JP2023152244A - Flying device - Google Patents

Abstract

An object of the present invention is to provide a flight device in which the dimensions of a fuselage section can be changed. A flight device (10) includes a fuselage section (14) and a rotor (12) attached to the fuselage section (14). The body section 14 includes a first body section 141, a second body section 142, and a shaft section 13 that rotatably connects the first body section 141 and the second body section 142. The rotor 12 includes a first rotor 121 attached to a first body part 141 and a second rotor 122 attached to a second body part 142. [Selection diagram] Figure 1A

Description

FIELD OF THE INVENTION The present invention relates to flight devices.

2. Description of the Related Art Flight devices capable of flying unmanned in the air have been known. Such flight devices are capable of flying through the air using the thrust of a rotor that rotates around a vertical axis.

Possible fields of application of the flight device include, for example, the field of transportation, surveying, and photography. When a flight device is applied to such a field, surveying equipment and photographing equipment are attached to the flight device. By applying the flying device to such fields, it is possible to fly the flying device into areas where humans cannot enter and perform transportation, photography, and surveying of such areas. An invention related to such a flight device is described in, for example, Patent Document 1.

Referring to Patent Document 1, a plurality of arm sections are provided in the fuselage, and a motor and a rotary blade are installed at the outer end of each arm section. Further, such a flight device has a body base disposed at the center, an arm extending around the body base, and a motor and a rotor disposed at the tip of the arm.

Japanese Patent Application Publication No. 2018-122674

However, in the flight device described in Patent Document 1 mentioned above, there is room for improvement from the viewpoint of the storage form of the aircraft body.

Specifically, as described above, a typical flight device has an arm that extends laterally from the fuselage. Therefore, when the flight device is stored and transported, if the arm remains in the same state, there is a problem that the flight device becomes bulky. In addition, the connecting structure of the arm to the fuselage body can be made detachable, and the arm can be removed from the fuselage body during storage and transportation, thereby making it possible to make the flight device more compact. However, with this configuration, there is a risk that the connection configuration of the arm may become fragile, and problems arise such as the removal and attachment work of the arm being a roundabout process.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a flight device in which the outer diameter of the fuselage can be changed.

The flight device of the present invention includes a fuselage part and a rotor attached to the fuselage part, and the fuselage part includes a first fuselage part, a second fuselage part, the first fuselage part and the first fuselage part. a shaft portion rotatably connecting the two body parts, the rotor having a first rotor attached to the first body part, a second rotor attached to the second body part, It is characterized by having the following.

Further, in the flight device of the present invention, the shaft portion rotatably connects the vicinity of the center of the first body portion and the vicinity of the center of the second body portion.

Further, in the flight device of the present invention, the first body section is a member extending along a first direction, and the second body section is a member extending along a second direction intersecting the first direction. The shaft part rotatably connects the vicinity of the center in the longitudinal direction of the first body part and the vicinity of the center in the longitudinal direction of the second body part in a top view, and the first rotor The first rotor is disposed near both ends in the longitudinal direction of the first body, and the second rotor is disposed near both ends of the second body in the longitudinal direction.

Further, in the flight device of the present invention, the fuselage section can be in a stored state and a flight state, and the longitudinal direction of the first fuselage section is a first longitudinal direction, and the longitudinal direction of the second fuselage section is a first longitudinal direction. When the direction is the second longitudinal direction, a state in which the first longitudinal direction and the second longitudinal direction intersect in the flight state is a state in which the first longitudinal direction and the second longitudinal direction intersect in the stored state. It is characterized by being closer to the orthogonal state than the state where

Further, in the flight device of the present invention, the flight state can be a first flight state and a second flight state, and in the first flight state, the first longitudinal direction and the second longitudinal direction The state in which the first longitudinal direction and the second longitudinal direction intersect is closer to an orthogonal state than the state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state.

Further, in the flight device of the present invention, when the longitudinal direction of the first fuselage part is a first longitudinal direction and the longitudinal direction of the second fuselage part is a second longitudinal direction, the first flight state and the second flight state are different from each other. A state in which the first longitudinal direction and the second longitudinal direction intersect in the first flight state is a state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state. The rotation center of the first rotor and the rotation center of the second rotor are arranged so as not to overlap in the second flight state, which is closer to an orthogonal state than a state where the two rotors intersect with each other. do.

