JP6524116B2 - Flight robot equipment - Google Patents

Description

  The present invention relates to a flight robot apparatus, and further, while being able to continuously fly while feeding power from the outside by wire, it is possible to perform various operations such as pesticide dispersion, aerial photography and radiation measurement from the air unmannedly , And an industrial flight robot apparatus.

  Conventionally, as a flying robot for performing a predetermined work in the air, a form such as an electric helicopter or an electric airplane is known, but any of these is an electric motor and a battery for driving it (for example, lithium ion -It is equipped with a battery, and it is comprised so that it may work, carrying out an autonomous flight within the capacity range of the battery. For this reason, the flight time is generally limited to a short time of about 15 to 30 minutes.

  In addition, as the payload (weight of the load) of the flying robot increases according to work, the power consumption required for flight further increases, which further limits flight time. For example, if the payload is 15 kg or more, the flight time will be 5 minutes or less, making it practically unusable for work. On the other hand, if it is attempted to extend the flight time while loading the same payload, the weight of the battery mounted on the flying robot will increase, so the substantial payload will decrease by the increased weight. Therefore, in order to put the unmanned operation in the air by this type of flight robot into practical use, it is necessary to solve such a problem (trade-off) by some measures.

As a prior art related to the present invention, there is disclosed, for example, a toy airplane which can be fly by remote control in an enclosed area such as a room disclosed in Patent Document 1 (Japanese Patent Application Publication No. 11-509758). . The toy plane includes a model plane and a remote control device connected to the model plane via a flexible cable. The power supply to the electric motor on the model aircraft is performed through the cable from a power source (battery) built in the remote control device. The cable is connected near its center of gravity at the lower part of the model plane. The floating weight of the model aircraft is very small at 1.5 g / dm ² or less, and it is because it is a toy, not an industrial application, and the power supply is built in the remote control device. It is because it is not mounted. Furthermore, the model aircraft has a fixed elevator, whose raising and lowering is performed by changing the electrical energy supplied to the electric motor. The drive (i.e. adjustment of the altitude) of the rudder of the model aircraft is driven by changing the direct current (DC) voltage applied to the induction coil (abstract, claims 1-4 and correspondence of the detailed description of the invention) Location, see FIGS.

  As another prior art related to the present invention, there is a control mechanism of a remote control type helicopter disclosed in Patent Document 2 (Japanese Patent Application Laid-Open No. 2-299998). The control mechanism of this remote-control helicopter is a control mechanism of a remote-control helicopter which is controlled by receiving a signal from a transmitter to a receiver mounted on the airframe, and a tension rope attached to the airframe of the helicopter. The reel A, and the reel B for winding the signal transmission cable connecting the transmitter and the receiver. In addition, the signal transmission cable is configured to be guided by the tension rope to be fed out and wound up. According to this steering mechanism, it is possible to minimize the lowering of the payload of the helicopter to enable wired control, and to facilitate and actualize the steering operation of the helicopter (claims and detailed description of the invention) Corresponding part of the description, see FIGS. 1 to 3).

  As another prior art relevant to this invention, there exists a floating body disclosed by patent document 3 (Unexamined-Japanese-Patent No. 2009-178592). The floating body is provided between the body, a pair of main wings attached on both sides of the body, and a winding shaft extending between the pair of main wings and extending in the flapping direction of the main wings, and the pair of main wings A main wing and one end are respectively connected, and the other end is provided with a pair of yarns respectively connected to the winding shaft, and a main wing power device attached to the body and rotating a shaft for winding the yarn. This floating body is a self-excited fluttering motion, is a toy that floats in a room or outdoors, and means an object that floats and floats in the air, and does not include helicopters and planes. In addition, this floating body flies at a low speed equal to or less than the walking speed (3 m / sec) against the gravity, and the wing load on the entire weight is set to 3 Newtons / square meter or less. The main wing power unit preferably includes a direct current motor and an alternating current power supply that supplies alternating current to the direct current motor. In this case, the main wing can be smoothly flapped by supplying an alternating current signal with a low frequency at which the direct current motor operates to the direct current motor. (Summary, see paragraphs 1, 8, 0001, 0006 to 0007, 0012 to 0014, 0049 to 0050, 0067 to 0071, FIGS. 1 to 5, 21 to 22, and 33).

  As another prior art related to the present invention, there is an autonomous control device of a small unmanned helicopter disclosed in Patent Document 4 (Japanese Patent Laid-Open No. 2004-256020). This autonomous control system is a small unmanned helicopter detected by the sensor that detects the current position, attitude angle, ground altitude, and absolute heading of the small unmanned helicopter, and the target position or speed set from the ground station and the sensor From the current position and attitude angle of the helicopter to the main operation unit that calculates the optimal control command value for driving the servomotors that drive the five rudder of the helicopter, collection of data from sensors, and the main operation unit And a sub-operation unit for converting the operation result as a numerical value output by the control unit into a pulse signal that can be received by the servomotor. According to this autonomous control device, it is possible to autonomously control a small unmanned helicopter of the size and weight of a radio control helicopter for a hobby toward the target value of the position and speed to be set (Summary, Claim 1, Paragraph 005) ~ 0061, see Figure 1).

Japanese Patent Application Publication No. 11-509758 Unexamined-Japanese-Patent No. 2-299998 JP, 2009-178592, A JP 2004-256020 A

  The problems with the conventional flight robot mentioned above, namely, when trying to increase the payload (weight of the load), the power consumption increases and the flight time is further constrained, and conversely, when trying to extend the flight time, The drawback is that the weight of the battery to be mounted increases and the payload decreases further, as in the case of the “toy plane” of Patent Document 1 mentioned above, the power supply to the electric motor on the flying robot It can be eliminated if done via the flexible cable from the battery). However, in this case, the transmission output is less than 100 W, which is insufficient for industrial use. In addition, since the total length of the cable is considerably long, such as several meters to several tens of meters, another problem arises if the electric motor on the flying robot is supplied with power via such a long cable.

  The first problem is that a voltage drop is caused by supplying power of several KW or more via a long cable, so the voltage applied to the electric motor is considerably lower than the power supply voltage (supply voltage) on the ground side. It is Moreover, the amount of voltage drop changes with the change of the cable length. When such an unstable voltage is applied to the electric motor, the flight status of the flying robot may be greatly affected.

