JP4899069B2 - Spherical airplane - Google Patents

Description

The present invention relates to an aircraft capable of mainly vertical takeoff and landing and normal cruise flight, especially landing in the host country, land mobile and re-takeoff is concerned facilitates spherical airplane.

  As shown in FIG. 9, various conventional aircraft include a normal fixed wing aircraft 22 shown in FIG. 9A, a helicopter 23 shown in FIG. 9B, and a tail sitter shown in FIG. There is an aircraft (VTOL aircraft) capable of vertical takeoff and landing, such as the type VTOL aircraft 21.

  Aircraft that can take off and land vertically (VTOL aircraft) do not require a large space and a wide running surface near the ground surface during takeoff and landing, so takeoff and landing in urban areas, rough terrain, forests, and mountains is possible in some cases. It is characterized by flexible operation. In addition, since the VTOL aircraft inevitably has zero speed in the air, that is, it can hover, it is useful for collecting detailed information on the site that cannot be accessed from the ground. Furthermore, if there is a terrain necessary for vertical landing at the destination, it is possible to land and regularly collect information and extend standby time without hovering with low energy efficiency.

  However, the typical VTOL aircraft such as the helicopter 23 shown in FIG. 9B cannot perform efficient high-speed cruise flight using the wing like the fixed wing aircraft 22, and the speed, the advancing distance, the flight time, etc. In terms of performance, it cannot be said that it is excellent. In addition, when taking off and landing, non-linear and complicated operations are required, and it is almost impossible to move on the ground on rough terrain, and re-takeoff may not be possible depending on the landform and attitude of the landing point.

  Therefore, there is a tail sitter method as one method for improving the performance of VTOL aircraft during cruising. The tail sitter type VTOL aircraft 21 shown in FIG. 9 (c) performs high-efficiency high-speed flight using the main wing 6 which is a fixed wing during cruising, as in the case of a normal fixed wing aircraft 22. Standing vertically, with the thrust direction facing upward, the aircraft is floated using the same thrust as the weight of the aircraft, and takeoff and landing is performed with the tail 33 down. Therefore, the tail-sitter type VTOL aircraft 21 does not require a complicated and weight-increasing tilt mechanism, and has a feature that it has a relatively simple airframe configuration but also has the ability to take a normal cruise flight and take off and landing at a fixed point. ing.

  Patent Documents 1 and 2 below disclose an invention relating to this type of tailsitter type VTOL machine.

JP 2001-213397 A US Pat. No. 5,289,994

  On the other hand, the conventional tail sitter type VTOL aircraft 21 must be equipped with a propulsion device having a thrust weight ratio of 1 or more, and it is necessary to devise so that attitude control is possible at a speed O, cruise flight to hovering It is difficult to control the aerodynamics of the transition flight between them, it is necessary to land with the aircraft standing upright even in strong wind conditions, attitude control before and after contact is very difficult, and self-movement on the ground is impossible There are disadvantages.

  Regarding the contact with the obstacle, the tail sitter type VTOL machine 21 shown in FIG. 9 (c) is not supposed to be in contact with other objects except for the landing gear 30. It is dangerous to fly an aircraft in disaster sites, indoors, and forest environments where there is a very high possibility. In addition, if the aircraft falls down when landing at the destination, it will not only be damaged, but it will not be possible to take off from there again.

  Therefore, at the present time, `` Vertical take-off from a narrow place → Advance by high-speed cruise flight using wings → Destination or hovering for collecting information on the destination ground → Landing around the destination for collecting information for a long time → More details Realization of very flexible and useful usage such as approaching by ground movement to acquire information → overcoming obstacles → re-take off after completing mission → return on high-speed cruise flight → sliding landing if vertical landing is difficult due to wind There is no aircraft that can do it.