Further, in the flight device of the present invention, the first body part is attached to the second body part from below, and further includes a first pedestal, and the first pedestal is attached to the first body part. , the first rotor is attached to the first pedestal.

Further, in the flight device of the present invention, the first body part is attached to the second body part from below, and further includes a first pedestal and a second pedestal, and the first pedestal is attached to the second body part from below. The second pedestal is attached to the end side of the first body part, the first rotor is attached to the first pedestal, and the second rotor is attached to the end side of the second body part. , the first pedestal is attached to the second pedestal, and the first pedestal is longer than the second pedestal in the vertical direction.

Further, the flight device of the present invention is characterized in that the flight device further includes a sensor that measures a physical quantity during flight, and the sensor is disposed above the shaft portion.

The flight device of the present invention includes a fuselage part and a rotor attached to the fuselage part, and the fuselage part includes a first fuselage part, a second fuselage part, the first fuselage part and the first fuselage part. a shaft portion rotatably connecting the two body parts, the rotor having a first rotor attached to the first body part, a second rotor attached to the second body part, It is characterized by having the following. According to the flight device of the present invention, it is possible to provide a flight device in which the outer diameter of the fuselage can be changed. Specifically, by connecting the first body part and the second body part so as to be rotatable about the shaft part, the body part can be made compact when stored.

Further, in the flight device of the present invention, the shaft portion rotatably connects the vicinity of the center of the first body portion and the vicinity of the center of the second body portion. According to the flight device of the present invention, by rotatably connecting the vicinity of the center of the first body part and the vicinity of the center of the second body part, the body can be stored more compactly.

Further, in the flight device of the present invention, the first body section is a member extending along a first direction, and the second body section is a member extending along a second direction intersecting the first direction. The shaft part rotatably connects the vicinity of the center in the longitudinal direction of the first body part and the vicinity of the center in the longitudinal direction of the second body part in a top view, and the first rotor The first rotor is disposed near both ends in the longitudinal direction of the first body, and the second rotor is disposed near both ends of the second body in the longitudinal direction. According to the flight device of the present invention, the first body part and the second body part are elongated members, and the rotors are disposed at both ends, so that the rotors can be arranged at the four corners during flight, The aircraft can be made compact when stored.

Further, in the flight device of the present invention, the fuselage section can be in a stored state and a flight state, and the longitudinal direction of the first fuselage section is a first longitudinal direction, and the longitudinal direction of the second fuselage section is a first longitudinal direction. When the direction is the second longitudinal direction, a state in which the first longitudinal direction and the second longitudinal direction intersect in the flight state is a state in which the first longitudinal direction and the second longitudinal direction intersect in the stored state. It is characterized by being closer to the orthogonal state than the state where According to the flight device of the present invention, with this configuration, each rotor can be arranged at the four corners in the flight state, and the aircraft body can be made compact in the stored state.

Further, in the flight device of the present invention, the flight state can be a first flight state and a second flight state, and in the first flight state, the first longitudinal direction and the second longitudinal direction The state in which the first longitudinal direction and the second longitudinal direction intersect is closer to an orthogonal state than the state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state. According to the flight device of the present invention, the width of the aircraft body can be changed between the first flight state and the second flight state, and it is possible to correspond to various flight conditions.

Further, in the flight device of the present invention, when the longitudinal direction of the first fuselage part is a first longitudinal direction and the longitudinal direction of the second fuselage part is a second longitudinal direction, the first flight state and the second flight state are different from each other. A state in which the first longitudinal direction and the second longitudinal direction intersect in the first flight state is a state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state. The rotation center of the first rotor and the rotation center of the second rotor are arranged so as not to overlap in the second flight state, which is closer to an orthogonal state than a state where the two rotors intersect with each other. do. According to the flight device of the present invention, the overall width of the flight device can be narrowed while ensuring the width of the rotor to be at least a certain level, and the flight device 10 can be stably flown in a small area.

Further, in the flight device of the present invention, the first body part is attached to the second body part from below, and further includes a first pedestal, and the first pedestal is attached to the first body part. , the first rotor is attached to the first pedestal. According to the flight device of the present invention, the height difference between the first rotor and the second rotor is reduced, and ideally, the first rotor and the second rotor are arranged on substantially the same plane, thereby stabilizing the flight device. It can be flown as desired.