  The second problem is that it is necessary to adjust the output of the electric motor according to the variation of the load by the cable. During the flight, a part of the cable hangs from the flight robot, so a part of the weight of the cable (load due to the cable weight) acts on the flight robot. Moreover, the load fluctuates with changes in the altitude and horizontal position of the flying robot. Furthermore, when a pulling force acts on the cable due to strong wind or gust, the load temporarily increases. For this reason, it is necessary to adjust the output of the electric motor in real time according to the fluctuation of the load due to the cable weight.

  The third problem is that if the cable hanging down from the flight robot is long, the cable may be entangled by a sudden change in the altitude or horizontal position of the flight robot or a gust of wind, and the flight robot's subsequent flight may be interrupted. It is a certain thing. Therefore, measures must be taken against such cable entanglement.

  However, Patent Document 1 mentioned above only discloses a configuration for supplying power to an electric motor on a model airplane via a cable, and the first to third problems described above are not recognized, There is no disclosure or suggestion on how to deal with

  The above-mentioned "steering mechanism of a remote control type helicopter" of Patent Document 2 mentioned above discloses one proposal of a measure for avoiding the above-mentioned third problem of cable entanglement. However, in this steering mechanism, the control signal is transmitted by the signal transmission cable connecting the transmitter and the receiver while the flight rope of the helicopter is limited by the tension rope, so the reel A and the reel B are required. In addition, since it is necessary to control the delivery and winding of the signal transmission cable by the reel B in accordance with the delivery and winding of the tension rope by the reel A, the configuration and control of the cable anti-tangle mechanism become complicated. There is a drawback of that. Patent Document 2 does not recognize the first and second problems described above, and does not disclose or suggest any measures for dealing with the problems.

  The "floating body" of Patent Document 3 described above includes an example in which a main wing power unit provided with a direct current motor and an alternating current power supply for supplying alternating current to the direct current motor is used. By supplying an alternating current signal with a low operating frequency to the direct current motor, the main wing smoothly flaps. The wing flapping is necessary because the floating body is a toy that floats in a room or outdoors by causing a pair of wing wings to perform a self-excited flapping motion. Therefore, it is clear that it can not be used as a measure to avoid the first to third problems described above. In Patent Document 3, the first to third problems described above are not recognized in the first place.

  Although the control device of the small unmanned helicopter described in Patent Document 4 realizes the autonomous control of the small unmanned helicopter, the control of the small unmanned helicopter is limited to that, and the first to third problems described above are not recognized. Nothing has been disclosed or suggested.

  The present invention has been made in consideration of the above-mentioned circumstances, and its main object is to stabilize the flight robot without limiting the flight time or payload due to the capacity of the battery mounted on the flight robot. To provide an industrial flight robot apparatus capable of causing the flight robot to continuously fly and performing various operations such as spraying of pesticides, aerial photography, radiation measurement, etc. to the flight robot from the air .

  Another object of the present invention is to provide an industrial flight robot apparatus capable of suppressing voltage drop due to a cable connecting a flight robot and a ground side power supply and load fluctuation of the flight robot with a simple configuration. It is to do.

  Still another object of the present invention is that the cable connecting the flight robot and the ground side power supply device may be entangled by sudden changes in the altitude or horizontal position of the flight robot or wind, etc., and the flight robot may be impeded in flight. It is an object of the present invention to provide an industrial flight robot device that can be solved with a simple configuration.

  Further objects of the present invention which are not specified herein will be apparent from the following description and the accompanying drawings.

(1) The flight robot device of the present invention is
With a flying robot,
A ground side power supply unit for supplying power to the flight robot via a flexible power transmission cable;
And a cable winder for winding the surplus of the transmission cable on the ground side,
The flight robot is
Promotion means,
An electric motor for driving the propulsion means;
A first control unit configured to control an output of the electric motor according to a load of the power transmission cable acting on the flight robot;
And a high voltage / low voltage conversion unit which converts a high voltage supplied from the ground side power supply device through the power transmission cable into a low voltage and supplies the low voltage to the electric motor.
The ground side power supply device
A high voltage power transmission unit for transmitting the high voltage to the flight robot via the power transmission cable;
And a second control unit that controls the value of the high voltage transmitted by the high-voltage power transmission unit according to the distance between the flight robot and the ground-side power supply device.
The feeding and winding of the power transmission cable by the cable winder may be automatically adjusted in accordance with the distance between the flight robot and the ground side power supply device.

  In the flight robot device of the present invention, as described above, the high voltage is supplied from the ground side power supply device to the flight robot via the flexible power transmission cable. Further, the second control unit of the ground side power supply device controls the value of the high voltage by the high voltage power transmission unit according to the distance between the flight robot and the ground side power supply device, and the cable The take-up machine automatically adjusts the length of the power transmission cable according to the distance between the flight robot and the ground side power supply device. Furthermore, the output of the electric motor is controlled by the first control unit of the flight robot according to the load of the power transmission cable acting on the flight robot. For this reason, the influence of the voltage drop due to the power transmission cable and the weight and entanglement of the power transmission cable, which the flight robot receives during flight, is reliably suppressed. Therefore, the flying robot can be stably made to fly continuously without limitation of flight time or payload due to the capacity of the battery mounted on the flying robot, and pesticide spraying from the air to the flying robot is possible. , Various operations such as aerial imaging and radiation measurement can be performed.

  Further, the first control unit controls the output of the electric motor according to the load of the power transmission cable acting on the flight robot, and at the same time, the second control unit controls the flight robot and the ground power supply. The value of the high voltage transmitted by the high-voltage power transmission unit is controlled according to the distance between the devices, and the cable winder further controls the distance between the flight robot and the ground-side power supply device. The length of the power transmission cable is automatically adjusted. For this reason, it is possible to suppress the voltage drop due to the power transmission cable connecting the flight robot and the ground side power supply device and the load fluctuation of the flight robot with a simple configuration.

  Furthermore, the delivery and take-up of the power transmission cable by the cable winder is automatically adjusted according to the distance between the flight robot and the ground power supply device, so that the altitude or horizontal position of the flight robot The power transmission cable connecting the flight robot and the ground side power supply device may be entangled by a sudden change in the air flow or the like, and the risk of causing trouble in the flight of the flight robot can be eliminated with a simple configuration. .

  As described above, according to the present invention, it is possible to realize a flight robot apparatus that can be put to practical use immediately for industrial use.