The present invention has been made in view of such a situation, and an object thereof is to propose an airplane capable of realizing at least a part of the above-described applications.
More specifically, although not limited to the tail-sitter aircraft proposed by the present inventor, which will be described later, at least a part of the above application is realized by installing an airplane capable of vertical landing or sliding landing in a spherical shell. The first objective is to propose a spherical airplane that can be used. The second is to propose a spherical airplane that can realize the above-mentioned use by installing a new tail-sitter aircraft in a spherical shell that can perform vertical take-off and landing and high-speed cruise flight, has a simple fuselage structure, and is easy to control. The purpose of 2 is.

The spherical airplane according to claim 1 according to the first object is:
An airplane capable of vertical landing or sliding landing with three rudder elevators, ladders, and ailerons in the wake of the propeller propulsion unit;
Rolling on the ground that surrounds and covers the airplane, is provided integrally with the airplane, and has at least a front part and a rear part in the flight direction having an area corresponding to the diameter of the propeller propulsion device. A spherical shell whose outer shape can be spherical, and
It is characterized by having.

A spherical airplane according to claim 2 is the spherical airplane according to claim 1,
The center of gravity of the spherical airplane is set on the side opposite to the propeller propulsion unit with respect to the center of the spherical shell , so that the propeller propulsion unit is configured to face upward when placed on the ground. Yes.

A spherical airplane according to claim 3 according to the second object,
A tail sitter machine having three rudder of an airframe, a propeller propulsion device provided in front of the airframe, and an elevator, a ladder, and an aileron provided in the airframe and disposed in the wake of the propeller propulsion device, The tail sitter aircraft , which is provided with an elevator and a ladder in front of the center of gravity of the tail sitter aircraft among the three rudder , and is capable of vertical take-off and landing and normal cruise flight,
The tail sitter aircraft is surrounded and covered, and is provided integrally with the aircraft, and has at least a front portion and a rear portion in the flight direction having an area corresponding to the diameter of the propeller propulsion device. A spherical shell whose outer shape capable of rolling is spherical,
It is characterized by having.

The spherical airplane according to claim 4 is the spherical airplane according to claim 3,
The center of gravity of the spherical airplane is set on the opposite side of the propeller propulsion unit with respect to the center of the spherical shell so that the propeller propulsion unit faces upward when placed on the ground .
Four front wings that connect the airframe and the spherical shell body are provided at intervals of 90 ° in front of the center of gravity of the entire spherical airplane, and the elevator and the ladder are provided at a distance of 90 ° from each other. Provided on the tail,
Four main wings connecting the fuselage and the spherical shell body are provided at 90 ° intervals behind the center of gravity of the entire spherical airplane, and the aileron is provided on the main wing. It is characterized by that.

A spherical airplane according to claim 5 is the spherical airplane according to claim 4,
In order to obtain a center of gravity position suitable for any operation mode selected from a group of operation modes including ground rotation movement, vertical takeoff, hovering, and normal cruise flight, a heavy object mounted on the aircraft is moved within the aircraft It is characterized by having a center-of-gravity movement control means.

A spherical airplane according to claim 6 is the spherical airplane according to claim 4,
The direction of thrust can be reversed by reversing the propeller pitch angle in the propeller propulsion device or by reversing the propeller rotation direction in order to escape from the state of being fitted in the recess during rotational movement on the ground. It is characterized by being configured.

A spherical airplane according to claim 7 is the spherical airplane according to claim 4,
The aileron of the main wing is operated to generate a rotational moment in order to escape from the state fitted in the recess during the rotational movement of the ground.

A spherical airplane according to claim 8 is the spherical airplane according to any one of claims 1 to 7 ,
It is a drone capable of remote control and autonomous action.

According to the spherical airplane of the first aspect, since the outer shape is a sphere, it is difficult to cause damage at the time of landing, and it is possible to land on rough terrain that cannot be landed by a conventional aircraft. Even in the case of a vertical landing aircraft, it is possible to make a sliding landing according to the weather and ground conditions. Also, in that case, if you keep only the sedimentation rate, you can land without rolling even if you touch the ground in any posture, so stable landing can be done without performing difficult vertical landing, Return is sure. In addition, since the airframe is covered with a spherical shell, it becomes strong in addition to the contact with the ground, for example, the contact with the wall or ceiling of the building.

