JP6624529B2 - Multicopter - Google Patents

Description

  The present invention relates to a flying object with a protection frame that can travel on land (and, if possible, on water), and an automatic charging device thereof.

  The prior art relating to a flying body with a protection frame capable of traveling on land (and, if possible, on water) according to the present invention relates to a flying body having a propulsion device (such as a propeller driving device or a jet-type propulsion device) (hereinafter referred to as a flying vehicle body) ), For example, a helicopter type as in non-patent documents 1 and 2, an airship type as in non-patent document 3, and an aircraft type as in non-patent document 4. On the other hand, Patent Document 1 discloses an aircraft body in which a plurality of rotors (propellers) are disposed on an airframe, and the rotor is disposed inside a frame by surrounding the rotors two-dimensionally with a protection frame. An aircraft body that prevents contact between the vehicle and an obstacle is disclosed. In addition, as a conventional technology relating to an automatic charging device for a flying object body, a system for automatically replacing and charging a battery has been proposed as described in Non-Patent Document 5.

JP 2011-046355 A

Makoto Tahara, Kenzo Nonami "General-purpose Aircraft Design Method for Multi-rotor Helicopter and Realization by Cost Reduction" Transactions of the Japan Society of Mechanical Engineers, Volume C, Volume 787 (2012), pp.872-882 Daigo Fujiwara, Shinshintama, Kensaku Hazawa, Kenzo Nonami "Autonomous Small-sized Unmanned Helicopter H∞Hovering Control and Guidance Control" Transactions of the Japan Society of Mechanical Engineers (C) 70, 697 (2004), pp.1708-1714 Manabu Yamada, Yasuhiro Taki, Yasuyuki Funahashi "Global Position and Attitude Control of Airship System for Steady Wind" Transactions of the Japan Society of Mechanical Engineers (C), Vol. 76, No. 767 (2010), pp.177 0-1779 Rogelio Lozano "Unmanned Aerial Vehicles" ISTE Ltd and John Wiley & Sons, Inc. (2010) Hideo Ayuzawa, Takuya Nemoto, Daisuke Iwakura, Kenzo Nonami "Development of an Automatic Battery Exchange System for an Industrial Application Type Multi-rotor Helicopter" 13th JSME "Motion and Vibration Control" Symposium USB Papers [2013.8.27-30] , Pp.B26

  However, the prior art flying body has the following thirteen problems. That is, the flying object body having the propulsion device (propeller driving device, jet-type propulsion device, etc.) disclosed in the non-patent documents 1 to 4 has the following problems 1) to 8) and 13). Further, the flying object body disclosed in Patent Document 1 has problems 6) and 9) to 13).

(problem)
1) At the time of landing, the attitude becomes unstable due to the "wind", etc., and it is easy to crash, causing damage and danger to the flying body.
2) If the landing surface is not flat, it will easily fall over at the time of landing, causing damage or danger to the flying body.
3) At takeoff from the land, the ground surface is flat and it is limited to safe places where there are no people around. (If the ground surface is not flat, the body of the flying object is likely to become unstable, and if there are people around, It is dangerous with propeller etc.).
4) Since the only way to move is to fly at all times, a force for lifting the body of the flying object is always required. This requires a lot of energy and limits flight time.
5) Once crashed, it is difficult to return autonomously and is not suitable for unmanned work.
6) I cannot move on land.
7) When flying at a low altitude (near land) or in a narrow place (near a wall, etc.), it is susceptible to disturbance such as wind generated by itself, and it is difficult to move accurately.
8) In the case of propeller driving, if the main body touches an obstacle during flight, the propeller and the like will be damaged, and there is a danger of falling.
9) Since the frame surrounding the aircraft body is only on a plane, the aircraft body is damaged when colliding with an obstacle having a protrusion in a direction other than the plane, which is likely to cause instability and fall.
10) At the time of landing or crash, the flying object body is easily turned over, and if there is unevenness on the ground, the flying object body is directly damaged from the ground, so that the flying object body and the mounting device are easily damaged.
11) If the aircraft body is turned upside down at the time of landing or crash, takeoff becomes impossible.
12) Since the only way to move is to fly at all times, not only does it require a lot of energy to ascend, but it also tends to be unstable due to wind and the like, causing collisions and crashes, and its applications are limited.
13) I cannot move on water.

In addition, as described in Non-Patent Document 5, a technique based on a motion capture system and a technique based on a tethered landing system have been proposed in the related art relating to an automatic charging device for a flying body. There are problems 14) to 15).
14) In the method based on the motion capture system, three-dimensional movements in flight are accurately measured in real time with multiple high-speed and high-precision cameras, and obstacles are avoided by feedback control, and designated for charging. Since this method is a method of landing at a position with high accuracy, expensive automatic control equipment and a space for installing cameras and the like are required to realize the method. In this method, charging is determined by the accuracy of the landing position.However, since movement to the landing point is a flight, it is susceptible to disturbances such as wind, making it difficult to land at an accurate position. Poor.
15) In the method based on the tethered landing system, the tether is lowered from the reel mounted on the flying body to a predetermined length, and the weight at the tip of the tether is locked by the tether capturing mechanism provided in the charging device on the ground. This is a method of winding the tether and landing at the specified position. However, it is necessary to install a device that can automatically control the winding of the tether and the weight on the flying body. Furthermore, in this method, charging is determined by the accuracy of the position and attitude of the landing, and the movement to the landing point is performed by winding the tether, thereby improving the certainty compared to the method based on the motion capture system. However, when winding the tether, it is necessary to simultaneously perform both attitude control to maintain the aircraft attitude accurately and tension control to keep the tether tension constant, so it is easily affected by wind, etc., especially at low altitudes. The airborne body will be greatly fanned by the winds caused by the wind, and it will easily become unstable, making it difficult to land in an accurate position and attitude. Further, the tether capture device for catching the tether and the weight of the flying object is composed of two long arms. The longer the tether capture device is, the higher the probability of catching the tether is. However, the device becomes large.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and merely attaches one or two independent protect frames to a required portion of an existing vehicle body to the vehicle body. Even if the object collides with an object, the body of the flying object is not damaged, the damage at the time of landing or crash is reduced, and the body of the flying object and mounted devices attached thereto are protected.
In addition, regardless of the landing or crash in any position, the vehicle will recover its own attitude to take off easily again, and without additional propulsion, not only fly, but also land (and In this case, you can run in all directions. Hereinafter, the “flying vehicle” refers to a form including the flying vehicle body and the protection frame. Therefore, an object of the present invention is to provide a flying object capable of traveling on land (and, if possible, on water), which is excellent in safety, operability, and energy saving. It is still another object of the present invention to provide an automatic charging device that uses a protection frame as a guide to reliably set and charge the charging device in order to automatically charge the flying object.

