S ejected from the two nozzles (that is, the first nozzle and the second nozzle) 35 can be appropriately adjusted according to the ejection target 81 of the work target 80 .

As shown in FIG. 8, when only the first shaft 42 is rotated, the nozzle 35 swings vertically. As shown in FIG. 9, when only the second shaft 46 is rotated, the nozzle 35 swings laterally.

The first shaft 42 of the first drive section 41 and the second shaft 46 of the second drive section 45 can be rotated simultaneously. As shown in FIG. 10, when the first shaft 42 and the second shaft 46 are rotated at the same speed, the nozzle 35 swings such that the discharge port 36 forms a circle. Rotating the first shaft 42 and the second shaft 46 at different speeds causes the nozzle 35 to swing such that the outlet 36 forms an ellipse.

A method of supplying the medicine S by the unmanned flying object 1 will be described with reference to FIGS. 6 to 10. FIG.

The user operates the operation terminal 70 to transmit a command to the unmanned flying object 1 to move the unmanned flying object 1 toward the work object 80 (moving step).

As shown in FIG. 6, the unmanned flying object 1 is positioned by bringing the contact portion 27 of the guard frame 20 into contact with the work object 80 (positioning step). The contact portion 27 includes an upper frame 21a, a lower frame 22a, and two vertical frames 23 located on the front side. Depending on the form of the work object 80, at least one of the four frames 21a, 22a, 23, and 23 located on the front side comes into contact with the work object 80, whereby the unmanned flying object 1 can be positioned. . The user positions the unmanned flying object 1 by contacting the work object 80, and the unmanned flying object 1 hovers (stands still in the air) during the positioning.

The user photographs the position and state of the ejection target 81 with the photographing unit 50, for example. The user observes the captured image through a monitor installed on the operation terminal 70 or a monitor separate from the operation terminal 70 . While watching the image displayed on the monitor, the user moves the nozzle 35 to appropriately adjust the ejection direction of the nozzle 35 with respect to the ejection target 81 of the work object 80 (nozzle adjustment process).

While the unmanned flying object 1 is stationary in the air, the user operates the operation terminal 70 to eject the medicine S from the nozzle 35 toward the ejection target 81 of the work object 80 (ejection step). . The discharge process is performed, for example, while the unmanned flying object 1 is stationary in the air. As a result, the positional stability of the unmanned flying object 1 is further improved, and the positional stability of the nozzle 35 is further improved, so that the medicine S can be more accurately supplied to the ejection target 81 .

In the ejection process, when the nozzle 35 is not moved, the medicine S can be supplied to a pinpoint ejection target 81 . In the ejection process, the nozzle 35 can be moved according to the ejection target 81 . For example, as shown in FIG. 8, by rotating only the first shaft 42, the nozzle 35 can be caused to swing in the vertical direction (vertical direction). Thereby, the medicine S can be supplied to the ejection target 81 extending in the vertical direction.

For example, as shown in FIG. 9, by rotating only the second shaft 46, the nozzle 35 can be caused to swing in the horizontal direction (horizontal direction). Thereby, the medicine S can be supplied to the ejection target 81 extending in the lateral direction.

For example, as shown in FIG. 10, by rotating the first shaft 42 and the second shaft 46 at the same speed, the nozzle 35 can be caused to swing so that the discharge port 36 forms a circle. . As a result, the medicine S can be supplied to the circular ejection target 81 having a wider area than the pinpoint ejection target 81 .

Therefore, according to the unmanned flying object 1 according to one embodiment, the ejection direction of the nozzle 35 is adjusted to a desired position by the nozzle driving section 40 , so the medicine S can be supplied to the work target 80 accurately. In addition, since the contact portion 27 of the guard frame 20 abuts against the work object 80, the positional stability of the unmanned flying object 1 is improved, so that the medicine S can be accurately supplied to the ejection target 81 of the work object 80. can. In addition, no special operation or skill is required to position the unmanned flying object 1 at an appropriate position.

Although specific embodiments of the present invention have been described, the present invention is not limited to the above embodiments, and various modifications can be made within the scope of the present invention.

The nozzle 35 has a configuration in which a multi-stage cylindrical body can be stretched in the length direction (so-called telescopic type). As a result, the medicine S can be supplied with the ejection port 36 approaching the ejection target 81 or the medicine S can be supplied to the ejection target 81 that is recessed. Further, the nozzle 35 may be configured such that a multi-stage cylindrical body is elastically stretchable in the length direction. As a result, the ejection port 36 can be brought closer to the ejection target 81 while reducing damage to the nozzle 35 due to collision.

It has a pair of spray cans 10, a discharge control unit 30, and a tube 33 corresponding to a pair of nozzles (first nozzle and second nozzle), and the movement (discharge direction and ejection timing) can also be controlled independently. As a result, the medicine S can be individually and accurately supplied to the two ejection targets 81 , 81 separated from each other on the work target 80 .