  (2) In a preferable example of the flight robot device according to the present invention, the high voltage transmitted by the high voltage power transmission unit of the ground side power supply device is a DC voltage. In this example, there is an advantage that the voltage drop that occurs when the high voltage is transmitted via the power transmission cable is suppressed as compared to the case of using an alternating voltage. There is also an advantage that the voltage circuit of DC voltage can be made smaller than the voltage conversion circuit of AC voltage.

  (3) In another preferred embodiment of the flight robot apparatus according to the present invention, the high-voltage / low-voltage converter of the flight robot is a DC-DC converter with variable output. In this example, since the output of the DC-DC converter is variable, an advantage is obtained that the circuit configuration on the flight robot is simplified.

  (4) In still another preferable example of the flight robot device according to the present invention, the high voltage power transmission unit of the ground side power supply device is an AC-DC converter, and the high voltage / low voltage converter of the flight robot is a DC-DC converter It is assumed. In this example, an advantage is obtained that the high voltage transmitted by the high-voltage power transmission unit of the ground-side power supply can be generated using a commercial power supply.

  (5) In still another preferred embodiment of the flight robot apparatus according to the present invention, the flight robot comprises a position detection sensor for detecting the position of the flight robot in flight, and an output signal of the position detection sensor wirelessly from the ground. And a second control unit of the ground-side power supply device, the value of the high voltage transmitted by the high-voltage power transmission unit and the power transmission cable by the cable winder. The control of delivery and winding is configured to receive the output signal. In this example, the position of the flight robot in flight can be detected simply and reliably, and the second control unit can be accurately controlled based on the detection result.

  (6) In still another preferable example of the flight robot device according to the present invention, further comprising a communication cable connected to the flight robot (used for transmission and reception of control signals and data communication, for example, composed of an optical fiber) The communication cable is integrated (built-in or attached) to the power transmission cable. In this example, there is an advantage that communication with the flying robot in flight can be reliably performed while eliminating the adverse effect of the installation of the communication cable.

  (7) In still another preferable example of the flight robot device according to the present invention, the cable winding machine includes a cable winding motor for feeding and winding the power transmission cable, and the cable winding motor The delivery and winding of the power transmission cable according to the present invention are controlled by the second control unit according to the distance between the flight robot and the ground side power supply device. In this example, although the structure of the cable winder is slightly complicated, the control of feeding and winding of the power transmission cable according to the distance between the flight robot and the ground side power supply system is more accurately performed. It has the advantage of being

  (8) In still another preferable example of the flight robot device of the present invention, the cable winder includes a biasing member (for example, a spring) for biasing the power transmission cable in its winding direction, and the power transmission The delivery of the cable is performed by pulling out the power transmission cable against the winding force of the biasing member, and the winding of the power transmission cable is configured to be performed by the winding force of the biasing member. Ru. In this example, there is an advantage that the control of sending and winding of the power transmission cable according to the distance between the flight robot and the ground side power supply device is realized with a simple configuration.

  (9) In still another preferable example of the flight robot device of the present invention, a PID control method is used in at least one of the first control unit of the flight robot and the second control unit of the ground-side power supply device. . In this example, there is an advantage that the implementation of the first control unit or the second control unit is easy. However, it goes without saying that a method other than the PID control method may be used.

  (10) In still another preferred embodiment of the flight robot device according to the present invention, the device further comprises an anti-entanglement member installed on the ground side for preventing the entanglement of the cable. In this example, there is an advantage that the entanglement of the cable can be prevented more easily with a simple configuration.

  (11) In still another preferred embodiment of the flight robot apparatus of the present invention, the flight robot has a configuration of an electric helicopter. This example has the advantage of taking full advantage of the advantages of the present invention.

  According to the flying robot device of the present invention, (a) the flying robot can be stably made to fly continuously without limitation of the flight time or payload due to the capacity of the battery mounted on the flying robot. The flight robot can perform various operations such as pesticide spraying, aerial photography, radiation measurement, etc. from the air. (B) Voltage drop due to the cable connecting the flight robot and the ground side power supply and the load of the flight robot Fluctuations can be suppressed with a simple configuration. (C) A sudden change in the altitude or horizontal position of the flight robot or wind may cause the cable connecting the flight robot and the ground-side power supply to be entangled, and the flight robot Can be eliminated with a simple configuration, and (d) it can be put to practical use immediately for industrial use, It says the effect can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS It is a conceptual diagram which shows the whole structure of the flight robot apparatus which concerns on 1st Embodiment of this invention. It is a perspective view which shows the whole structure of the flight robot currently used for the flight robot apparatus of FIG. It is a functional block diagram which shows the internal structure of the robot side control apparatus and ground side power supply device which are used for the flight robot apparatus of FIG. It is a flowchart which shows the operation | movement in flight of the robot side control apparatus used for the flight robot apparatus of FIG. It is a flowchart which shows the operation | movement in flight of the ground side power supply device used for the flight robot apparatus of FIG. (A) is a front view which shows the detailed structure of the cable winder used for the flight robot apparatus of FIG. 1, (b) is the side view. It is a functional block diagram which shows the internal structure of the robot side control apparatus and ground side power supply device which are used for the flight robot apparatus based on 2nd Embodiment of this invention. (A) is a front view which shows the detailed structure of the cable winder used for the flight robot apparatus of FIG. 7, (b) is the side view.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

First Embodiment
The overall configuration of a flight robot 1 according to a first embodiment of the present invention is shown in FIG. As apparent from the figure, the flying robot device 1 includes a flying robot 10, a ground side power supply device 50 for supplying power to the flying robot 10 via a flexible power transmission cable 30, and an altitude and a position of the flying robot 10. A cable winding machine 40 for pulling out and winding the power transmission cable 30 according to the change of the power transmission cable 30, and a entanglement preventing member 45 for preventing the power transmission cable 30 from being entangled during flight and causing troubles in the flight of the flying robot 10. And have. The ground side power supply device 50, the cable winder 40, and the entanglement preventing member 45 are provided on the ground. The flying robot 10 can fly autonomously by the power supplied from the ground side power supply device 50 via the power transmission cable 30.