There are the following means to achieve the above object . That is, the rotary wing machine includes two or more propulsion units that generate propulsion, a main unit including a control unit that controls the two or more propulsion units, and a main unit and the two or more propulsion units. A rotary wing machine including at least a part of a pair of protect frames having a rollable shape and a shaft attached to the main body, wherein the pair of protect frames are attached to the shaft. Thus, the pair of protection frames can be rotated with respect to the main body and the two or more propulsion units. The rotary wing machine travels on land. The following means are not described in the claims. (1) Two or more propulsion units for generating propulsion, a main unit including a control unit and a battery unit for controlling the two or more propulsion units, and a three-dimensional structure of the main unit and the two or more propulsion units A rotary wing machine comprising a pair of protective frames that wraps around each other, further comprising two rod-shaped fixed shafts, wherein the two rod-shaped fixed shafts have one end thereof perpendicular to a main traveling direction. The part is fixed to the left and right of the main body part, has a rotating part that is coaxial with each other at the other end, the pair of protect frames is a shape that can be rolled, the rotation center of the pair of protect frames, A rotary wing machine which is attached to each of the rotating portions, has a projection outside each of the tops of the rotation centers of the pair of protection frames, and runs on land. (2) The rotary wing aircraft according to (1) above, wherein the pair of protect frames are used as left and right wheels, and rotate in opposite directions to change directions. (3) The weight according to the above (1) or (2), wherein a weight fixed to a vertically lower portion of the main body is attached, and the self-sustained body is directed vertically upward and flies vertically upward. Rotary wing aircraft. (4) The protect frame includes a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a part of the lower side of the protect frame is submerged in water. The rotary wing machine according to any one of the above (1) to (3), which runs on water. (5) The two or more propulsion units are located apart from the coaxial axis of the two rod-shaped fixed shafts and are separated from the coaxial axis of the two rod-shaped fixed shafts, and the control unit is configured to move the main unit in the main traveling direction. When rolling on the land, it has a function of controlling the inclination of the two or more propulsion units around the same axis of the two rod-shaped fixed shafts, wherein any of the above (1) to (4) is provided. A rotary wing aircraft according to one. (6) The control unit has a function of controlling the rolling of the land on the land by pressing the pair of protection frames on at least the propulsion force. The rotary wing machine according to any one of the above (1). (7) Two or more propulsion units that generate thrust, a main unit including a control unit that controls the two or more propulsion units , and at least a part of the main unit and the two or more propulsion units. A pair of protect frames that surround and have a rollable shape, and the pair of protect frames are attached to the main body so that the pair of protect frames can rotate with respect to the main body and the two or more propulsion units. And a fixed shaft to be attached. The rotary wing machine has a protrusion outside each of the tops of the rotation centers of the pair of protection frames, and runs on land. (8) The rotary wing aircraft according to (7), wherein the pair of protect frames are used as left and right wheels, and rotate in opposite directions to change directions. (9) The weight according to the above (7) or (8), wherein a weight fixed to a vertically lower portion of the main body is attached, and the self-sustained body is directed vertically upward and flies vertically upward. Rotary wing aircraft. (10) The protect frame is composed of a contour portion and a skeleton portion, and the contour portion has a structure in which the density is reduced with respect to water to obtain buoyancy, and a lower part of the protect frame is submerged in water. The rotary wing machine according to any one of the above (7) to (9), which runs on water. (11) The two or more propulsion units are installed separately from the fixed shaft while sandwiching the fixed shaft, and the control unit is configured to, when rolling on the land, move the two or more propulsion units around the fixed shaft. The rotary wing aircraft according to any one of the above (7) to (10), having a function of controlling a tilt of the propulsion unit. (12) The above-mentioned (7) to (11) wherein the control unit has a function of controlling the pair of protect frames to press the pair of protection frames against the land and to roll and move on the land at least for the propulsion force. The rotary wing machine according to any one of the above (1). The above means (1) to (12) have the following effects. According to the configuration of the means (1) or (7), the protect frame wraps the flying object body in a three-dimensional (three-dimensional) manner, and lands or takes off at the time of landing, takeoff, flight, or crash. Even when hitting an obstacle of a shape, the flying body and the mounting device are hardly damaged, and even at the time of landing or crash, the flying body and the mounting device are not directly impacted and are protected by the frame. Problems 1), 2), 8), 9), and 10) can be solved. In addition, if the protection frame covers only the necessary parts to be protected, such as the propulsion part (propeller and motor), instead of covering the entire body of the flying object, the overall weight can be reduced as compared with covering the entire body. Sometimes labor savings are achieved. Further, since the protection frame attached to the main body is rotatable with respect to the propulsion unit, the protection frame can roll while maintaining the direction in which the propulsion force is applied.
Further, since there are two or more propulsion units, by controlling the propulsion force of each propulsion unit, it is possible to freely move not only in the front and rear as shown in FIG. 8 but also in all directions such as left and right as shown in FIG. As a result, when traveling on land (and, if possible, on water), it can not only move forward and backward, but also rotate on the spot and make small turns like a two-wheeled vehicle, so it can be used in narrow places such as rubble in disaster areas. It is possible to change directions, move in narrow places such as a winding maze indoors, and control the position and posture of entering a garage while avoiding obstacles, making it possible to work in all situations, indoors and outdoors. realizable. The outline of the protect frame has a rollable shape. According to such a configuration, the protect frame has a sufficient clearance so that it can easily roll even if it lands in any posture, and does not impede the air flow of the internal flying body itself, and the weight is reduced. As long as it is sufficiently lightweight below the body payload, the rotorcraft, including the protection frame, can move freely in the air and on land, including take-off and landing. Therefore, 4), 6), 7) and 12) can be solved in addition to the problems 1), 2), 8), 9) and 10). Further, there is an effect shown in FIG. According to the means (2) or (8), the left and right protection frames can rotate in opposite directions when stopped, so that the directions can be easily changed. According to the configuration of the means (3) or (9), the vehicle rolls in any position, including a landing and a crash, when there is no thrust due to the weight, rolls even if the vehicle crashes or lands, and recovers the desired posture which is easy to take off again. I do. Accordingly, the above problems 2), 3), 5), and 4) are ensured, because excellent maneuverability is ensured, and the rotary wing aircraft faces right above regardless of the shape of the ground surface, and settles in a convenient posture at takeoff. 11) can be solved. According to the configuration of the means (4) or (10), since it is possible to run not only on land but also on water, the problem 13) can be solved. The means (5), (6), (11) or (12) has the effect shown in FIG. Further, there are other means and effects that are not described in the following claims. Here, the flying object is the same as the rotary wing aircraft (hereinafter, the same). (100) The flying object is a flying object whose movement can be controlled by automatic control or manual remote control. According to the means (100), since it is possible to move freely on land (and on water, if possible) and in the air by automatic control or manual remote control, it is possible to ensure the safety of surveillance and pilots, Free movement and various tasks can be realized in dangerous places on the ground or where people are hard to access, expanding the range of applications. (101) A flying object provided with the camera and / or the position information detecting device and / or the environment measuring device on the flying object. According to the means (101), the flying object can be provided with any one, two, or all of a camera, a position information detecting device, and an environment measuring device (such as a radiation, gas, and temperature measuring device). By installing these devices, aerial photography, observation, monitoring work, and the like can be performed. (102) The flying object is a flying object that can be automatically controlled by a ground computer or a calculation control device on the flying object. According to the means (102), the plurality of flying objects can be freely moved and worked on land (and, if possible, on water) and in the air under automatic control. As a result, by simply programming and executing the necessary tasks in advance, even if there is debris or obstacles, it can be safely and reliably moved to designated remote areas, disaster areas, or places where people cannot easily access. The aerial vehicle can simultaneously perform operations such as aerial photography, observation, and monitoring from various directions, and when combined with an automatic charging device, can also realize a semi-permanent automatic observation and monitoring system.