In the above embodiment, the nozzle 35 and the nozzle drive section 40 are attached to the front side of the guard frame 20 via the attachment section 39, but other aspects are possible. For example, a stay extending to the vicinity of the front side of the guard frame 20 is attached to at least one of the main body 2, the wing support arm 4 and the leg frame 6, and the nozzle 35 and the nozzle driving section 40 are supported on the tip side of the stay. It is also possible to use

Stepping motors can also be used as the motors of the first driving section 41 and the second driving section 45 . In a stepping motor, the rotation angle of the shaft is proportional to the number of pulses, and the rotation angle of the shaft can be controlled by the number of pulses.

In the above-described embodiment, the chemical S and the compressed gas are filled together in the spray can 10. However, the spray gun separates the container for storing the chemical S from the pressurizing section for supplying the compressed gas. It can also be typed. As a result, a large amount of medicine S can be accommodated in the container, so medicine S can be supplied over a long period of time.

In the above-described embodiment, the agent S is exemplified as a repair agent for the work object 80, but lubricants, rust preventives, contact restorers, screw locking agents, flaw detectors, paints, adhesives, etc. may be used. can also

Although the unmanned flying object 1 shown in FIG. 1 has four rotor blades 3, the number of rotor blades 3 can be an even number such as six or eight.

The present invention and embodiments are summarized as follows.

An unmanned flying object 1 according to one aspect of the present invention includes:
a plurality of rotor blades 3;
a guard frame 20 that protects the rotor blade 3;
a nozzle 35 for ejecting the medicine S;
a nozzle drive unit 40 that freely moves the nozzle 35 in order to change the ejection direction of the medicine S;
a mounting portion 39 for mounting the nozzle driving portion 40 to the guard frame 20,
The nozzle 35 positioned at a predetermined position is characterized by ejecting the medicine S toward the work target 80 .

According to the above configuration, the ejection direction of the nozzle 35 is adjusted to a desired position by the nozzle driving section 40, so the medicine S can be supplied to the work target 80 accurately.

Further, in the unmanned flying object 1 of one embodiment,
A discharge port 36 of the nozzle 35 is located at a position retreated inwardly of the guard frame 20 in plan view.

According to the above-described embodiment, it is possible to suppress the ejected medicine S from rebounding and adhering to the nozzle 35, the nozzle drive unit 40, and the like.

Further, in the unmanned flying object 1 of one embodiment,
A discharge port 36 of the nozzle 35 is positioned outside the rotor blade 3 in plan view.

According to the above-described embodiment, the medicine S can be accurately supplied to the work object 80 by suppressing the influence of the airflow generated by the rotation of the rotor blades 3 .

Further, in the unmanned flying object 1 of one embodiment,
The nozzle 35 and/or the attachment portion 39 are configured to be movable so that the separation distance between the ejection port 36 of the nozzle 35 and the ejection target 81 of the work target 80 can be adjusted.

According to the above embodiment, the separation distance of the nozzle 35 from the ejection target 81 can be appropriately adjusted according to the ejection target 81 of the work target 80 .

Further, in the unmanned flying object 1 of one embodiment,
The nozzle 35 is extendable in the longitudinal direction so that the separation distance between the ejection port 36 of the nozzle 35 and the ejection target 81 of the work target 80 can be adjusted.

According to the above embodiment, the medicine S can be supplied while the ejection port 36 is brought close to the ejection target 81 or the medicine S can be supplied to the recessed ejection target 81 .

Further, in the unmanned flying object 1 of one embodiment,
The nozzle 35 has a first nozzle and a second nozzle,
Independently control movement of the first nozzle and the second nozzle.

According to the above-described embodiment, the medicine S can be individually and accurately supplied to the two ejection targets 81 , 81 of the work target 80 .

Further, in the unmanned flying object 1 of one embodiment,
a container 10 containing the drug S and a compressed gas;
a tube 33 connecting the nozzle 35 and the container 10;
An ejection control unit 30 that controls ejection of the medicine S is further provided.

According to the above embodiment, the ejection timing and ejection amount of the medicine S can be automatically controlled.

Further, in the unmanned flying object 1 of one embodiment,
The container 10 is a spray can.

According to the above-described embodiment, the handling and preparation of the medicine S are simplified, and the discharge control section 30 can be made smaller, so that it can be easily mounted on the unmanned flying object 1 .

Further, in the unmanned flying object 1 of one embodiment,
The guard frame 20 includes a substantially rectangular upper frame 21 having four upper side frames 21a in plan view, a substantially rectangular lower frame 22 having four lower side frames 22a in plan view, the upper frame 21 and the lower frame. It has a plurality of vertical frames 23 connecting 22 .