According to the spherical airplane of the second aspect, since the outer shape is a sphere, it is difficult to cause damage at the time of landing, and it is possible to land on rough terrain that cannot be landed by a conventional aircraft. In addition to vertical take-off and landing , it is also possible to make a sliding landing according to the weather and ground conditions. Also, in that case, if you keep only the sink rate, you can land while rolling without being damaged regardless of the attitude, so stable landing is possible without performing vertical landing, which is difficult depending on conditions Because return is possible, return is certain. In addition, since the airframe is covered with a spherical shell, it becomes strong in addition to the contact with the ground, for example, the contact with the wall or ceiling of the building.

Furthermore, according to the captured Te Rushitta motor as its constituent, yet the center of gravity position and the control surface disposed stability is obtained about the length and direction during the horizontal flight, the same operation as causing steering of the air, the same direction even during ground It is possible to move the nose. This is secondary to the fact that the center of gravity of the aircraft in contact with the ground is closer to the ground and the stability is increased, and the main wing that is larger and stronger than the tail wing can be used as a ground sitter. It will contribute to the merit for the machine. Therefore, according to the spherical airplane having such a tail sitter machine in the spherical shell , the aircraft body is controlled by the control moment generated by the propeller wake and the control surface on the ground using the attitude control of the tail sitter machine. By continuing to incline the posture in the direction in which it is desired to move, the entire aircraft can be rotated.

  As a result, it is not necessary to jump up every time the user moves on the ground, so that energy can be preserved and safe. Only when faced with a large step or steep slope that is difficult to get over by rotational movement, it will temporarily take off and jump over.

(A) shows the attitude control of the ground tail sitter machine by the present inventors assumed as the basis of the present invention, (b) shows the attitude control of the ground tail sitter machine according to our invention FIG. FIG. 2 is a diagram showing a configuration of a spherical airplane according to an embodiment of the present invention . FIG. 3 is a view showing the outer shape of a spherical airplane according to an embodiment of the present invention . FIG. 4 is a diagram showing a method for rotating a spherical airplane according to an embodiment of the present invention . FIG. 5 is a diagram showing the behavior when the spherical airplane according to the embodiment of the present invention contacts the wall. FIG. 6 is a view showing a modification of the spherical airplane according to the embodiment of the present invention . FIG. 7 is a diagram showing a method for a spherical airplane according to a modified example of the present invention to escape from an upside down state by thrust reversal. FIG. 8 is a diagram showing a method for a spherical airplane according to a modified example of the present invention to escape from an upside down state using an integrated control surface. FIG. 9 is a diagram showing various conventional aircrafts and landing methods thereof.

Hereinafter, embodiments of the present invention will be described with reference to FIGS.
1. About the tail sitter machine used for the spherical airplane of the present invention The inventor first becomes a base as shown in FIG. 1A as a starting point for devising the tail sitter machine used for the spherical airplane of the present invention . A tail sitter machine 31 is assumed.
This base tailsitter machine 31 uses a propeller 1 having a large diameter as a propulsion device to achieve a thrust-weight ratio of 1 or more, and an aileron 5, an elevator 3, and a ladder 4 are disposed in a propeller wake 38. It is. With such an aircraft, the roll, pitch, and yaw axis of the aircraft can be controlled even when hovering with the aircraft standing vertically.

  Further, in consideration of the object of the present invention, since the airplane is supposed to land and retake off at the destination, a special starter and recovery device are not used for takeoff and landing, and the tail 33 of the aircraft is grounded. The vertical takeoff is performed by grounding the tail 33.

A single machine is a simple structure as a base over scan of the aircraft, for anti-torque propeller 1, but a to cancel in aileron 5, contra-rotating propellers 27 or multiple as shown in FIG. 9 (c) By reversing the propeller, it is possible to cancel the counter torque of the propeller 1 by a trade-off with an increase in weight.