  The flight robot 10 has a configuration of an electric multi-rotor helicopter having six rotors 13 individually driven by an electric motor 14 as shown in detail in FIG. More specifically, the flying robot 10 is provided at substantially equal intervals on the substantially cylindrical main body 11 and the substantially cylindrical outer peripheral portion of the main body 11, and six of the flying robots 10 extend radially from the outer peripheral portion. The arm 12 is provided with a total of six rotors 13 rotatably installed at the tip of the arms 12 and a total of six electric motors 14 for individually driving the rotors 13. All the rotors 13 are directly fixed to the rotary shaft of the corresponding electric motor 14, and are rotationally driven by the rotation of the corresponding electric motor 14. All the rotors 13 are arranged in the same plane.

  In the present specification, when the six arms 12 are distinguished, reference numerals 12a, 12b, 12c, 12d, 12e and 12f are used as shown in FIG. Similarly, when the six rotors 13 are distinguished, the numerals 13a, 13b, 13c, 13d, 13e and 13f are used, and when the six electric motors 14 are distinguished, the numerals 14a, 14b, 14c, 14d are distinguished. , 14e and 14f.

  The equipment (working equipment) required for various operations such as agrochemical spraying, aerial photography, radiation measurement, etc. is mounted on the main body 11 of the flight robot 10 using appropriate members. The working equipment is sent to a desired position and altitude by flying the flying robot 10, and performs desired work while hovering at that location or flying at a desired altitude.

  The power needed to fly the flying robot 10, in other words, the power needed to rotate the six electric motors 14 that drive the entire rotor 13, is not from the battery mounted on the flying robot 10, but on the ground side It is continuously supplied from the power supply device 50 via the power transmission cable 30. Therefore, it is possible to omit the mounting of the battery on the flight robot 10. However, in preparation for an emergency such as breakdown of the ground side power supply device 50, disconnection of the power transmission cable 30, or breakdown of the power supply due to breakdown of equipment on the flying robot 10, the main body 11 is provided with an emergency battery (not shown). It is preferable to mount it. This is because a crash of the flying robot 10 can be prevented.

  Inside the main body 11 of the flying robot 10, a robot-side control device 20 having an internal configuration as shown in FIG. 3 is mounted. The end of the power transmission cable 30 is mechanically and electrically connected to the robot-side controller 20. The proximal end of the cable 30 is mechanically and electrically connected to the ground side power supply 50. The proximal end portion of the cable 30 is wound around the drum 42 (see FIG. 6) of the cable winder 40 provided in the vicinity of the ground-side power supply 50 in the vicinity of the ground-side power supply 50 a plurality of times. , Ground side power supply device 50 is connected. Further, the proximal end of the cable 30 is inserted into and engaged with the cable insertion ring 45 a of the anti-tangle member 45 a little before the cable winding machine 40 and wound around the drum 42 at the rear thereof. The drawing length of the cable 30 from the drum 42 is adjusted by rotationally driving the drum 42 by the cable winding motor 41 according to the distance to the flight robot 10.

  Inside the main body 11, a robot side autonomous control device (not shown) for controlling an autonomous flight of the flying robot 10 is mounted. As a robot side autonomous control device, what is indicated by patent documents 4 mentioned above can be used, for example.

  Specifically, the robot-side autonomous control device comprises (a) a sensor for detecting the current position and attitude angle of the flight robot 10, and (b) six motors for driving the six electric motors 14 of the flight robot 10 respectively. (H) The current flight state of the flying robot 10 obtained from the sensor and the target value set from the ground side autonomous control device (described later) using the predetermined autonomous control algorithm. (D) a wireless modem for communicating with the ground-side autonomous control device, and (e) a manual control from a manual steering transmitter. And a manual steering receiver for receiving the steering signal. The CPU monitors the sensor information obtained from the sensor with the ground-side autonomous control device in addition to the main calculation unit performing the calculation as described above, and inputs a target value set by the ground-side autonomous control device. It also includes a sub operation unit that performs input / output control of signals with the wireless modem in order to The sensors include a GPS sensor for detecting the position of the flying robot 10, a three-axis attitude sensor for detecting the attitude of the flying robot 10 with three axes, a ground altimeter for measuring the altitude of the flying robot 10, and A magnetic compass is used to measure the azimuth. However, the configuration and function of the robot side autonomous control device are not limited to this.

  The robot-side autonomous control device receives four maneuvering command values such as power, yaw, roll, and pitch from the ground-side autonomous control device, and individually controls six motor drivers based on the four maneuvering command values. Control the number of rotations of 14a, 14b, 14c, 14d, 14e and 14f. Thus, the flight state of the flying robot 10 can be arbitrarily controlled as follows.

  That is, each of the motor drivers causes the electric motors 14a, 14c and 14e to rotate clockwise, and the remaining electric motors 14b, 14d and 14f to rotate counterclockwise. As for the power, the flying robot 10 rises in the direction perpendicular to itself if the number of rotations of the six electric motors 14a, 14b, 14c, 14d, 14e and 14f is simultaneously increased, and if it simultaneously decreases it is perpendicular to itself. Descend in the direction. The roll angle changes as the rotational speeds of the electric motors 14b and 14c and the rotational speeds of the electric motors 14e and 14f are different. The pitch angle changes when the rotational speeds of the electric motors 14a, 14b and 14f are different from the rotational speeds of the electric motors 14c, 14d and 14e in the same rotational direction. The yaw angle changes when the rotational speeds of the electric motors 14a, 14c and 14e and the rotational speeds of the electric motors 14b, 14d and 14f are different. In this manner, an arbitrary flight state can be obtained only by controlling the rotational speeds of the six electric motors 14a, 14b, 14c, 14d, 14e and 14f.

  On the ground side, a ground side autonomous control device (not shown) paired with the robot side autonomous control device is prepared. The ground-side autonomous control device monitors the state of autonomous control of the flying robot 10, inputs a target value, and the like. The wireless modem performs communication with the wireless modem of the robot-side autonomous control device, and the robot-side autonomous control A manual steering transmitter for transmitting a manual steering signal to a manual steering receiver of the apparatus. When the robot side autonomous control device breaks down due to some trouble and the autonomous control can not be performed, it is automatically switched to the manual steering mode, and thereafter, it can be steered by the manual steering transmitter. Therefore, it is possible to prevent the crash of the flying robot 10 in advance. However, the configuration and function of the ground-side autonomous control device are not limited to this.

  Next, the cable winder 40 will be described.

  The cable winding machine 40 is provided on the ground side adjacent to the ground side power supply device 50, and has a function of winding the surplus portion of the power transmission cable 30 to prevent the cable 30 from being entangled, and the shortage of the cable 30. It has a function of preventing the application of an unnecessary load on the flying robot 10 by pulling out the cable 30. The delivery and winding operation of the cable 30 by the cable winding machine 40 is controlled by the ground side power supply device 50.