The following means are not described in the claims.
(200) This means is a charging device comprising an induction unit and a charging unit for the flying object described in (1) 1 to (12) above, wherein the guidance unit is configured such that the flying object is It is a charging device that rolls on land, stops the flying object at the position of the charging unit, connects the charging terminal b of the charging unit to the charging terminal a of the flying object, and performs automatic charging. .
The feature of the present invention is that the movement to the charged part is performed by rolling movement on land using a protect frame, so that the approach by flight as in the conventional method is unnecessary, and instability occurs even when subjected to disturbance such as wind. This makes it possible to accurately approach the charging section, and the vehicle can be reliably electrically connected to the charging device. As a result, the problems 14) and 15) can be solved.
(201) The charging device according to the above (200), wherein the guide unit includes, as the guide unit, a guide and a stopper that are in contact with the protect frame.
Using the outer shape of the protect frame as a guide, the flying object can be reliably set on the charging device.
(202) The means includes a switch that is activated by the position or mass of the flying object to activate a movable platform, and connects the charging terminal B and the charging terminal A by the movable platform. A charging device according to (200) or (201).
The charging device and the flying object can be electrically connected reliably.
(203) This means mounts a transceiver on the flying object and the charging device, and guides the flying object to the charging device according to a transmission function of one of the transceivers and a reception signal of the other transceiver. The charging device according to any one of the above (200) to (202), which performs control.
Since the accurate relative position between the charging device and the flying object is detected, the flying object can be guided to the charging device even at a long distance, and the automatic charging operation of the flying object can be reliably performed.

It is a figure showing the whole flight object composition which is a 1st embodiment of the present invention. FIG. 1 is a diagram illustrating an entire configuration of a flying object body according to a first embodiment of the present invention. FIG. 3 is a view of the flying object according to the first embodiment of the present invention as viewed from the side, showing that the flying object calms down when there is no thrust and takes a convenient posture during takeoff. It is the figure which looked at the flying object which is 1st Embodiment of this invention from the side, and shows the attitude | position at the time of land running inclined to the direction which wants to give thrust to a flying object and advance. It is a figure showing other examples of the flying object which is a 1st embodiment of the present invention. It is a figure which shows the mechanism of the free air movement by overcoming the obstacle using free movement during air flight, ensuring safety, and rolling as the operation 1 of the flying object of the present invention (a view from the side). It is a figure which shows the mechanism of ensuring the safety at the time of a landing or crash, and automating attitude recovery as operation 2 of the flying object of the present invention (a view from the side). It is a figure which shows the mechanism of the land movement using rolling as operation | movement 3 of the flying body of this invention. It is a figure which shows the mechanism of the land movement of the arbitrary direction which used rotation also as operation | movement 3 of the flying object of this invention (the figure seen from the top). It is a figure which shows the mechanism of free land running by overcoming the obstacle using rolling as operation | movement 4 of the flying body of this invention (the figure seen from the side). It is a figure which shows the mechanism of ensuring safe take-off attitude | position from land running, and smooth transition to flight as operation | movement 5 of the flying object of this invention (side view). It is a figure which shows the mechanism of the land movement on a rough road, the safe take-off attitude | position, and the smooth transition to flight as operation | movement 5 of the flying body of this invention (side view). It is a figure which shows the mechanism of ensuring safe take-off attitude | position on the ground surface which has an inclined surface, and the smooth transition to flight as operation | movement 5 of the flying body of this invention (side view). It is a figure in a 2nd embodiment of the present invention which shows the structure of the protection frame which enables running on water. It is a figure in a 3rd embodiment of the present invention showing composition of a flight object main part. In the third embodiment of the present invention, a mechanism capable of cooperating with a plurality of air vehicles and performing cooperative cooperative work and realizing simultaneous monitoring, simultaneous observation, and cooperative transport of heavy objects from various angles on land and in the air is provided. It is a figure (view seen from the side). In the third embodiment of the present invention, a mechanism capable of cooperating with a plurality of air vehicles and performing cooperative cooperative work and realizing simultaneous monitoring, simultaneous observation, and cooperative transport of heavy objects from various angles on land and in the air is provided. It is a figure (view seen from the side). FIG. 14 is a diagram illustrating a configuration in which two protect frames are integrated in a fourth embodiment of the present invention. It is a figure of the charging device of the flying object in which the guidance part contacts the outline part of a protect frame in 5th Embodiment of this invention. It is a figure of the charging device of the flying object in which the guidance part contacts the skeleton part of a protect frame in 5th Embodiment of this invention. It is a figure explaining a process which charges a flight object by a charging device in a 5th embodiment of the present invention. It is a figure of the charging device which guides a flying object to a charging device by the transmitting / receiving device mounted in the flying object and the charging device in the sixth embodiment of the present invention. It is a figure explaining a process which charges a flight object by a charging device in a 6th embodiment of the present invention. It is a figure explaining a system which guides a flight object by a transceiver (transmission function) installed in a charging device and a transceiver (camera as a reception function) mounted on a flying object in a sixth embodiment of the present invention. It is a figure explaining a system which guides a flight object by a transceiver (transmission function) installed in a charging device and a transceiver (a radio wave as a communication function) mounted on a flying object in a sixth embodiment of the present invention. The figure explaining the system which guides a flying object by the control tower function of a ground computer from the transceiver (receiving function) installed in the charging device and the transceiver (transmitting function) mounted on the flying object in the sixth embodiment of the present invention. It is.

  The flying object capable of traveling on land and on water according to the present invention is a body that includes a control unit 1-1 and a battery unit 1-2, a flying object body that includes a propulsion unit 2, and a rolling motion due to thrust generated by the propulsion unit 2. And one or two protection frames that can move freely on land and water. The features of the main body 1, the propulsion unit 2, and the protection frames 5 and 6 attached to the flying vehicle will be described below with reference to the drawings.