  In the case of a normal fixed wing aircraft 22 as shown in FIG. 9A, a main wing is disposed near the center of gravity, and a tail wing is disposed behind the center of gravity. The elevator 3 and the ladder 4 are disposed at the rear end of the tail wing 7. Has been placed. When such a fixed wing aircraft 22 causes a nose during level flight, it is necessary to raise the trailing edge of the elevator 3 and generate a downward force on the tail wing 7 to generate a head-up moment.

  Consider vertical takeoff of the tail sitter 31 having such a structure. As shown in FIG. 1 (a), when the elevator 3 is moved in the same manner as the raising operation in the air, the wake 38 of the propeller 1 hits the control surface, and a force acts in the same direction as in the air. Since it is not a rotational motion centered on 10 but a rotational motion centered on the ground contact point 34, the aircraft tilts in the opposite direction to the cause, making control difficult. This is because the positional relationship between the control surface that generates the pitching moment and the rotation center is reversed between the air and the ground.

Therefore, in order to achieve the object of the present invention , the present inventor can control the aircraft attitude by the same control method both in the air and on the ground in order to obtain a tail-sitter aircraft that can be easily taken off and landing at the destination. Proposed tail sitter machine.

As shown in FIG. 1 (b), the tail sitter machine 32 used in the spherical airplane of the present invention is a tail sitter machine of the tail wing type in which the elevator 3 and the ladder 4 are arranged in front of the center of gravity 10.

  This makes it possible to move the nose in the same direction even during the grounding by the same operation as that caused by raising in the air, while maintaining the position of the center of gravity and the control surface arrangement that provide stability in the vertical and direction directions during horizontal flight.

  This is secondary to the fact that the center of gravity of the aircraft in contact with the ground is closer to the ground and the stability is increased, and the main wing 6 that is larger and stronger than the tail 33 can be used as a ground contact point. Contributes to the benefits for tailsitters.

2. Spherical aircraft of the present invention and its embodiments will now, in order to achieve the object of the present invention, there is provided a airplane safe vertical landing or runway landing possible basic invention on uneven terrain, the entire body can be rotated and moved In addition, we propose a spherical airplane that can move on the ground after landing on rough terrain, and that can re-take off with a stable vertical takeoff.
Here, spherical aircraft of the present invention is obtained by applying the tail sitter machine is characterized by a spherical plane that integrates enclose the body in the spherical shell body.

As shown in FIG. 2, the spherical airplane 12 includes a tail sitter machine 32 having a basic structure substantially similar to the tail sitter machine 32 shown in FIG. And a spherical shell 8 integrally connected to the airframe.

  As shown in FIG. 2, the tail sitter machine 32 has a prime mover 2 such as an electric motor as a propeller propulsion device provided in the fuselage, and a propeller 1 that is linked to and driven by the prime mover 2.

  Of the three rudders (elevator, rudder, aileron) provided in the fuselage and arranged in the wake of the propeller, the elevator 3 and the ladder 4 are provided in front of the entire center of gravity 10, and the vertical take-off and landing and normal Cruise flight is possible.

  Further, in front of the center of gravity 10, four tail wings 7 connecting the airframe and the spherical shell 8 are provided at intervals of 90 °, and the elevator 3 and the ladder 4 are at intervals of 90 °. As described above, the two tail fins 7 are provided. Since the tail 7 is disposed in front of the center of gravity 10, it can also be referred to as a leading tail. Further, behind the center of gravity 10, four main wings 6 connecting the airframe and the spherical shell 8 are provided at intervals of 90 ° so as to be positioned between the tail wings 7. 6 is provided.

  As shown in FIG. 2, the spherical shell 8 is not composed of a complete spherical surface whose outer surface is closed. If the outer shape is covered with a complete spherical surface, it does not function as an aircraft. Therefore, at least the area corresponding to the diameter of the propeller 1 needs to be open at the front and rear in the flight direction. In this embodiment, it is possible to rotate efficiently on the ground, the propeller and the control surface do not touch during ground rotation, reduce adverse effects on thrust, lift-drag ratio and rudder effectiveness, light and durable, and easy to manufacture In pursuit of this, the outer structure shown in FIG. 2 and FIG.