  The cable winding machine 40 has a configuration as shown in FIG. 6 and includes a cable winding motor 41, a drum 42 around which the cable 30 is wound, a stand 43 for supporting the cable winding motor 41, and a stand A cable winding motor 41 and a base 44 on which the drum 42 is installed are provided using the reference numeral 43. The drum 42 is fixed to the rotation shaft 41 a of the cable winding motor 41 and rotates with the rotation of the motor 41. The cable 30 is wound around the drum 42 according to the number of rotations by the forward rotation of the motor 41, and is sent out from the drum 42 according to the number of rotations by the reverse rotation of the motor 41.

  The cable winding machine 40 is provided with an anti-entanglement member 45 for preventing the entanglement of the cable 30. The anti-tangle member 45 is made of a rigid material (for example, a metal or synthetic resin rod) bent in an L shape, and its base end is fixed to the base 44 of the cable winder 40. A cable insertion ring 45 a is formed at the tip of the anti-tangle member 45. The cable insertion ring 45 a is located higher than the drum 42 and is adapted to slidably hold the cable 30. This is to ensure that the cable 30 is always wound around the drum 42 in substantially the same state or pulled out from the drum 42 so that the winding and drawing operations of the cable 30 do not occur. Therefore, the entanglement preventing member 45 can be omitted as long as the winding and drawing operations of the cable 30 are not disturbed by other measures.

  The portion on the proximal end side of the cable 30 is wound around the drum 42 a plurality of times with a slight slack after passing through the cable insertion ring 45 a at the tip of the anti-tangle member 45. The proximal end of the cable 30 extends to the ground-side power supply 50 and is mechanically and electrically connected to the ground-side power supply 50. A portion of the cable 30 distal to the portion wound around the drum 42 extends toward the flight robot 10, and its tip is mechanically and electrically connected to the flight robot 10. The drawing length of the cable 30 from the drum 42 is adjusted according to the distance to the flying robot 10 by rotationally driving the drum 42 by the cable winding motor 41 during the flight of the flying robot 10. The rotation of the cable winding motor 41 is controlled by a ground side power supply device 50 described later.

  Next, the ground side power supply device 50 will be described.

The ground side power supply device 50 has a function of generating a high voltage V _H of direct current (DC) and transmitting power to the flying robot 10 through the power transmission cable 30. Also, depending on the distance between the flying robots 10 and ground-side power supply 50 (voltage drop), while adjusting the value of the transmission to DC high voltage V _H, to adjust the feeding amount and winding amount of the cable 30 functions I also have

  The ground side power supply device 50 has a configuration as shown in FIG. 3 and includes an output control unit 51, a control calculation unit 52, a transmission / reception unit 53, a power generation unit 54, a high voltage power transmission unit 55, and an antenna 56. .

  The transmitting / receiving unit 53 receives the position / altitude signal wirelessly transmitted from the transmitting / receiving unit 25 of the robot controller 20 via the antenna 56. The position / altitude signal thus received is sent to the control operation unit 52.

  The control operation unit 52 performs a predetermined operation according to the PID control method based on the position / altitude signal, and calculates the required length of the power transmission cable 30 at the current position and the current altitude of the flying robot 10. Then, from the comparison with the current length of the cable 30, the short or excess of the length of the cable 30 is calculated. The shortage / excess information on the length of the cable 30 calculated in this manner is sent to the output control unit 51 by the control signal. Needless to say, the present invention is not limited to the PID control method, and other control methods can also be used.

With PID control system,
Operation amount = P part (proportional term) + I part (integral term) + D part (differential term)
As a method of determining the amount of operation. here,
P part (proportional term) = weight change rate of flight robot (kg / s)? Rise and fall time of flight robot (s)? Transmission cable unit weight (kg / m)? Power factor Kp
I part (integral term) = integrated value of weight change rate (kg / s) of flying robot? Output coefficient Ki
D part (differential term) = derivative value of weight change rate (kg / s) of flying robot? Output coefficient Kd
I assume.

  The output control unit 51 receives the shortage / excess information on the length of the power transmission cable 30 by the control signal sent from the control calculation unit 52, and based on that, drives the cable winding electric motor 41, and the drum 42 is rotated forward (in the direction of pulling out the cable 30) or backward (in the direction of winding the cable 30). In this way, the current position relative to the length of the cable 30 at the current position of the flight robot 10 and the immediately preceding altitude and the short or surplus of the length of the cable 30 at the current altitude are adjusted.

The power generation unit 54 increases or decreases the value of the generated AC high voltage V _H based on the shortage / excess information on the length of the cable 30 sent from the output control unit 51. Then, the DC high voltage V _H thus adjusted is supplied to the high voltage power transmission unit 55. In this way, the increase or decrease in the voltage drop due to the shortage or surplus of the length of the cable 30 is dealt with.

  Here, as the power generation unit 54, a commercial power supply that generates a commercial voltage of alternating current (AC) 100 V is used in order to simplify the configuration. However, considering that there are places where commercial power can not be used, a known generator that generates 100 V AC (or other voltages) may be used.

The high voltage power transmission unit 55 boosts the source voltage (for example, AC 100 to 200 V) supplied from the power generation unit 54 and converts it into DC to generate a DC high voltage V _H (for example, 250 to 1000 V). Then, the DC high voltage V _H thus generated is transmitted to the robot-side control device 20 via the power transmission cable 30.

Here, the high voltage power transmission unit 55 is an AC-DC converter. Therefore, it is possible to generate a DC high voltage V _H of high voltage transmission unit 55 power from the commercial power source. At present, it is preferable to use some AC-DC converters, since some of them can generate a DC voltage (for example, 380 V) exceeding 300 V directly from a commercial power supply voltage (AC 100 to 200 V).

In the ground side power supply device 50, the DC high voltage V _H (for example, 250 to 1000 V) generated by the high voltage power transmission unit 55 from the commercial power supply voltage (AC 100 to 200 V) is transmitted to the robot side control device 20 via the power transmission cable 30. Therefore, transmission loss can be significantly suppressed as compared to transmitting AC voltage. In particular, by setting the DC high voltage V _H to a value exceeding 300 V, it is possible to minimize the transmission loss. In recent years, since DC 380 V has become standard as high voltage power supply for servers, it is also possible to use a known power supply device used for high voltage power supply for servers as the high voltage power transmission unit 55 as it is.