(1st Embodiment)
As a first embodiment of the present invention, a flying object capable of traveling on land will be described with reference to FIGS. However, these drawings are merely examples, and for simplicity of description, the flying body is a four-rotor small helicopter and the two protection frames attached to the flying body are hemispheres. Other requirements are arbitrary as long as the size of the protect frame covers the flying object body three-dimensionally (three-dimensionally), is rotatable in shape, and is lightweight.
FIG. 1 shows the configuration of the first embodiment of the present invention. The flying body includes a flying body including a main body 1 and a propulsion unit 2 and two left and right protection frames 5 and 6. FIG. 2 shows the configuration of the flying body. It comprises a main unit 1 and a propulsion unit 2. The main unit 1 includes a control unit 1-1 and a battery unit 1-2. The control unit 1-1 is mounted in the main unit 1 (not shown). The battery unit 1-2 is mounted in the main body 1 or on the lower surface of the main body 1. The control unit controls the propulsion unit 2 in accordance with a command from the operation unit from a place different from the land vehicle such as the land. The propulsion unit 2 includes a propeller 2-1 and a motor 2-2 (not shown). In FIG. 2, four propulsion units are provided, but the number is arbitrary.
As an example, a cross-shaped rod-shaped frame is formed around the main body, and four propulsion sections are fixed to the ends thereof. The four propeller units 2-1 are arranged on one plane. When the rotation speeds of the four propellers are the same, the aircraft body flies in the vertical direction.
The horizontal movement of the flying body lowers the rotational speed of two of the four propellers in the desired direction. The flying object body flies so that the end in the moving direction is lowered. When turning in the left-right direction, the rotation is performed by changing the rotation speed of the right and left propellers. This horizontal movement is a basic operation of traveling on land and on water.
The two fixed shafts 3 to which the protection frames 5 and 6 are attached have a rod shape. The fixed shaft 3 is configured so that one end is fixed to the left and right sides of the main body and the rotating part 4 is provided at the other end so as not to interfere with the four propulsion parts. The two fixing portions fix the two fixing shafts to the main body 1 so as to be coaxial. It is desirable that the fixed axis be mounted in a direction perpendicular to the main traveling direction in the basic operation of the vehicle on land (and, if possible, on water). This is because, when traveling on land or water using the contours of the protect frames 5-1 and 6-1 as wheels, the traveling direction by rotation of the contours coincides with the main traveling direction, and energy efficiency is good.
Therefore, in the case of the four-rotor small helicopter shown in FIGS. 1 to 4, the main traveling direction of the flying object as a wheel is two front and rear directions due to the basic operation of horizontal movement as the flying object body. Further, in the case where the main body of the flying body has a main propeller mounted on an upper part of a main body on which a person rides like a normal helicopter, the direction in which the cockpit is located is the traveling direction at the time of horizontal movement. Therefore, the fixed shaft is attached to the left and right sides of the main body perpendicular to the traveling direction. At this time, since the propeller is at the upper part of the main body, the fixed shaft does not interfere with the propeller.

The characteristics of the size, shape and weight of the protection frame are as follows. The size of the protect frame covers the body of the flying object (especially the propulsion device) in a three-dimensional (three-dimensional) manner, and the body of the flying object (especially the propulsion device) at the time of crash, takeoff, landing, and flight They must be large enough to avoid hitting the land or obstacles. The protect frames 5 and 6 are concave with respect to the main body 1 and the propulsion unit 2 so as to enclose the flying object three-dimensionally. The shape of the protect frame is such that it is easy to roll even if it lands in any posture (for example, it has a hemispherical or cylindrical shape when viewed from the traveling direction of the aircraft body, and is parallel to the traveling direction and extends in the direction in which the fixed shaft 3 extends. It is preferable that the cross section perpendicular to the circle is a polygon or a polyhedron having a hexagonal shape or more) and that there is sufficient clearance so as not to hinder the air flow of the internal flying body. The weight of the protect frame should be sufficiently light below the payload of the flying body, so that the flying body including the protect frame can freely move in the air including takeoff.

Specifically, the left and right protection frames 5 or 6 are configured as shown in FIG. The contour portions 5-1 and 6-1 of the protect frame are formed by forming a thin plate having a constant width to be a ground contact surface into a circular shape. This serves as the wheel. The frame portions 5-2 and 6-2 of the protect frame are formed by bending a thin plate material into a semicircular arc shape and connecting both ends to the contour portions 5-1 and 6-1 respectively. The skeleton 5-2 or 6-2 is composed of a plurality of pieces, and the semicircular arc-shaped tops are overlapped. The top of the overlap is the center of rotation of the contour 5-1 or 6-1 of the protected frame. The left and right protection frames 5 or 6 have their respective rotation centers connected to the rotation part 4 at the end of the fixed shaft 3 so as to cover the flying object body. An interval is provided between the contours 5-1 and 6-1 of the protect frame, which is the center of the vehicle. Further, the two contour portions 5-1 and 6-1 may have the same shape, and may be arranged coaxially and parallel to each other. This is to ensure the stability of the left and right wheels when the flying object travels on land with two wheels (hereinafter referred to as a two-wheeled vehicle), and to ensure the visibility when the camera 9 is mounted on the flying object body. . The protect frame is made of flexible and tough resin by integral molding, but it is made by joining each contour and skeleton with adhesive, welding, etc. Alternatively, it may be produced by mechanically joining with rivets or the like. As the resin, a polypropylene-based material or a material reinforced with carbon fiber is preferable.

The two left and right protection frames are respectively attached to the rotating parts 4 at both ends of the flying object fixed shaft 3, but are configured so that only one axis can freely rotate. As a mounting method, the following three embodiments a), b) and c) may be made possible.
B) At the time of landing or crash, regardless of the landing position, the flying body itself (particularly the propeller such as a propeller) rolls without being damaged by the left and right protect frames 5 or 6 surrounding it, Automatically recovers to a posture that is convenient at takeoff.
B) On land, if the propulsion unit 2 is controlled by the control unit 1-1 and the flying body is tilted in the desired direction, the protect frame 5 or 6 rotates while keeping the attitude of the flying body, and moves on land. Roll and run. The contours 5-1 or 6-1 of the two left and right protection frames 5 or 6 serve as wheels in the vehicle width direction of the two-wheeled vehicle. High stability.
C) On the land, if a turning force is applied to the flying object in the yaw direction, the contours 5-1 or 6-1 of the two left and right protection frames rotate in opposite directions as the wheels of the two-wheeled vehicle. It can be easily rotated in the yaw direction on the spot. By applying thrust to the flying object and tilting it in the desired direction as shown in FIG. 4, the flying object can move on land safely and in all directions.