  As shown in FIG. 3 (a), the shape of the spherical shell 8 will be described as a globe. The thrust direction is parallel to the earth axis, the latitude is 0 degrees (equator) and the latitude is ± 30 degrees, and the longitude is 45 degrees. Frames having an arrangement corresponding to the inscribed meridian are connected to each other to constitute a spherical shell 8 having a single structure and high rigidity. In addition, the “spherical shell” in the present invention does not necessarily mean only a perfect spherical shape, but can easily roll on the ground such as regular dodecahedron, regular icosahedron and soccer ball type. It also includes a shape close to a sphere.

  Further, as shown in FIG. 3B, a range of latitude −30 to +30 degrees can be covered with a part of a complete spherical surface 20 in a band shape. In this way, the overall rigidity can be further increased, and the connection position of the airplane disposed inside can be selected more freely. Although this belt-like portion may be a plate as shown in FIG. 3B, if it is covered with a net, the influence on flight stability can be minimized, which is more preferable as an airplane.

  As shown in FIG. 4, after landing, the spherical airplane 12 of the present embodiment rotates on the ground 36 and moves over any obstacles. It is scheduled to take off. Here, in order for the spherical shell 8 itself to efficiently roll on the ground 36, the center of gravity 10 needs to be at the center of the spherical shell 8. However, in the case where the outer shape of the tail wing type tail sitter machine 32 is the spherical shell 8 as in the present embodiment close to a sphere, if the tilt angle is 90 degrees or more from the vertical state on the ground, the direction of the rotational moment with respect to the rudder angle is reversed. To do. Therefore, in order to continuously rotate, the rotation speed that can be rotated once is continuously applied while the aircraft is facing upward, and after rotating once by inertia, the rotational moment is applied while the aircraft is facing upward again. An operation such as giving is required. Therefore, in the spherical airplane 12 according to the present embodiment, as shown in FIG. 4, the center of gravity position is slightly lowered from the center of the sphere, so that the effect can be obtained by a small lawyer. And set the nose to face up. This also allows for smooth vertical takeoff.

  In order to make take-off easier, it is also effective to cut the bottom of the spherical shell 8 with a surface slightly parallel to the rotation surface of the propeller 1 to provide a substantially circular flat surface.

  Because the center of gravity is slightly below the center of the sphere (backward in horizontal flight), the area of the elevator 3 and the ladder 4 should be large and positioned as far forward as possible to gain control moments in the air. The distance to the center of gravity must be increased. However, there is a propeller 1 in the front, and as the propeller 1 is arranged in the front, the diameter of the propeller 1 that fits in the spherical shell 8 is reduced, and the range of the wake 38 that is necessary for attitude control during hovering is narrowed. Will be.

  Therefore, the necessary diameter of the propeller 1 is determined from the size of the control surfaces such as the elevator 3 and the ladder 4 that are necessary at the time of hovering, and the position thereof is arranged as far as possible in the spherical shell 8. When the position of the propeller 1 is determined, the elevator 3 and the ladder 4 are arranged immediately after that, as described above with reference to FIG.

  Due to the above, the control surface becomes large and the main wing 6 and the vertical stabilizer must be arranged large and rearward in order to obtain vertical and vertical static stability, but in order to accommodate them in the narrow spherical shell 8 Ingenuity is necessary. Since there is a limit in the distance between the front and rear in the spherical shell 8, when the elevator 3 or the ladder 4 has a large steering angle, the wake 38 greatly interferes with the main wing 6 or the like. In order to reduce this interference as much as possible, as described above with reference to FIG. 1, the main wing 6 is arranged in an X wing arrangement so as to be 45 degrees intermediate between the axes of the elevator 3 and the ladder 4.

  Regarding the aileron 5 that suppresses the counter-torque of the propeller 1 generated during vertical takeoff, four ailerons 5 are installed behind them as described above with reference to FIG.