Further, in the flight device of the present invention, the first body part is attached to the second body part from below, and further includes a first pedestal and a second pedestal, and the first pedestal is attached to the second body part from below. The second pedestal is attached to the end side of the first body part, the first rotor is attached to the first pedestal, and the second rotor is attached to the end side of the second body part. , the first pedestal is attached to the second pedestal, and the first pedestal is longer than the second pedestal in the vertical direction. According to the flight device of the present invention, the first rotor and the second rotor can be arranged on substantially the same plane, and the flight device can be stably flown.

Further, the flight device of the present invention is characterized in that the flight device further includes a sensor that measures a physical quantity during flight, and the sensor is disposed above the shaft portion. According to the flight device of the present invention, each physical quantity can be accurately detected by the sensor.

FIG. 1 is a perspective view from below of the flight state of the flight device according to the embodiment of the present invention. FIG. 1 is a perspective view from above of the flight state of the flight device according to the embodiment of the present invention. FIG. 1 is a block diagram showing a connection configuration of a flight device according to an embodiment of the present invention. FIG. 2 is a plan view showing a first flight state of the flight device according to the embodiment of the present invention. FIG. 3 is a plan view showing a second flight state of the flight device according to the embodiment of the present invention. FIG. 2 is a perspective view of the flight device according to the embodiment of the present invention in a stored state, viewed from above. FIG. 7 is a perspective view from above of a stored state of a flight device according to another embodiment of the present invention.

Hereinafter, the configuration of the flight device 10 of this embodiment will be explained with reference to the drawings. In the following description, parts having the same configuration are given the same reference numerals, and repeated description will be omitted. Further, in the following description, directions such as up, down, front, back, left, and right will be used, but these directions are for convenience of explanation. Furthermore, in the following description, the direction away from the fuselage section 14 may be referred to as the outside, and the direction approaching the fuselage section 14 may be referred to as the inside.

FIG. 1A is a perspective view of the flight device 10 viewed from below. FIG. 1B is a perspective view of the flight device 10 viewed from above.

Referring to FIG. 1A, flight device 10 mainly includes a fuselage section 14 and a rotor 12 attached to fuselage section 14.

The flying device 10 is also called a drone. The flying device 10 may be an electric drone whose driving source is only a motor that rotates due to power supplied from a battery, or a hybrid drone whose driving source is an engine and a motor. As a hybrid drone, a series hybrid drone or a parallel hybrid drone can be adopted. In the series hybrid drone, an engine drives a generator, and a motor receiving power from the generator rotates the rotor 12. The parallel hybrid drone has a mechanical drive system that mechanically rotates another rotor 12 using an engine, in addition to an electric drive system that uses the motor to rotate the rotor 12 .

Referring to FIG. 1A, the flight device 10 has a first rotor 121 and a second rotor 122 as the rotor 12. The first rotor 121 is arranged on the front left side and the rear right side of the flight device 10. The second rotor 122 is arranged on the front right side and the rear left side of the flight device 10. As the rotor 12 rotates, upward thrust is generated, and the flight device 10 floats in the air due to the thrust.

Referring to FIG. 1B, the body section 14 mainly includes a first body section 141, a second body section 142, and a shaft section 13.

The first body part 141 is made of metal such as magnesium or aluminum, and is a substantially rod-shaped member that extends substantially linearly, and has ends on the front left side and the rear side. In this embodiment, the rear direction in which the first body section 141 extends is sometimes referred to as a first direction. The first rotor 121 described above is disposed near both ends of the first body section 141.

The second body part 142 is made of metal such as magnesium or aluminum, and is a substantially rod-shaped member extending substantially linearly, and has ends on the front right side and the rear left side. In this embodiment, the direction in which the second body portion 142 extends is sometimes referred to as a second direction. The second rotor 122 described above is disposed near both ends of the second body section 142.

A body support section 15 extends downward from the ends of the first body section 141 and the second body section 142. The body support portion 15 is a substantially rod-shaped member made of a steel rod or the like. A sensor 18, a control device 21, a communication device 22, a battery unit 25, a power converter 30, etc., which will be described later, are housed in an area surrounded by the body support section 15. Further, the lower end of the body support portion 15 serves as a grounding portion that contacts the ground when the flight device 10 is in a landing state.