In FIG. 1, the left and right protection frames 5 and 6 cover and cover the main body 1 and the propulsion section 2 of the flying body, and are used for landing, takeoff, flight, crash, ground surface, obstacles, and people. Has a size large enough not to hit the flying body (particularly the propulsion unit 2). Therefore, the problems 1), 2), 8), 9), and 10) can be solved.
Further, the main body 1 of the flying object and the two fixed shafts 3 are fixed, and the other end of the two fixed shafts 3 is configured so that the rotating part 4 is coaxial. The rotating portion 4 and a top portion, which is the center of rotation of the two protection frames 5 or 6, are connected to each other. Thereby, the protection frame 5 or 6 can rotate freely about one axis about the fixed shaft 3.

Due to the weight 8 in FIG. 1, the vehicle rolls regardless of the shape of the ground surface, regardless of the shape of the ground surface, regardless of the shape of the ground surface, and rolls when the aircraft takes off at thrust without any thrust, including landing and crash. The above problems 2), 3), 5), and 11) can be solved to settle in a convenient posture. As shown in FIG. 3, the weight 8 is fixedly attached to a vertically lower portion of the main body 1 when the flying body flies vertically upward from the main body 1 by the propulsion unit 2. Here, the main body 1 is located at the center of the two spherical protective frames 5 or 6, but rolls regardless of the attitude of the flying object in any posture, and the propulsion unit 2 is driven regardless of the shape of the ground surface. In order to be vertically upward, the weight 8 needs to be fixedly attached to a vertically lower portion of the main body 1. In other words, the overall shape of the flying object including the protection frame is spherical, and its center of gravity is vertically downward, so that it rotates as if getting up and spilling, and the propulsion unit 2 is always vertically upward so that it is in a convenient posture during takeoff. Calm down.
Alternatively, all or part of the battery unit 1-2 of the main body 1 may be transferred to the weight 8. A heavy object such as a camera 9 and an environment measuring device 10 which will be described later may be mounted on a vertically lower portion near the weight 8 as a weight. At this time, the load such as the weight 8 does not protrude from the contour 5-1 or 6-1 of the protect frame.

Also, as shown in FIG. 4, if the flying body is thrust in the direction in which thrust is desired to travel, the contour 5-1 or 6-1 of the protect frame rolls on land along a straight line, and the flying body travels. Since the contour portions 5-1 or 6-1 of the two left and right protection frames function as wheels of the two-wheeled vehicle, the movement of the flying object in the roll direction during land traveling is suppressed, and the straight running stability is improved. At this time, since the weight 8 is fixed to the lower part of the main body in the vertical direction, it tilts in the direction opposite to the traveling direction. Furthermore, if a turning force in the yaw direction is applied to the flying object, the contour portions 5-1 or 6-1 of the two left and right protection frames rotate in opposite directions, like the wheels of a two-wheeled vehicle, and the flying object is moved. Can easily rotate in the yaw direction in the field. By controlling the thrust unit 2 and tilting the flying object in the desired direction, the flying object can travel on land safely and in all directions, so that the above problems 6) and 7) can be solved. In addition, when rolling on land, there is no need to lift the flying object, so that less energy is required as compared with conventional aerial flight, and the above problems 4), 6), 7) and 12 ) Can also be solved.

FIG. 5 shows another embodiment of the flying object. This is because there are four crosses, that is, two pairs of stays for mounting the propulsion unit as the main body of the flying body from the main body, and fixed shafts are connected to both left and right ends of this pair of stays. is there. It is the same structure that the protection frames are attached to both ends of the fixed shaft. According to such a configuration, there is no need to attach a fixed shaft to the main body, so that the degree of freedom in designing the main body is increased.

It should be noted that, for all movements such as flight and running of the flying body, automatic control is often performed in which the travel distance is programmed in consideration of the charge capacity of the battery and input to the control unit (1-1). In order to ensure the flexibility of operation in an emergency or the like, the movement can be controlled by manual remote operation. With this configuration, even if there is rubble or obstacles, it can be safely and securely moved to designated remote areas, disaster areas, or places where people cannot easily access, and can be used for aerial photography, observation, monitoring, etc. Work can be performed, and if combined with an automatic charging device, a semi-permanent automatic observation and monitoring system can be realized.
In addition, the movement function of the flying object includes two or more propulsion units, and by controlling each of the propulsion units individually, all movements such as omnidirectional flight and traveling can be performed. As a result, when traveling on land or water, it can not only move forward and backward, but also turn on the spot and make small turns like a two-wheeled vehicle. It is possible to move in a narrow place such as a winding maze, and to control the position and attitude of entering a garage while avoiding obstacles.

(Operation 1 of the flying object)
Operations 1 to 5 of the first embodiment of the present invention will be described with reference to FIGS. First, as an operation 1 of the flying object of the present invention, a mechanism of free flight during air flight, securing of safety, and free air movement by overcoming obstacles using rolling is shown in FIG. 6 (view from the side). .
(1) It is possible to fly freely in the air by giving thrust to the flying object and leaning in the direction in which it wants to proceed.
Here, to incline in the direction in which the propeller is to be moved means to lower the rotational speed of two propellers in the direction in which the propeller is to be driven out of the other two propellers.
(2) Even if it collides with an obstacle such as a wall, the body of the flying object (especially a propeller such as a propeller) can continue to move without being damaged by the protect frame surrounding the obstacle. In this way, the flying object of the present invention can ensure free movement and safety during airborne flight.
(3) Regardless of the obstacle (wall surface) of any shape, the frame can roll on the wall surface and continue to move safely by adjusting the flying object and its direction. That is, in FIG. 6, since the wall surface stands in the vertical direction, the direction of the weight is made parallel to the wall surface by making the rotation speeds of the four propellers the same. By increasing the rotation speed, the flying object rolls on the wall and rises.
(4) After passing through the wall, as in (1), if the flying object is given a thrust and leans in the desired direction, it can fly freely in the air again. As described above, the flying object of the present invention also enables free air movement by moving over obstacles using rolling.

(Operation 2 of the flying object)
As an operation 2 of the flying object of the present invention, a mechanism for ensuring safety at the time of landing or crash and automating posture recovery will be described with reference to FIG. 7 (a diagram viewed from the side).
(1) The landing can be easily performed by lowering the thrust of the propulsion unit 2 of the crash or the flying body, that is, by lowering the rotation speed of the four propellers.
(2) When landing or crashing, regardless of the landing position, the flying body (particularly the propellers such as propellers) rolls without being damaged by the protective frame that surrounds it, regardless of the shape of the ground surface. Due to the action of the weight, the attitude of the flying object is automatically recovered, and the flying object faces directly above. In this manner, the flying object of the present invention can ensure the safety at the time of landing or crash and automate the attitude recovery.