Thus, according to the tape Rushitta machine 32 spherical plane 12 of the present embodiment attached to the inside of Tamakaratai 8, vertical take-off and landing in the host country without requiring special mobile, level flight, ground Moving and gliding landings are possible.

That is, as shown in FIG. 4, if the aircraft contour is spherical, control the using posture control function in Te Rushitta machine 32, control surface 4 such as wake 38 and the elevator 3 and rudder propeller even on the ground occurs By continuously tilting the posture in the direction in which the aircraft is to be moved by the moment (expressed as an arrow of aerodynamic force generated by elevator steering in the figure), the entire aircraft can be rotated as indicated by the arrows.

  As a result, it is not necessary to jump up every time the user moves on the ground, so that energy can be preserved and safe. Only when faced with a large step or steep slope that is difficult to get over by rotational movement, it will temporarily take off and jump over.

  Further, by making the outer shape of the spherical shell 8, the following three effects can be obtained in addition to enabling ground movement on rough terrain.

  First, since the outer shape is a sphere, the tail-sitter machine 32 provided in the spherical shell 8 has no fear of the aircraft falling on the ground and being damaged or unable to take off again, and maintains a strictly vertical posture. Even if the speed is not almost zero, it is possible to make a vertical landing simply by keeping the settlement rate. Considering the ground movement capability, it is possible to land on rough terrain where conventional aircraft should not land.

  Secondly, when the spherical airplane 12 like this example makes a sliding landing, if it keeps only the sinking rate, it will land safely while rolling without being damaged, no matter what position it touches. Can do. The ability of the tailsitter 32 to have a sliding landing means that in a windy situation, a stable landing can be made without performing a very difficult vertical landing, so that return can be reliably performed. .

  Thirdly, since the airframe is covered with the spherical shell 8, it can be strong against contact with the wall 35 or a ceiling (not shown) in addition to contact with the ground as shown in FIG. As shown in FIGS. 5A to 5C, when the spherical airplane 12 according to the present embodiment contacts an obstacle such as the wall 35 during hovering, the increment from the thrust immediately before the contact is increased by the spherical airplane 12. When the thrust is reduced in this state and the thrust is reduced, the contact point is returned to the vertical posture with the contact point as a fulcrum, so that the contact position can be held.

  Next, more detailed features of the spherical airplane of the present embodiment shown in FIG. 2 and the spherical airplane of the modified example of the present embodiment shown in FIG. 6 will be described. Note that the basic configuration of the modified example of the spherical airplane shown in FIG. 6 is substantially the same as that of the spherical airplane of FIG. 2, and thus the basic configuration is appropriately omitted with the aid of the description of the above-described embodiment. And

  In the spherical airplane 12 of the embodiment of FIG. 2, the center of gravity 10 is set slightly below the center of the spherical shell 8, but the position of the center of gravity 10 is variable. That is, the spherical airplane 12 includes a gravity center movement control means for changing the position of the gravity center 10. This center-of-gravity movement control means is composed of an actuator 9 for moving the payload, battery 19, prime mover 2, and the like, which are heavy objects of the aircraft, and a control device 11 for driving and controlling them. The position of the center of gravity 10 can be arbitrarily changed to a position suitable for each operation mode or use scene of the spherical airplane 12. For example, the spherical airplane 12 can take various operation modes including ground rotation movement, vertical takeoff, hovering, and normal cruise flight, and the optimum center of gravity position is slightly different for each operation mode or use scene. According to this example, the position of the center of gravity can be optimally set by the center-of-gravity movement control means, and optimal control during flight or movement can be performed.

  The spherical airplane 12 'of the modification shown in FIG. 6 also includes a center of gravity moving device 14 as a center of gravity movement control means. The center-of-gravity moving device 14 in the modified example includes an actuator 9 that moves a heavy object 19 such as a battery provided inside a cylindrical body 18 and a control unit (not shown).