The shaft portion 13 rotatably connects the first body portion 141 and the second body portion 142. Specifically, the shaft portion 13 rotatably connects the vicinity of the center in the longitudinal direction of the first body portion 141 and the vicinity of the center in the longitudinal direction of the second body portion 142 in a top view. For example, the shaft portion 13 is a substantially cylindrical member that passes through a hole formed near the center of the first body portion 141 and a hole formed near the center of the second body portion 142. By having the shaft portion 13, the first body portion 141 and the second body portion 142 can relatively rotate at any angle about the shaft portion 13 as a rotation center. Therefore, as will be described later, the flight device 10 can be stored compactly. Furthermore, as will be described later, the width of the flight device 10 can be adjusted as desired.

The rotor motor 17 is arranged at the longitudinal ends of the first body part 141 and the second body part 142. The rotor motor 17 rotationally drives each of the first rotor 121 and the second rotor 122 described above.

FIG. 2 is a block diagram showing the connection configuration of the flight device 10.

The flight device 10 mainly includes a control device 21, a battery unit 25, a power conversion section 30, a rotor motor 17, a sensor 18, and a communication device 22. Although the case where the flying device 10 is an electric drone is shown here, if the flying device 10 is a hybrid drone, an engine and a generator are separately provided.

The control device 21 includes a CPU, ROM, RAM, etc. The control device 21 controls the behavior of each device constituting the flight device 10, such as the frequency and power value of each power conversion unit 30, based on inputs from the sensor 18 and the communication device 22.

The battery unit 25 is, for example, a rechargeable lithium ion battery. Power discharged from the battery unit 25 is supplied to each power conversion section 30.

Power conversion section 30 is provided corresponding to each rotor motor 17 . As the power converter 30, an inverter that converts DC power supplied from the battery unit 25 into AC power of a predetermined frequency can be adopted. Further, the power conversion unit 30 may include a converter that converts AC power to DC power, and an inverter that converts the DC power to AC power of a predetermined frequency.

The rotor motor 17 is provided corresponding to each rotor 12 described above. The rotor motor 17 rotates the rotor 12 described above using electric power supplied from the power converter 30.

The sensor 18 is a sensor including, for example, a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, an ultrasonic sensor, a GPS, or the like.

The communication device 22 is connected wirelessly or wired to a controller operated by an operator. When the operator operates the controller, a command indicating the operation is transmitted to the communication device 22. The control device 21 adjusts the rotation of each rotor motor 17 based on the command received by the communication device 22, and controls the position and orientation of the flight device 10.

The operation of the flight device 10 will be briefly explained. The flight device 10 is operated in a landing state, a takeoff state, a hovering state, an ascending/descending state, or a horizontal movement state.

In the landing state, the flight device 10 is on the ground. In this state, the rotor 12 does not rotate.

In the takeoff state, the flight device 10 leaves the ground plane and rises due to the thrust generated by the rotation of the rotor 12.

In the hovering state, the flight device 10 supplies power from the battery unit 25 to the rotor motor 17 via the power converter 30 based on input information from the control device 21 and the sensor 18, and rotates the rotor motor 17. , the flight device 10 is suspended in a predetermined position in the air. The control device 21 controls each power converter 30 to maintain the rotational speed of the rotor motor 17 at a predetermined speed so that the flight device 10 can maintain a predetermined altitude and attitude.

In the ascending/descending state, the control device 21 controls the rotation speed of the rotor motor 17 to raise or lower the flight device 10 . At this time as well, the control device 21 controls each power converter 30 so that the rotational speed of each rotor 12 is set to a predetermined value so that the flight device 10 can maintain a predetermined altitude and attitude. .

In the horizontal movement state, the control device 21 controls the power converter 30 to control the rotation speed of each rotor motor 17, thereby placing the flight device 10 in a tilted state and moving the flight device 10 in the horizontal direction. .

The configuration of the flight device 10 in each state will be described with reference to FIGS. 3A, 3B, and 4. Specifically, the flight device 10 can be in a flight state and a stowed state. Further, the flight state includes a first flight state and a second flight state.

Here, the stored state is a state in which the flight device 10 is compacted for storage and transportation. The flight state is a state in which the flight device 10 is ready for flight. In addition, in the flight state, the state where the longitudinal direction (first longitudinal direction) of the first fuselage part 141 and the longitudinal direction (second longitudinal direction) of the second fuselage part 142 intersect is more favorable than the storage state described later. Close to orthogonal state.