(Operation 3 of the flying object)
As an operation 3 of the flying object of the present invention, a mechanism of land movement using rolling and rotation of the flying object is shown in FIGS. 8 and 9 (view from above). In FIG. 8, when the propulsion unit 2 is controlled on the land to incline in the direction in which the flying object wants to move, the protection frames 5 and 6 rotate and roll on the land, and can move easily and safely. When rolling on land, no force is needed to lift the flying object, so less energy is required compared to conventional airborne movement. Furthermore, since the two left and right protection frames 5 and 6 function as wheels of a two-wheeled vehicle that secures a left and right width with respect to the traveling direction, the flying body is suppressed from moving in the roll direction when traveling on land, and the straight running stability. Is high.
At this time, FIG. 9 shows a case where a rotational force in the yaw direction is applied to the flying object.
(1) Like the wheels of a two-wheeled vehicle, the two left and right protection frames 5 and 6 rotate in opposite directions, so that the flying object can easily rotate in the yaw direction on the spot.
(2) Further, by giving a thrust to the flying object and tilting it in the desired direction as shown in FIG. 4, the flying object can move on land safely and in all directions.
Further, when rolling on land, no force is required to lift the flying object, so that less energy is required compared to conventional airborne movement. That is, the energy of rolling on land is only 10 to 20% of the energy of aerial flight.

(Operation of flying object 4)
As operation 4 of the present invention, a mechanism of free land movement by overcoming obstacles using rolling is shown in FIG. 10 (view from the side).
(1) In land movement, even if there is an obstacle, if the flying body is inclined in a direction in which thrust is to be applied to advance, the protect frames 5 and 6 rotate and move upward with respect to the obstacle.
(2) When moving down the obstacle, the rotational speed of each of the four propellers is lowered with respect to the time of ascending movement. As a result, the direction of the weight becomes the same as that during the upward movement.
In this way, the vehicle can easily and safely move over obstacles.

(Flight body operation 5)
As the operation 5 of the present invention, the mechanism of land running on a flat road, a rough road, or a ground surface having a slope, securing of a safe take-off attitude, and a smooth transition to flight are shown in FIGS. 11, 12, and 13 (from the side). Figure 3). On the flat road shown in FIG. 11, on the land, if the flying body is inclined in the direction in which thrust is desired to travel, the protection frames 5 and 6 rotate and roll on the land, and can travel easily and safely. , Can be stopped easily. When the flying object stops, the weight restores the attitude of the flying object and the flying object faces directly above. Then, if the propeller speed is increased and thrust is applied, takeoff can be performed safely.
If the ground surface shown in FIG. 12 is inclined in the direction in which it wants to give thrust to the flying object even on a rough road, the protect frames 5 and 6 can rotate and roll on land easily and safely, and if inclined in the opposite direction, Can be stopped easily. When the flying object stops, even on a rough road, the attitude of the flying object is restored by the action of the weight, and the flying object faces directly above. Then, if the propeller speed is increased and thrust is applied, takeoff can be performed safely.
Even on the ground surface having the inclined surface shown in FIG. 13, the protector frames 5 and 6 rotate and roll easily and safely on the land while the body of the flying object recovers its posture by the action of the weight and maintains the posture of facing directly above. . Then, if the propeller speed is increased and thrust is applied, the takeoff can be performed safely and smoothly on any ground surface.

(2nd Embodiment)
As a second embodiment of the present invention, a flying object capable of traveling on water will be described with reference to FIG. This allows the flying object of the first embodiment to travel on land and on water only by changing the contour 5-1 or 6-1 of the left and right protection frames 5 or 6 without adding a new propulsion unit or the like. Become
FIG. 14 shows a right side view of the right protection frame 7 for traveling on water. This is configured by using a contour section 5-1 and a skeleton section 5-2 of a protection frame for land traveling, and attaching a contour section 7-1 for water traveling outside the contour section 5-1. . As shown in the sectional view AA, the outer contour portion 7-1 is formed in a hollow tube shape with a resin material such as foamed polyethylene (apparent density: 0.0227 g / cm 3). Further, it may be formed solid with a foaming resin such as styrene foam (0.0169 g / cm3 in apparent density). That is, the outer contour 7-1 is set to have a smaller apparent density than water in order to obtain buoyancy. Here, the inside and outside may be exchanged, and a hollow structure or a water traveling contour portion 7-2 made of a foam material may be formed inside the contour portion 5-1. That is, as a structure for obtaining buoyancy, the outer contour portion 7-1 and / or the inner contour portion 7-2 are formed using a hollow tube and / or a foamed resin. Further, if the structure for obtaining buoyancy has the mechanical strength of the protect frame and the wheels, the contour may be constituted only by the structure for obtaining buoyancy.
In a proto-engine of about 380 g of the flying body and about 170 g of the protection frame (left and right), the vehicle ran on the water with the outline (500 mm in diameter) of the protection frame sinking about 65 mm.
According to the second embodiment of the present invention, not only flight, but also stable and safe by rolling, can freely run not only on land but also on water, and when rolling on land or water, the flying object Lifting power is not required, and depending on the situation, flight and land or water travel can be used properly, so less energy is required compared to conventional aerial flight, enabling high energy savings, versatility and high functionality, and the above problem Points 4), 6), 7), 12) and 13) can also be solved.

(Third embodiment)
An invention in which various functional components are mounted on a flying object and a plurality of flying objects function in conjunction with each other in a third embodiment of the present invention will be described with reference to FIGS.
FIG. 15 shows a configuration in which the position information detecting device 11 (not shown) is mounted on the control unit 1-1 of the flying object, and the camera 9 and the environment measuring device 10 are mounted vertically below the main body 1. The environment measuring device 10 is a device for measuring radiation, gas, and temperature.
The ground computer 12-1 (a measurement control device installed on land, consisting of a computer and a CPU board capable of writing a control program) and a calculation control device on the flying object (same as above, mounted on the control unit 1-1) The equipment mounted on the flying object can be controlled from the land. Therefore, the movement of the flying object can be controlled by automatic control or manual remote control.
As the measurement control device 12, the position information detecting device 10, the camera 9, and the environment measuring device 11 are mounted on each of a plurality of flying vehicles, and the control unit 1-1 and the ground computer 12-1 on the flying vehicles are wirelessly or wired. Connecting. The camera 9 is mounted with the direction of the lens set between the two protection frames so that the outside of the flying object can be photographed.
Further, the ground computer 12-1 can link and cooperate with a plurality of flying objects, thereby enabling simultaneous monitoring and simultaneous observation from various angles on land and in the air, and coordinated transport of heavy objects. The mechanism is shown in FIGS. 16 and 17 (view from the side).