  According to this modification, the heavy object 19 is moved up and down by the center of gravity moving device 14 using the actuator 9 such as a servo in the cylindrical body 18 under the engine 2. For example, the center of gravity 10 is moved to the center of the sphere during rotational movement of the sphere, the center of gravity 10 is moved as low as possible during take-off to hovering, and the center of gravity 10 is moved to a position that takes into account vertical stability and cruise efficiency during horizontal flight. Let

  Next, a description will be given of a function for escaping in a situation where the sphere airplane 12 'according to the modified example cannot be escaped as shown in FIGS.

  Even if the spherical airplane 12 ′ is temporarily turned upside down while rotating on the ground 36, the spherical airplane 12 ′ basically passes or rises by the inertial force of the rotation and gets up on the principle of a lawyer. However, as shown in FIG. 7 and FIG. 8, when it is unfortunately fitted into the depression 37 or the like in an upside down state and the attitude is restricted, the thrust only works in the direction of pressing the fuselage against the ground. The ladder 4 (not shown) is also difficult to control because the distance from the ground serving as the rotational center of gravity is shortened and the directions of steering and rotational force are reversed.

  Therefore, the modified spherical airplane 12 ′ has a variable pitch propeller 16 or a counter-rotating propeller 27 as shown in FIG. 6, and reverses the thrust direction using these as a reverse pitch, thereby FIG. ) Can escape.

  Further, as shown in FIG. 8, in the upside-down state, if the aileron 5 at the rear end of the main wing is caused to function as an integrated control surface 15 like an elevator or a ladder, the spherical flying object 12 ′ has the structure shown in FIG. It is possible to escape from the depression 37 by applying an appropriate rotational force as shown in b). Aside from escape, the elevator and rudder are also equipped with aileron functions, and the eight control surfaces are used as the integrated control surface 15 to generate the necessary moments for ground movement, takeoff and landing, and horizontal flight. By distributing the corners, it becomes possible to fly and move efficiently.

  Next, as shown in FIG. 6, the modified spherical airplane 12 'has a function of deploying the deployment wing 13 in a horizontal flight state. Since the spherical airplane 12 ′ is assumed to roll on the ground, the deployment wing 13 forms a part of the spherical surface 20 that covers a part of the spherical shell 8 as shown in FIG. 6. Although there is no aircraft that purposely uses the spherical surface 20 as a wing shape, in the spherical airplane 12 ′, the airframe can be simplified by developing a part of the spherical surface 20 as it is. The deployment wing 13 is deployed only during horizontal flight, contributing to an increase in energy efficiency and flight stability.

As described above, according to the spherical aircraft according to the present onset bright, outer shape is less likely to occur damaged during landing for a sphere, it is possible to land in uneven terrain. In addition, even in the case of a vertical landing aircraft, it is possible to make a sliding landing according to the conditions. In that case, if only the sinking rate is observed, the landing can be done without rolling, regardless of the grounding position. it can. In addition, since the airframe is covered with a spherical shell, it becomes strong in addition to the contact with the ground, for example, the contact with the wall or ceiling of the building.

Furthermore, according to the tail sitter machine used in the present invention , while maintaining the center of gravity position and the control surface arrangement that can provide stability in the vertical and direction directions during horizontal flight, the same operation as in the case of steering in the air and the same direction during grounding. There is an advantage that the nose can be moved, the center of gravity of the aircraft in contact with the ground is close to the ground, the stability is increased, and the main wing with a strong structure can be used as the ground contact point.

Furthermore, according to the spherical aircraft according to the present onset bright, in addition to the effect, using the attitude control of the tail sitter machine used in the present invention, the control moment the propeller slipstream and the control surface is also at the ground occurs, the aircraft By continuing to incline the posture in the direction in which it is desired to move, the entire aircraft can be moved on the ground by rotating in the arbitrary direction. As a result, it is not necessary to jump up each time to move on the ground, and it is only necessary to temporarily take off and jump over when faced with a large step or steep slope that is difficult to get over by rotating movement, so that energy can be saved and safe It is.