FIG. 3A is a plan view showing the first flight state of the flight device 10. In the first flight state, the state where the longitudinal direction (first longitudinal direction) of the first fuselage section 141 and the longitudinal direction (second longitudinal direction) of the second fuselage section 142 intersect is the state shown in FIG. 3B. In this state, the first longitudinal direction and the second longitudinal direction are closer to an orthogonal state than a state where they intersect. An angle θ1 at which the first body portion 141 and the second body portion 142 intersect is approximately 90 degrees. By doing so, the width L10 of the body portion 14 can be increased. That is, the first rotor 121 and the second rotor 122 can be arranged apart from each other in the left and right rear. Therefore, the lift generated from the first rotor 121 and the second rotor 122 can be increased, and furthermore, the flight device 10 can be stably suspended in the air.

FIG. 3B is a plan view showing the second flight state of the flight device 10. In the second flight state, the state where the longitudinal direction (first longitudinal direction) of the first fuselage section 141 and the longitudinal direction (second longitudinal direction) of the second fuselage section 142 intersect is the first flight state shown in FIG. 3A. In this state, the intersecting angle is smaller than in the state where the first longitudinal direction and the second longitudinal direction intersect. Here, the angle θ2 at which the first body portion 141 and the second body portion 142 intersect is an acute angle away from a right angle. That is, the angle θ2 is smaller than the angle θ1 shown in FIG. 3A. By doing so, the width L11 of the body portion 14 can be shortened. That is, the first rotor 121 and the second rotor 122 can be arranged close to each other on the left and right rear sides. Therefore, the width of the flight device 10 can be shortened in the second flight state, and various flight conditions can be accommodated. For example, by placing the flight device 10 in the second state, the flight device 10 can be flown in a small space.

In the second flight state shown in FIG. 3B, the rotation center of the first rotor 121 and the rotation center of the second rotor 122 are arranged so as not to overlap. That is, in the left-right direction, the rotation center of the first rotor 121 and the rotation center of the second rotor 122 are separated from each other. By doing so, the combined width of the first rotor 121 and the second rotor 122 is ensured long in the left-right direction in the second flight state, and the rotation of the first rotor 121 and the second rotor 122 increases the width. You can get lift.

FIG. 4 is a perspective view of the storage state of the flight device 10 viewed from above. Here, the state where the longitudinal direction (first longitudinal direction) of the first fuselage part 141 and the longitudinal direction (second longitudinal direction) of the second fuselage part 142 intersect is the first flight shown in FIGS. 3A and 3B. The crossing angle is smaller than that in the state and the second flight state. That is, the angle θ3 at which the first body portion 141 and the second body portion 142 intersect is smaller than the angle θ1 and the angle θ2 shown in FIGS. 3A and 3B. Therefore, the width L13 of the body portion 14 can be shortened. Further, in the stored state, the rotor 12 described above is removed from the fuselage section 14. By doing so, the flight device 10 can be stored and transported in a compact state.

According to the flight device 10 having the above-described configuration, as shown in FIG. The fuselage section 14 can be made compact, and each rotor 12 can be placed at an arbitrary position during flight.

With reference to FIG. 5, a configuration of a flight device 10 according to another embodiment will be described. The configuration of the flight device 10 shown in FIG. 5 is basically the same as that shown in FIGS. 1 to 4, except that it includes a first pedestal 161 and the like.

Specifically, the first body part 141 is attached to the second body part 142 from below. In this state, the first body part 141 and the second body part 142 are rotatably connected about the shaft part 13 as the center of rotation. With this configuration, the first body part 141 is arranged below the second body part 142.

A first pedestal 161 is arranged near both ends of the first body section 141 . The first pedestal 161 is a portion formed by forming a metal plate made of a light metal such as aluminum or magnesium into a pedestal shape. The lower part of the first pedestal 161 is connected to the first body part 141 by fastening or the like. The rotor motor 17 and the first rotor 121 are attached to the upper part of the first pedestal 161. By having the first pedestal 161, the rotor motor 17 and the first rotor 121 can be arranged upward, and the height difference between the first rotor 121 and the second rotor 122 can be reduced.

A second pedestal 162 is arranged near both ends of the second body section 142. The second pedestal 162 is a portion formed by forming a metal plate made of a light metal such as aluminum or magnesium into a pedestal shape. The lower part of the second pedestal 162 is connected to the second body part 142 by fastening or the like. The rotor motor 17 and the second rotor 122 are attached to the upper part of the second pedestal 162.