  When the length of the power transmission cable 30 changes due to the movement of the flying robot 10, the voltage drop value due to the cable 30 fluctuates in proportion to that, so the high voltage / low voltage conversion unit 21 of the robot controller 20 passes through the cable 30. The voltage value (the input voltage value of the high / low voltage conversion unit 21) at the time of reaching also fluctuates according to the length of the cable 30. Then, in order to eliminate this, in the ground side power supply device 50, after adjusting the value of the voltage to transmit, it is made to transmit. As a result, even if the length of the cable 30 changes, the voltage value when reaching the high-pressure / low-pressure conversion unit 21 is kept constant.

  Next, the robot-side control device 20 mounted on the flying robot 10 will be described.

The robot-side control device 20 operates by the DC high voltage V _H supplied to the flight robot 10, and individually outputs the outputs of the six electric motors 14 in accordance with the load of the power transmission cable 30 acting on the flight robot 10. It has a function of controlling and suppressing (eliminating) the influence of the load of the cable 30 on flight.

  The robot-side control device 20 has a configuration as shown in FIG. 3 and includes a high voltage / low voltage conversion unit 21, an output control unit 22, a control calculation unit 23, a position detection unit 24, a transmission / reception unit 25, and an antenna 26. Have.

The high voltage / low voltage conversion unit 21 is mechanically and electrically connected to the ground side power supply device 50 via the power transmission cable 30, and DC high voltage V _H (high voltage / low voltage conversion) supplied from the ground side power supply device 50 For example, DC 250 to 300 V) is converted to DC low voltage V _L (for example, DC 40 to 70 V) by the input voltage of the unit 21. The DC low voltage V _L thus generated is supplied to the output control unit 22, the control operation unit 23, the position detection unit 24, the transmission / reception unit 25 and the antenna 26, and is used as a drive voltage of these circuits. The high-voltage / low-voltage converter 21 itself also operates using the DC low voltage V _L thus generated as a driving voltage. Similarly, the robot-side autonomous control device also receives the supply of the DC low voltage _VL and operates as a drive voltage. Therefore, even without the battery being mounted on the flying robot 10, the flying robot 10 can fly continuously.

The high-voltage / low-voltage converter 21 preferably includes a DC-DC converter whose output is variable voltage control. In this case, since the rotor drive motor 14 is a DC motor, the DC low voltage _VL output from the DC-DC converter can be directly supplied to the rotor drive motor 14, and the circuit on the flight robot 10 There is an advantage that the configuration is simplified.

  The position detection unit 24 includes a position / altitude sensor (not shown) mounted on the flight robot 10, and detects the current position and the current altitude of the flight robot 10. As the position / altitude sensor, for example, a GPS sensor for detecting the position of the flying robot 10 mounted on the flying robot 10 for autonomous flight and a ground altimeter for measuring the altitude of the flying robot 10 can be used. . The position / altitude signal generated by the position detection unit 24 is output to the transmission / reception unit 25 and the control calculation unit 23.

The transmission / reception unit 25 wirelessly transmits the position / altitude signal sent from the position detection unit 24 to the ground side power supply device 50 via the antenna 26. The position / altitude signal is used in the ground side power supply device 50 to control the cable winding motor 41 of the cable winder 40 and of the power transmission cable 30 corresponding to the current position and the current altitude of the flight robot 10. It is also used to increase or decrease the value of the DC high voltage V _H transmitted from the ground side power supply device 50 according to the length.

  The control calculation unit 23 receives a position / altitude signal sent from the position detection unit 24 according to the same PID control method as the control calculation unit 52 of the ground side power supply device 50, and performs a predetermined calculation to The length of the power transmission cable 30 corresponding to the position and the current altitude is calculated, and the unit weight of the cable 30 is added thereto to calculate the weight of the cable 30. Further, the amount of change (rate of change) of the weight of the cable 30 per unit time is also calculated. The motor control signal thus calculated is sent to the output control unit 22.

  The output control unit 22 increases or decreases the driving force of the rotor driving electric motor 14 that needs correction based on the control signal sent from the control calculation unit 23. In this way, the influence of the weight of the transmission cable 30 on the current position and the current altitude of the flying robot 10 is corrected, and ascend and descend and flying back and forth and to the left and right are possible as in the case where the cable 30 is not connected. It becomes. For example, when working while hovering at a fixed position, the cable 30 may be pulled out of the predetermined position due to the lift of the flying robot 10 or the application of a pulling force by wind. However, in the present embodiment, since the robot side control device 20 immediately detects this and adjusts the driving force of the motor 14 which needs correction, the flying robot 10 can hold the home position.

  The output control unit 22 preferably uses, for example, pulse width modulation (PWM) or variable voltage control. This is because the rotor driving electric motor 14 is a DC motor. However, the present invention is not limited to these.

Assuming that the payload is 20 kg and the maximum peak power required by a total of 6 electric motors 14 is 6 kW, the DC high voltage _VH is set to 300 V, and the wire of the wire standard AWG 16 is used as the cable 30, Assuming that the total length of the power transmission cable 30 is 50 m, the DC current flowing through the cable 30 (the output current of the high / low voltage converter 21) is 20 A, so the voltage drop due to power transmission is 10 V. In other words, (the voltage value at the receiving end) value of the DC high voltage V _H of the high-pressure / low-pressure converter 21 of the robot-side controller 20 receives is the kept 290 V. If a voltage drop due to power transmission can be permitted even if a little more, it is possible to use a thinner wire than the wire of wire standard AWG 16 as the cable 30, so there is an advantage that the cost and unit weight of the cable 30 can be further reduced.

Further, if the output voltage of high voltage / low voltage converter 21 is controlled so as to compensate the voltage drop due to the power transmission via power transmission cable 30, that is, the output current of high voltage / low voltage converter 21 (DC current flowing through cable 30) And the voltage drop value expressed by the product of the electrical resistance value per unit length of the cable 30 is always added to the input voltage (DC high voltage V _H ) of the high / low voltage converter 21. For example, voltage drop due to power transmission can be compensated, and the effect of voltage drop can be eliminated.

  Next, the operation of the flying robot 1 according to the first embodiment of the present invention having the above configuration will be described.