In the above description, the present invention has been described in the embodiment of the spherical airplane in which the tail sitter machine proposed by the present inventor is mounted in a spherical shell. However, in the present invention , the airplane is mounted in the spherical shell. In addition to the tail sitter aircraft proposed by the present inventor, it may be a conventional tail sitter aircraft or a normal fixed wing aircraft. Has the effects as described above.

DESCRIPTION OF SYMBOLS 1 ... Propeller 2 ... Motor | power_engines, such as an electric motor which is a heavy article 3 ... Elevator which is one of 3 rudder 4 ... Ladder which is one of 3 rudder 5 ... Aileron which is one of 3 rudder 6 ... Main wing 7 ... Tail DESCRIPTION OF SYMBOLS 8 ... Spherical shell 9 ... Actuator which comprises center-of-gravity movement control means 10 ... Center of gravity 11 ... Control apparatus which comprises center-of-gravity movement control means 12, 12 '... Spherical airplane 13 ... Deployment wing 14 ... Center of gravity movement as center-of-gravity movement control means Device 16 ... Variable pitch propeller 19 ... Heavy object such as battery 27 ... Counter-rotating propeller 38 ... Back flow of propeller

Claims (8)

An airplane capable of vertical landing or sliding landing with three rudder elevators, ladders, and ailerons in the wake of the propeller propulsion unit;
Rolling on the ground that surrounds and covers the airplane, is provided integrally with the airplane, and has at least a front part and a rear part in the flight direction having an area corresponding to the diameter of the propeller propulsion device. A spherical shell whose outer shape can be spherical, and
A spherical airplane characterized by comprising: The center of gravity of the spherical airplane is set on the side opposite to the propeller propulsion unit with respect to the center of the spherical shell , so that the propeller propulsion unit is configured to face upward when placed on the ground. The spherical airplane according to claim 1. A tail sitter machine having three rudder of an airframe, a propeller propulsion device provided in front of the airframe, and an elevator, a ladder, and an aileron provided in the airframe and disposed in the wake of the propeller propulsion device, The tail sitter aircraft , which is provided with an elevator and a ladder in front of the center of gravity of the tail sitter aircraft among the three rudder , and is capable of vertical take-off and landing and normal cruise flight,
The tail sitter aircraft is surrounded and covered, and is provided integrally with the aircraft, and has at least a front portion and a rear portion in the flight direction having an area corresponding to the diameter of the propeller propulsion device. A spherical shell whose outer shape capable of rolling is spherical,
A spherical airplane characterized by comprising: The center of gravity of the spherical airplane is set on the opposite side of the propeller propulsion unit with respect to the center of the spherical shell so that the propeller propulsion unit faces upward when placed on the ground .
Four front wings that connect the airframe and the spherical shell body are provided at intervals of 90 ° in front of the center of gravity of the entire spherical airplane, and the elevator and the ladder are provided at a distance of 90 ° from each other. Provided on the tail,
Four main wings connecting the fuselage and the spherical shell body are provided at 90 ° intervals behind the center of gravity of the entire spherical airplane, and the aileron is provided on the main wing. 4. A spherical airplane according to claim 3, wherein In order to obtain a center of gravity position suitable for any operation mode selected from a group of operation modes including ground rotation movement, vertical takeoff, hovering, and normal cruise flight, a heavy object mounted on the aircraft is moved within the aircraft 5. A spherical airplane according to claim 4, further comprising a center-of-gravity movement control means. The direction of thrust can be reversed by reversing the propeller pitch angle in the propeller propulsion device or by reversing the propeller rotation direction in order to escape from the state of being fitted in the recess during rotational movement on the ground. The spherical airplane according to claim 4, which is configured as follows. 5. A spherical airplane according to claim 4, wherein said aileron of said main wing is operated to generate a rotational moment in order to escape from a state of being fitted in a recess during rotational movement of the ground. . The spherical airplane according to any one of claims 1 to 7, wherein the spherical airplane is a drone capable of remote control and autonomous action.