According to the above-described embodiment, the front side of the guard frame 20 can be brought into contact with the work object 80, which improves the positional stability of the unmanned flying object 1 and the positional stability of the nozzle 35. , the supply of the medicine S to the work object 80 is stabilized.

A method for supplying a drug S according to one aspect of the present invention includes:
a movement step in which the unmanned flying object 1 moves toward the work object 80;
a nozzle adjustment step of adjusting the discharge direction of the nozzle 35 by moving the nozzle 35 according to the work object 80;
and an ejection step in which the nozzle 35 ejects the medicine S toward the work target 80 .

According to the above-described embodiment, the ejection direction of the nozzle 35 is adjusted to a desired position by the nozzle driving section 40, so the medicine S can be supplied to the work target 80 accurately.

Moreover, in the supply method of the medicine S of one embodiment,
A positioning step of positioning the unmanned flying object 1 by bringing the guard frame 20 into contact with the work object 80 is further included.

According to the above-described embodiment, since the guard frame 20 abuts against the work object 80 , the positional stability of the unmanned flying object 1 is improved, so the medicine S can be supplied to the work object 80 accurately.

Moreover, in the supply method of the medicine S of one embodiment,
The discharge step is performed while the unmanned flying object 1 is stationary in the air.

According to the above embodiment, the positional stability of the unmanned flying object 1 is further improved, and the positional stability of the nozzle 35 is further improved, so that the medicine S can be accurately supplied to the ejection target 81 .

1: unmanned flying object 2: main body 3: rotary wing 4: wing support arm 5: upper installation surface 6: leg frame 7: motor 10: spray can (container)
14: Container holder 15: Container installation part 20: Guard frame 21: Upper frame 21a: Upper side frame 21b: Upper corner frame 21d: Upper second frame 22: Lower frame 22a: Lower side frame 22b: Lower corner frame 22c: Lower first Frame 22d: Lower second frame 23: Vertical frame 25: Connection part 27: Contact part 30: Discharge control part 33: Tube 35: Nozzle 36: Discharge port 39: Mounting part 40: Nozzle driving part 41: First driving part 42: First shaft 45: Second driving unit 46: Second shaft 50: Imaging unit 60: Control unit 61: Memory 62: Inertial sensor 63: GPS sensor 64: Air pressure sensor 65: Electronic compass 67: Communication device 70: Operation Terminal 80: Work target 81: Ejection target S: Medicine

Claims (12)

a plurality of rotor blades;
a guard frame that protects the rotor;
a nozzle for ejecting a drug;
a nozzle drive unit that freely moves the nozzle to change the ejection direction of the medicine;
a mounting portion for mounting the nozzle driving portion to the guard frame;
An unmanned flying object, wherein the nozzle positioned at a predetermined position ejects the medicine toward a work target. 2. The unmanned flying object according to claim 1, wherein an ejection port of said nozzle is located at a position retreated inwardly of said guard frame in a plan view. 3. The unmanned flying object according to claim 1, wherein an outlet of said nozzle is positioned outside said rotor blade in plan view. 2. The nozzle and/or the mounting portion are movable so that the separation distance between the discharge port of the nozzle and the discharge target of the work object can be adjusted. 4. The unmanned flying object according to any one of claims 3 to 4. Claims 1 to 3, wherein the nozzle is extendable in a length direction so that a separation distance between the discharge port of the nozzle and the discharge target of the work object can be adjusted. The unmanned flying object according to any one of 1. Having a first nozzle and a second nozzle as the nozzles,
6. The unmanned flying object according to any one of claims 1 to 5, wherein movements of said first nozzle and said second nozzle are independently controlled. a container containing the drug and a compressed gas;
a tube connecting the nozzle and the container;
7. The unmanned flying object according to any one of claims 1 to 6, further comprising an ejection control section that controls ejection of the medicine. 8. The unmanned flying object according to claim 7, wherein said container is a spray can. The guard frame includes an upper frame that is substantially rectangular in plan view and has four upper side frames, a lower frame that is substantially rectangular in plan view and has four lower side frames, and a plurality of vertical frames that connect the upper frame and the lower frame. The unmanned flying object according to any one of claims 1 to 8, characterized by comprising: a moving step of moving the unmanned flying object according to any one of claims 1 to 8 toward the work target;
a nozzle adjustment step of adjusting the discharge direction of the nozzle by moving the nozzle according to the work object;
and a discharge step of discharging the drug toward the work target by the nozzle. 11. The medicine supply method according to claim 10, further comprising a positioning step of positioning the unmanned flying object by bringing the guard frame into contact with the work object. 12. The method of supplying medicine according to claim 10, wherein the discharging step is performed while the unmanned flying object is stationary in the air.

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