In order to take off the flying robot device 1 (working equipment necessary for work is already loaded) from the ground, first, power transmission of a predetermined DC high voltage V _H from the ground side power supply device 50 to the flying robot 10 is started. Next, a desired position and a desired height are specified from a manual operation device (not shown) to identify a location in the air where desired work is to be performed, and then the data is sent to the autonomous control device of the flying robot 10 Send. Then, after setting the flying robot 10 in the autonomous flight mode, the rotor driving motor 14 is driven to take off the flying robot 10. Then, the flying robot 10 flies independently, flies to a predetermined position, and hovers at that position. Thereafter, while continuing the hovering, the desired work is started.

During take-off and flying to a predetermined location, the power transmission cable 30 is gradually sent out from the cable winding machine 4 according to the flight of the flying robot 10, and according to the sending amount of the cable 30, the ground side power supply device The value of the DC high voltage V _H transmitted from 50 is increased. Even if the position or altitude of the flying robot 30 changes during operation, the change is immediately detected by the position detection unit 24 and the necessary driving force of the rotor drive motor 14 is adjusted, and the length of the cable 30 is also adjusted. Be done. When the desired work is completed, the manual steering device is operated again, and the flight robot 10 is landed at the place where the flight robot 10 departed, following the reverse stroke from takeoff. Thus, the work at high place using the flying robot 10 is completed.

In the flying robot apparatus 10, during hovering of the flying robot 10, the robot-side control device 20 operates as shown in FIG. That is, when the aircraft hovering at a certain position, that is, the flying robot apparatus 10 ascends or descends toward a predetermined position to be hovered next (step S1), the control operation unit 23 senses it and immediately performs the PID control method. The output of the rotor drive motor 14 is calculated according to the equation (step S2). Then, the number of rotations of the rotor drive motor 14 of the flying robot 10 is increased or decreased according to the output (step S3). Thereafter, while referring to the output of the position sensor (step S5), it is determined whether or not the designated height has been reached (step S4). If it has not reached the specified height, the process returns to step S2 and repeats steps S2 to S4. If the designated height is reached, the rotational speed of the rotor drive motor 14 is maintained, and the processing of FIG. 4 is ended (step S6).

In the meantime, the ground side power supply device 50 operates as shown in FIG. That is, when the aircraft, ie, the flying robot device 10 ascends or descends from the predetermined position to be hovered next (step S11), the control operation unit 52 senses it and immediately outputs the rotor drive motor 14 according to the PID control method. An operation is performed (step S12). Up to this point is the same as steps S1 and S2 in FIG. Then, according to the output, the rotation angle (phase) of the cable winding motor 41 of the cable winding machine 40 is increased or decreased (step S13). Thereafter, with reference to the output of the position sensor (step S15), it is determined whether or not the designated height has been reached (step S14). If the designated height has not yet been reached, the process returns to step S12, and steps S12 to S14 are repeated. If the designated height is reached, the rotation angle (phase) of the cable winding motor 41 is maintained, and the process of FIG. 5 is ended (step S16).

As described above, in the flight robot device 1 according to the first embodiment of the present invention, the DC high voltage _VH is supplied from the ground-side power supply device 50 to the flight robot 10 via the flexible power transmission cable 30. Further, according to the distance between the flying robot 10 and the ground side power supply device 50 by the control calculation unit 52 (second control unit) of the ground side power supply device 50, the value of the DC high voltage V _{H by} the high voltage power transmission unit 55 The feed amount and take-up amount of the cable 30 by the cable winder 40 are controlled. Further, the output of the electric motor 14 is controlled by the control calculation unit 23 (first control unit) of the flight robot 10 in accordance with the load of the cable 30 acting on the flight robot 10. For this reason, the influence of the voltage drop due to the cable 30 and the weight and entanglement of the cable 30, which the flight robot 10 receives during flight, is surely suppressed. Therefore, while the flight robot 10 can be stably and continuously fly without restriction of the flight time and the payload due to the capacity of the battery mounted on the flight robot 10, pesticide spraying from the air to the flight robot 10 is possible. , Various operations such as aerial imaging and radiation measurement can be performed.

Further, the output of the electric motor 14 is controlled according to the load of the power transmission cable 30 acting on the flight robot 10 by the control calculation unit 23 (first control unit) of the flight robot 10, and at the same time The value of the DC high voltage V _H transmitted by the high voltage power transmission unit 55 according to the distance between the flight robot 10 and the ground side power supply device 50 by the control calculation unit 52 (second control unit) and the cable winder 40 The feed amount and take-up amount of the cable 30 are controlled. Therefore, it is possible to suppress the voltage drop due to the cable 30 connecting the flight robot 10 and the ground side power supply device 50 and the load fluctuation of the flight robot 10 with a simple configuration.

  Further, according to the distance between the flight robot 10 and the ground side power supply device 50, the control calculation unit 52 (second control unit) of the ground side power supply device 50, the delivery amount of the power transmission cable 30 by the cable winder 40 and Since the take-up amount is controlled, the cable 30 connecting the flight robot 10 and the ground side power supply device 50 is entangled by a sudden change in the altitude or horizontal position of the flight robot 10 or wind, etc., and the flight robot 10 flies Can be solved with a simple configuration.

  Furthermore, since all of the elemental techniques used in the flight robot device 1 according to the first embodiment are individually known, the flight robot device 1 can be put into practical use at an early stage. is there. Then, by continuously supplying power to the flying robot 10 through the power transmission cable 30, for example, it is possible to realize continuous flight for a long time of one hour or more while increasing the payload by 20 kg or more. It is possible to mount a high-definition camera and an ultrasonic diagnostic apparatus on the flight robot 10, and to carry out operations with high necessity such as inspection of tunnels and bridges, and spraying pesticides on tall trees such as pines at an early stage.

Second Embodiment
Next, a second embodiment of the present invention will be described. The flight robot 1a according to the second embodiment includes a robot controller 20 and a ground power supply 50a as shown in FIG. 7 and a cable winder 40a as shown in FIG.

  As shown in FIG. 8, the cable winding machine 40a omits the cable winding motor 41 from the cable winding machine 40 used in the flight robot device 1 of the first embodiment described above, and winds instead. It has a configuration provided with a spring 46. The winding spring 46 has one end connected to the drum 42 and the other end fixed to the stand 43 and always biases the drum 42 in the direction to wind the power transmission cable 30. Therefore, the transmission of the transmission cable 30 is performed by pulling out the transmission cable 30 against the winding force of the winding spring 46, and the winding of the transmission cable 30 is performed by the winding force of the winding spring 46. It will be. The other configurations and functions are the same as the cable winder 40.