In this embodiment, the first pedestal 161 is longer than the second pedestal 162 in the vertical direction. In other words, the first pedestal 161 is a member that is thicker than the second pedestal 162. With this configuration, the rotor motor 17 and the first rotor 121 provided in the upper part of the first pedestal 161 can be disposed on the upper side. Therefore, the first rotor 121 and the second rotor 122 can be arranged at substantially the same height. Therefore, the stability of the flight device 10 during flight can be improved.

Further, the sensor 18 described above is arranged above the shaft portion 13. To explain in detail, the sensor 18 is disposed directly above the shaft portion 13. With this configuration, the sensor 18 can more accurately measure physical quantities such as acceleration. Furthermore, considering that the sensor 18 includes a GPS, this configuration allows accurate positioning of the flight device 10. Furthermore, even when the flight device 10 is in the first flight state and the second flight state described above, the sensor 18 is always located at the center, so the sensor 18 can accurately measure the physical quantity no matter what the flight mode is. can be detected.

Furthermore, in this embodiment, a fuselage base 19 is provided below the fuselage section 14 . The body base 19 is suspended from the body base 19, and stores the battery unit 25 and the like described above.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto and can be modified without departing from the gist of the present invention. Moreover, each of the above-mentioned forms can be combined with each other.

For example, referring to FIG. 5, a configuration may be adopted in which the first pedestal 161 is arranged in the first body part 141, but the second pedestal 162 is not arranged in the second body part 142. Even with such a configuration, the rotor motor 17 and first rotor 121 attached to the first body part 141 and the rotor motor 17 and second rotor 122 attached to the second body part 142 can be arranged on substantially the same plane. . Therefore, stability during flight can be improved.

10 Flight device 12 Rotor 121 First rotor 122 Second rotor 13 Shaft section 14 Airframe section 141 First airframe section 142 Second airframe section 15 Airframe support section 161 First pedestal 162 Second pedestal 17 Rotor motor 18 Sensor 19 Airframe base 21 Control Device 22 Communication device 25 Battery unit 30 Power conversion section

The flight device of the present invention includes a fuselage part and a rotor attached to the fuselage part, and the fuselage part includes a first fuselage part, a second fuselage part, the first fuselage part and the first fuselage part. a shaft portion rotatably connecting the two body parts, the rotor having a first rotor attached to the first body part, a second rotor attached to the second body part, The fuselage section can take a stored state and a flight state, the longitudinal direction of the first fuselage section is a first longitudinal direction, and the longitudinal direction of the second fuselage section is a second longitudinal direction. In the case of a direction, the state in which the first longitudinal direction and the second longitudinal direction intersect in the flight state is more favorable than the state in which the first longitudinal direction and the second longitudinal direction intersect in the storage state. Close to an orthogonal state, the flight state can take a first flight state and a second flight state, and in the first flight state, the first longitudinal direction and the second longitudinal direction intersect. is closer to an orthogonal state than a state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state, and the first fuselage section is attached to the second fuselage section from below. , further comprising a first pedestal, the first pedestal being attached only to the first body part, and the first rotor being attached to the first pedestal.

The flight device of the present invention includes a fuselage part and a rotor attached to the fuselage part, and the fuselage part includes a first fuselage part, a second fuselage part, the first fuselage part and the first fuselage part. a shaft portion rotatably connecting the two body parts, the rotor having a first rotor attached to the first body part, a second rotor attached to the second body part, The fuselage section can take a stored state and a flight state, the longitudinal direction of the first fuselage section is a first longitudinal direction, and the longitudinal direction of the second fuselage section is a second longitudinal direction. In the case of a direction, the state in which the first longitudinal direction and the second longitudinal direction intersect in the flight state is more favorable than the state in which the first longitudinal direction and the second longitudinal direction intersect in the storage state. Close to an orthogonal state, the flight state can take a first flight state and a second flight state, and in the first flight state, the first longitudinal direction and the second longitudinal direction intersect. is closer to an orthogonal state than a state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state, and the first fuselage section is attached to the second fuselage section from below. , further comprising a first pedestal and a second pedestal, the first pedestal being attached to an end side of the first body part, and the second pedestal being attached to an end side of the second body part. The first rotor is attached to the first pedestal, the second rotor is attached to the second pedestal, and the first pedestal is longer than the second pedestal in the vertical direction. It is characterized by