FIG. 16 shows a method in which a large object that cannot be photographed by one camera 9 is photographed by the cameras 9 of a plurality of flying objects. First, as the measurement control device 12, the position information detecting device 10, the camera 9, and the environment measurement device 11 are mounted on each flying object, and the control unit 1-1 on the flying object and the ground computer 12-1 are connected wirelessly or by wire. I do.
After that, the position information of each flying object measured by the on-board sensor and the like are wirelessly transmitted to the ground computer 12-1. Next, the ground computer 12-1 calculates a control input such that all the flying objects cooperate with the object to perform a simultaneous photographing motion, and transmits the control input to the control unit 1-1 of the flying object. The propeller 2-1 causes all airborne and land vehicles to coordinate with the target.
As a result, by transmitting images and moving images taken simultaneously by the camera 9 of the flying object to the ground computer 12-1 and integrating the images, even a large object that cannot be photographed by one camera 9 can be used by a plurality of cameras 9 Can be taken.

FIG. 17 shows an application to a method of constantly monitoring a suspicious person from all directions. First, as the measurement control device 12, the position information detecting device 10, the camera 9, and the environment measurement device 11 are mounted on each flying object, and the control unit 1-1 on the flying object and the ground computer 12-1 are connected wirelessly or by wire. I do.
Thereafter, the position information of each flying object and the suspicious person measured by the position information detecting device 10 of the flying object and the camera 9 are wirelessly transmitted to the land-based ground computer 12-1. Next, the ground computer 12-1 calculates a control input that allows all the flying objects to cooperatively surround the suspicious person and simultaneously monitor from all directions, and transmits the control input to the control unit 1-1 of each flying object. As a result, the vehicle will carry out simultaneous surveillance of targets from all directions in the air and on land. By transmitting the moving image taken simultaneously by the camera of the flying object to the terrestrial measurement control device 12-1 and integrating the images, the suspicious individual can be constantly monitored from all directions. As described above, the ground computer 12-1 can remotely control the flight of the plurality of flying objects (the propulsion unit 2) and the operation of the on-board devices (the camera 9 and the environment measurement device 11).

(Fourth embodiment)
FIG. 18 shows a fourth embodiment of the present invention. The protection frames 5 and 6 in the first embodiment are integrated. At this time, the flying object becomes like a unicycle, so the stability during running on the ground is deteriorated, the accuracy of the rotation in the yaw direction on the spot is deteriorated, and the adverse effects such as the protection frame being reflected when the camera is mounted are shown. However, when running on land, stability and accurate yaw rotation are not required, and for applications without a camera, the left and right protection frames can be integrated so that the contour can be shared. By eliminating the need, the weight can be reduced, and since the protection frame is integrated, the rigidity is increased and the cost is reduced.

(Fifth embodiment)
The fifth embodiment of the present invention is directed to an automatic vehicle in which the charging terminal a (1-3) is provided below the battery unit (1-2) in the flying object according to the first to third embodiments. It is a charging device. The charging device includes a charging unit and an induction unit. The guide section has a guide section that abuts against the right and left protect frames of the flying object by utilizing the outer shapes thereof. The flying object is guided by the guide unit and set in the charging device.
FIG. 19 shows an example of the fifth embodiment. This is a guidance guide using the shape of the contour of the protection frame of the flying object. The pair of guides (14-1) abut one end thereof so as to be convex with respect to the direction in which the flying object advances toward the charging device. The other end is in contact with one end of another pair of guides (14-2). The pair of guidance guides (14-2) are set in parallel with each other, and the interval between them is set so as to fit the interval between the contours of the left and right protection frames of the flying object. The other end of the pair of guides (14-2) abuts against a wall (stopper, 14-3), and the wall serves as a stopper for stopping the advance of the flying object. Therefore, the height of the wall is set higher than the radius of the contour of the protection frame of the flying object. On the other hand, the guide portions (14-1, 14-2) may have a height that functions as a guide rail that guides the flying object by contacting the contour portion. Further, since the linear portion on the side surface of the guide and the arc portion of the spherical contour are in point contact, the frictional force is small and the flying object is guided smoothly.
When the flying object advances toward the charging device, if the projection of the guidance guide (14-1) is within the range of the contour, the flying object is guided to the guidance guide (14-1), and the guidance guide (14-1). 14-2).
FIG. 20 shows an embodiment in which the skeleton portion of the protect frame and the guide are in contact with each other to perform setting.
The guidance guide section (14-1) is installed so as to be concave in the direction in which the flying object travels, that is, open in a C-shape. If the traveling range of the flying object to the charging device is within the range of both ends of the guidance guide (14-1) opened in the shape of a square, the flying object is guided to the charging device along the guidance guide. More specifically, in the case of the right protection frame (5), the outline (5-1) is formed from the open end of the guiding guide (14-1) on the corresponding side of the guiding portion in the shape of a square. If so, the vehicle is guided to the charging device. In addition, since the upper straight portion of the guide and the spherical portion of the spherical skeleton are in point contact, the frictional force is small, and the flying object is smoothly guided.
In the case of the integrated protection frame according to the fourth embodiment, the guiding portion shown in FIG. 20 is used. The charging of the flying object by the charging device according to the fifth embodiment will be described with reference to FIG. The control of the flying object in the following process is performed by remote control from the ground.
(1) The flying object approaches the charging device while the protection frame rotates while contacting the guidance guides (14-1, 14-2).
(2) The protection frame hits the stopper (14-3), and the flying object stops. The switch (13-4) is pressed by the weight of the flying object, and the charging power supply unit (13-1) is raised by the movable mechanism (13-3).
(3) The flying object is lifted, the charging terminal A (1-3) of the flying object is connected to the charging terminal B (13-2) of the charging device, and charging is started. At this time, the adjustment guide (13-5) provided around the charging power supply section (13-1) guides the two charging terminals to be surely connected.
(4) When the charging is completed, the charging power supply section (13-1) is lowered by the movable mechanism (13-3). The flying object lands.
(5) By applying a thrust in the direction opposite to that of the above (1) to the flying body, the protect frame rolls and separates from the charging device.