  As shown in FIG. 7, the ground side power supply device 50a sends out and winds up the power transmission cable 30 from the output control unit 51 of the ground side power supply device 50 used in the flight robot device 1 of the first embodiment described above. The control function of the cable winding motor 41 is omitted. The other configuration and functions are the same as the ground side power supply device 50.

  In the second embodiment, an optical fiber 31 as a communication cable is bridged between the flight robot 10 and the ground side power supply device 50a. The optical fiber 31 is used to transmit and receive control signals and perform data communication between the flight robot 10 (robot side control device 20) and the ground side power supply device 50a. The optical fiber 31 is integrated (built-in or added) to the power transmission cable 30, so there is no hindrance to the flight of the flying robot 10.

  The flight robot 1a according to the second embodiment has the same configuration and function as the flight robot 1 according to the first embodiment described above except for the points described above. The explanation is omitted.

  It is obvious that in the flight robot 1a according to the second embodiment of the present invention, the same effects as the flight robot 1 according to the first embodiment described above can be obtained.

(Modification)
The first and second embodiments described above show examples embodying the present invention. Therefore, it goes without saying that the present invention is not limited to this embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, although the example which applied this invention to the electric multi-rotor type | mold helicopter in embodiment mentioned above is shown, this invention is not limited to this. It is also applicable to any application other than a helicopter, for example an electric plane.

  The present invention is applied to fields requiring continuous power supply to a flying robot, more specifically, fields requiring simultaneously increasing payload while securing flight time of the flying robot according to work. It is possible.

1, 1a Flight robot device 10 Flight robot 11 Body 12 Arm 13 Rotor 14, 14a, 14b, 14c, 14d, 14e, 14f Rotor drive electric motor 20 Robot side control device 21 Low voltage conversion unit 22 Output control unit 23 Control operation unit 24 Position Detection Unit 25 Transmitting and Receiving Unit 26 Antenna 30 Power Transmission Cable 31 Optical Fiber 40, 40a Cable Winding Machine 41 Cable Winding Motor 41a Rotation Shaft 42 Drum 43 Stand 44 Base 45 Prevention Member 45a Cable Insertion Ring 46 Winding Spring 50 Ground Power supply unit 51, 51a Output control unit 52 Control calculation unit 53 Transmission / reception unit 54 Power generation unit
55 High Voltage Power Transmission Unit 56 Antenna

Claims (11)

With a flying robot,
A ground side power supply unit for supplying power to the flight robot via a flexible power transmission cable;
And a cable winder for winding the surplus of the transmission cable on the ground side,
The flight robot is
Promotion means,
An electric motor for driving the propulsion means;
A first control unit configured to control an output of the electric motor according to a load of the power transmission cable acting on the flight robot;
A high voltage / low voltage conversion unit which converts a high voltage supplied from the ground side power supply device through the power transmission cable into a low voltage and supplies it to the electric motor ;
A position detection unit that detects a current position and a current altitude of the flying robot in flight and outputs a position / altitude signal;
And a first transmission / reception unit that wirelessly transmits the position / altitude signal output from the position detection unit to the ground-side power supply device .
The ground side power supply device
A high voltage power transmission unit for transmitting the high voltage to the flight robot via the power transmission cable;
A second transmission / reception unit that receives the position / altitude signal wirelessly transmitted from the first transmission / reception unit;
The value of the high voltage transmitted by the high-voltage power transmission unit according to the distance between the flight robot and the ground-side power supply device measured using the position / altitude signal received by the second transmission / reception unit And a second control unit to control the
The first control unit calculates the load of the power transmission cable acting on the flight robot using the position / altitude signal output from the position detection unit, and uses the obtained load to calculate the electric motor Configured to control the output of the
The second control unit sends out and winds up the power transmission cable by the cable winder using the position / altitude signal received by the second transmission / reception unit in parallel with the control of the value of the high voltage. Are configured to control the
The flight characterized in that the output of the electric motor, the value of the high voltage, and the delivery and winding of the power transmission cable are automatically adjusted according to the distance between the flight robot and the ground side power supply device. Robot equipment. The second control unit calculates the required length of the power transmission cable at the current position and the current altitude of the flight robot using the position / altitude signal received by the second transmission / reception unit. By comparing the length with the current length of the transmission cable, the shortage or excess of the transmission cable is calculated,
The flight robot device according to claim 1, wherein in the cable winding machine, the delivery and winding of the power transmission cable are adjusted in accordance with the calculated shortfall or the excess . The flight robot device according to claim 1 or 2 , wherein the high voltage transmitted by the high voltage power transmission unit of the ground side power supply device is a DC voltage . The flight robot apparatus according to any one of claims 1 to 3, wherein the high-voltage / low-voltage converter of the flight robot is a DC-DC converter with variable output . The high voltage power transmission unit of the ground side power supply device is an AC-DC converter,
The flight robot apparatus according to any one of claims 1 to 3, wherein the high pressure / low pressure conversion unit of the flight robot is a DC-DC converter .   The flight robot apparatus according to any one of claims 1 to 5, further comprising a communication cable connected to the flight robot, wherein the communication cable is integrated with the power transmission cable. The cable winding machine includes a cable winding motor for feeding and winding the power transmission cable,
7. The delivery and winding of the power transmission cable by the cable winding motor is controlled by the second control unit according to the distance between the flight robot and the ground side power supply device. A flying robot device according to any one of the preceding claims. The cable winding machine includes a biasing member for biasing the power transmission cable in its winding direction;
The delivery of the power transmission cable is performed by pulling out the power transmission cable against the winding force of the biasing member, and the winding of the power transmission cable is performed by the winding force of the biasing member. The flight robot apparatus according to any one of claims 1 to 6, which is configured.   The flight robot apparatus according to any one of claims 1 to 8, wherein a PID control method is used in at least one of the first control unit of the flight robot and the second control unit of the ground side power supply device. The flight robot device according to any one of claims 1 to 9, further comprising: an anti-entanglement member installed on the ground side for preventing the entanglement of the power transmission cable.   The flight robot apparatus according to any one of claims 1 to 10, wherein the flight robot has a configuration of an electric helicopter.

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