According to the flight device of the present invention, it is possible to provide a flight device in which the outer diameter of the fuselage can be changed. Specifically, by connecting the first body part and the second body part so as to be rotatable about the shaft part, the body part can be made compact when stored. Furthermore, according to the flight device of the present invention, by rotatably connecting the vicinity of the center of the first body part and the vicinity of the center of the second body part, the body can be stored more compactly. Furthermore, according to the flight device of the present invention, the first body part and the second body part are elongated members, and the rotors are disposed at both ends, so that the rotors can be arranged at the four corners during flight. This allows the aircraft to be made compact when stored. Furthermore, according to the flight device of the present invention, with this configuration, each rotor can be arranged at the four corners in the flight state, and the aircraft body can be made compact in the stored state. Further, according to the flight device of the present invention, the width of the aircraft body can be changed between the first flight state and the second flight state, and it is possible to correspond to various flight conditions. Furthermore, according to the flight device of the present invention, the overall width of the flight device can be reduced while ensuring the width of the rotor to be at least a certain level, and the flight device 10 can be stably flown in a small area. Further, according to the flight device of the present invention, the height difference between the first rotor and the second rotor is reduced, and ideally, the first rotor and the second rotor are arranged on substantially the same plane, and the flight device can be flown stably. Further, according to the flight device of the present invention, the first rotor and the second rotor can be arranged on substantially the same plane, and the flight device can be flown stably. Furthermore, according to the flight device of the present invention, each physical quantity can be accurately detected by the sensor.

Claims (9)

The fuselage part and
A rotor attached to the fuselage part,
The body part has a first body part, a second body part, and a shaft part rotatably connecting the first body part and the second body part,
A flight device characterized in that the rotor includes a first rotor attached to the first body part and a second rotor attached to the second body part. The flight device according to claim 1, wherein the shaft portion rotatably connects the vicinity of the center of the first body portion and the vicinity of the center of the second body portion. The first body part is a member extending along a first direction,
The second body part is a member extending along a second direction intersecting the first direction,
The shaft portion rotatably connects the vicinity of the center in the longitudinal direction of the first body part and the vicinity of the center in the longitudinal direction of the second body part in a top view,
The first rotor is disposed near both ends in the longitudinal direction of the first body part, and
3. The flight device according to claim 1, wherein the second rotor is disposed near both longitudinal ends of the second body. The fuselage section can take a storage state and a flight state,
When the longitudinal direction of the first body part is a first longitudinal direction, and the longitudinal direction of the second body part is a second longitudinal direction,
A state in which the first longitudinal direction and the second longitudinal direction intersect in the flight state is closer to an orthogonal state than a state in which the first longitudinal direction and the second longitudinal direction intersect in the stowed state. The flight device according to claim 1 or claim 2, characterized in that: The flight state can be a first flight state and a second flight state,
The state in which the first longitudinal direction and the second longitudinal direction intersect in the first flight state is more orthogonal than the state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state. The flight device according to claim 4, characterized in that the flight device is close to the state. When the longitudinal direction of the first body part is a first longitudinal direction, and the longitudinal direction of the second body part is a second longitudinal direction,
It can take a first flight state and a second flight state,
The state in which the first longitudinal direction and the second longitudinal direction intersect in the first flight state is more orthogonal than the state in which the first longitudinal direction and the second longitudinal direction intersect in the second flight state. Close to condition,
The flight device according to claim 1 or 2, wherein in the second flight state, the rotation center of the first rotor and the rotation center of the second rotor are arranged so as not to overlap. . The first body part is attached to the second body part from below,
further comprising a first pedestal;
The first pedestal is attached to the first body part,
The flight device according to claim 1 or 2, wherein the first rotor is attached to the first pedestal. The first body part is attached to the second body part from below,
further comprising a first pedestal and a second pedestal,
The first pedestal is attached to an end side of the first body part,
The second pedestal is attached to an end side of the second body part,
the first rotor is attached to the first pedestal,
the second rotor is attached to the second pedestal,
3. The flight device according to claim 1, wherein the first pedestal is longer than the second pedestal in a vertical direction. It is further equipped with a sensor that measures physical quantities during flight,
The flight device according to claim 1 or 2, wherein the sensor is arranged above the shaft portion.

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