(Sixth embodiment)
According to a sixth embodiment of the present invention, in the flying object according to the first to third embodiments and the charging device according to the fifth embodiment, a transceiver having a transmitting and receiving function for the flying object and the charging device is provided. The present invention relates to a system in which the position of a charging device and the position of a flying object are mounted, a propulsion unit of the flying object is controlled by a ground computer, and the charging terminals A and B are securely connected. FIG. 22 shows an example of the sixth embodiment. The guide part of the charging device in FIG. 22 is a case where the guiding is performed by the contour part in FIG.
The charging terminal a (1-3) of the battery of the flying object is provided on the side of the battery section (1-2) ahead in the traveling direction. The charging terminal B (13-2) of the charging device is provided in a direction facing the charging terminal A (1-3) of the flying object. The charging power supply unit (13-1) to which the charging terminal b (13-2) is attached is movable by the movable mechanism (13-3) in the left-right direction of FIG. When the flying object contacts the stopper (14-3), the switch (13-4) is activated, and the movable mechanism (13-3) and the elevating unit (13-7) are activated. The elevating unit (13-7) rises, abuts on the rear part of the flying object, and serves as a stopper for fixing the flying object to the charging device in the front-rear direction.
With reference to FIG. 23, the process of charging the flying object by the charging device according to the sixth embodiment will be described. The control of the flying object in the following steps can be performed by automatic control.
(1) The flying object detects a signal indicating the position of the charging device from the transmitter installed in the charging device by the mounted receiver, and controls the propulsion unit by the control unit to approach the charging device. When the flying object arrives at the charging device, the protection frame moves while rotating while coming into contact with the guides 1 and 2 (14-1, 14-2).
(2) The protection frame hits the stopper (14-3), and the flying object stops. The switch (13-4) is turned on by the weight of the flying object, and the elevating unit (13-7) rises to abut the rear part of the main body 1 of the flying object to fix the flying object. The rear part of the main body 1 also includes the rear ends of the mounted cameras, transceivers, and the like.
(3) The charging power supply unit (13-1) moves toward the flying object, the charging terminal A (1-3) and the charging terminal B (13-2) are connected, and charging is started.
(4) When charging is completed, the charging power supply unit (13-1) moves in the opposite direction to the flying object by the movable mechanism (13-3), and the charging terminal A (1-3) and the charging terminal B (13-2) ) Leaves.
(5) The elevating unit (13-7) descends to release the fixing of the flying object.
(6) By applying a thrust in the direction opposite to that in the above (1) to the flying body, the protect frame rolls and separates from the charging device.

A signal (radio wave or light) is transmitted using the transmission function of the transceiver (15-2) provided in the charging device, and the signal is received by the reception function of the transceiver (15-1) mounted on the flying object. A method of guiding the flying object to the charging device will be described with reference to FIGS.
FIG. 24 employs a wireless beacon (13-6) having a transmission function as a transceiver (15-2) provided in the charging device. The wireless sign (13-6) emits radio waves or light as a signal, but emits light in this example. On the other hand, a camera (9) is mounted on the flying object as a transceiver (15-1), thereby detecting light from a wireless sign. The position and direction of the charging device are read by the light detected by the camera (9), and the control unit of the flying object controls the propulsion unit to guide the propulsion unit to the charging device. Here, when transmitting light as a signal, the relative position between the flying object and the charging device is calculated based on the relative size relationship of the light source, that is, the relationship where the light source increases when the flying object approaches the charging device, and the flight is performed. The body can also be guided to the charging device.
FIG. 25 illustrates an example in which radio waves are communicated as signals as the wireless sign (13-6). For example, infrared rays or the like can be used as the radio signal.

FIG. 26 shows a method of guiding a flying object to a charging device based on a signal transmitted from the flying object. The position signal of the flying object is transmitted using the transmission function of the transceiver (15-1) of the flying object. The signal is received using the receiving function of the transceiver (15-2) of the charging device. The received position signal of the vehicle is transmitted to the ground computer (12-1) wirelessly or by wire. The ground computer (12-1) calculates a control signal of a flying object such as a route for appropriately guiding the flying object to the charging device from a position signal of the flying object and the charging device or relative position information of the flying object and the charging device. Then, a signal is wirelessly transmitted to the control unit (1-1) of the flying object. By the operation control of the flying object, the flying object is appropriately guided to the charging device. That is, the ground computer (12-1) plays a role of a control tower function of the flying object.
When the ground computer (12-1) plays the role of the control tower function, the number of computing devices mounted on the flying object can be reduced, and the weight of the flying object and the burden of power consumption can be reduced.

DESCRIPTION OF REFERENCE NUMERALS 1 Main unit 1-1 Control unit 1-2 Battery unit 1-3 Charging terminal b 2 Propulsion unit 2-1 Propeller 2-2 Motor 3 Fixed shaft 4 Rotating unit 5 Protect frame R
5-1 Outline section of protect frame R 5-2 Skeleton section 6 of protect frame R Protect frame L
6-1 Outline section of protect frame L 6-2 Frame section 7 of protect frame L Protect frame for traveling on water 7-1 Outer contour section for traveling on water 7-2 Inner contour section for traveling on water 8 Weight 9 Camera 10 Environment measuring device 11 Position information detector 12 Measurement controller 12-1 Ground computer (Measurement controller installed on land)
13 Charging unit 13-1 of charging device Charging power supply unit 13-2 Charging terminal b 13-3 Movable mechanism 13-4 Switch 13-5 Adjustment guide 13-6 Wireless sign (inductive sensor)
13-7 Elevator 14 Guider 14-1 of Charger Guide 1
14-2 Guide 2
14-3 Stopper 15 Transceiver 15-1 Transceiver for flying object 15-2 Transceiver for charging device

Claims (8)

Two or more propulsion units that generate propulsion;
A main unit including a control unit that controls the two or more propulsion units;
A pair of protection frames that are rollable and surround at least a part of the main body and the two or more propulsion units,
A multi-copter comprising: a shaft attached to the main body,
Since the pair of protect frames are attached to the shaft, the pair of protect frames can rotate with respect to the main body and the two or more propulsion units,
The multirotor the multirotor, characterized in that travel on land. The multicopter according to claim 1, wherein the main unit and the propulsion unit are rotatable around the axis by controlling the two or more propulsion units. 3. The multicopter according to claim 1, wherein the control unit has a function of pressing the pair of protection frames onto the land and performing control of rolling and moving on the land. 4. Comprising a weight fixed to the main body,
When the weight is positioned in the vertical lower portion of the main body portion, multirotor according to any one of claims 1 to 3, characterized in that the multirotor can fly vertically upward. 5. The multi-copter according to claim 1, wherein the pair of protect frames are used as left and right wheels, and the multi-copter changes direction by rotating the pair of protect frames in opposite directions. The multicopter according to the above. The multicopter according to claim 1, wherein the shaft is a fixed shaft fixed to the main body. The pair of protection frames are a pair of wheels,
The fixed shaft includes a pair of rotating parts,
The multicopter according to claim 6, wherein a rotation center of the pair of wheels is connected to the pair of rotating units, respectively, so that the pair of wheels can rotate with respect to the fixed shaft. Each of the pair of protect frames has a contour portion and a skeleton portion,
The contour part obtains buoyancy due to its apparent density being smaller with respect to water,
Multirotor according to any one of claims 1 to 7, characterized in that a part of the contour is the multirotor is in a state of submerged traveling on water.