JP6696825B2 - Flight equipment - Google Patents

Description

  The present invention relates to a flight device.

  In recent years, unmanned flight devices called drones have become popular. By using drones, for example, it is possible to inspect and investigate structures and the natural environment that were difficult for humans to enter. When conducting inspections and surveys using such unmanned flight devices, it is desirable that the flight devices be stationary at a specific position. That is, the flight device is required to stand still at a specific position where inspection or investigation is to be performed, without being affected by airflow or the like. Patent Document 1 discloses a flight device that receives laser light emitted from a laser projector. As a result, in the case of Patent Document 1, the altitude of the flight device is automatically controlled by the emitted laser light.

  However, in the case of Patent Document 1, the flight altitude of the flight device is merely automatically controlled. Therefore, even if the flight device can fly at a specific altitude, it is difficult to stand still at a specific position. Further, when the influence of the air flow becomes large, such as in strong leeward, it is difficult to maintain not only the position but also the altitude.

JP-A-2000-159193

  Therefore, an object of the present invention is to provide a flight device in which the distance between the object and the object is maintained accurately and which makes it easy to stand still at a specific position.

  According to the first aspect of the invention, the distance defining means is provided. The distance defining means defines the distance between the machine unit and the object. With this distance defining means, the distance between the machine unit and the target object is maintained accurately. Therefore, it is possible to easily stand still at a specific position with respect to the object.

In the invention according to claim 1 , the distance defining means has a casing. This casing covers the outer peripheral side of the thruster in parallel with the axis of the propeller. The casing protrudes toward the object side from other portions in the yaw axis direction of the machine body unit. Therefore, when the airframe unit approaches the object, the casing comes into contact with the object before the other parts. Since the casing and the object are in contact with each other in this manner, the distance between the body unit and the object is defined by the casing. Therefore, it is possible to easily stand still at a specific position with respect to the object. Further, since the casing covers the outer peripheral side of the thruster, when the propeller rotates, the inner side closer to the object is decompressed. As a result, a suction force due to decompression is generated between the inside of the casing and the object. Therefore, the machine body unit is held on the object by the generated suction force. As a result, the thruster output can be reduced when maintaining the airframe unit at a particular position relative to the object. Therefore, the energy consumed to make the airframe unit stationary can be reduced.

In the invention of claim 2 , the distance defining means has a casing. The casing covers the outer peripheral side of the body unit in parallel with the yaw axis of the body unit. The casing protrudes toward the object side from other portions in the yaw axis direction of the machine body unit. Therefore, when the airframe unit approaches the object, the casing comes into contact with the object before the other parts. Since the casing and the object are in contact with each other in this manner, the distance between the body unit and the object is defined by the casing. Therefore, it is possible to easily stand still at a specific position with respect to the object. Further, since the casing covers the outer peripheral side of the machine unit, the pressure inside is reduced when the propeller rotates. As a result, a suction force due to decompression is generated between the inside of the casing and the object. Therefore, the machine body unit is held on the object by the generated suction force. As a result, the thruster output can be reduced when maintaining the airframe unit at a particular position relative to the object. Therefore, the energy consumed to make the airframe unit stationary can be reduced.

  In the invention according to claim 6, the distance defining means has a protruding member. The projecting member extends from the machine unit in the yaw axis direction. Therefore, when the airframe unit approaches the target object, the protruding member contacts the target object. In this way, the contact between the projecting member and the object defines the distance between the machine unit and the object. Therefore, it is possible to easily stand still at a specific position with respect to the object.

The schematic diagram which looked at the flying device by 1st Embodiment from the edge part of the yaw axis direction. The schematic diagram which looked at the flight device by 1st Embodiment from the arrow II of FIG. Schematic diagram for explaining the operation of the flight device according to the first embodiment. The schematic diagram which looked at the flight device by 2nd Embodiment from the edge part of the yaw axis direction. The schematic diagram which looked at the flying device by 2nd Embodiment from the arrow V direction of FIG. The schematic diagram which shows the flight apparatus by 3rd Embodiment. It is a typical sectional view showing the flight device by a 4th embodiment, and is a figure showing the state where a valve part is opened. It is a typical sectional view showing the flight device by a 4th embodiment, and is a figure showing the state where a valve part is closed. The schematic diagram which shows the flight apparatus by 5th Embodiment. The schematic diagram which shows the flight apparatus by 6th Embodiment. Schematic diagram showing a flight device according to a seventh embodiment. The schematic diagram which shows the flight apparatus by 8th Embodiment. The schematic diagram which shows the flight apparatus by 9th Embodiment. A schematic perspective view showing a flight device according to a tenth embodiment.

Hereinafter, a plurality of embodiments of a flight device will be described with reference to the drawings. In addition, in a plurality of embodiments, the substantially same components are denoted by the same reference numerals, and the description thereof will be omitted.
(First embodiment)
As shown in FIGS. 1 and 2, the flight device 10 according to the first embodiment includes a body unit 11, a thruster 12, and a casing 13. The machine unit 11 includes a main body 14 and an arm portion 15. The main body 14 is provided at the center of gravity of the machine body unit 11 or at a position close to the center of gravity. The arm portion 15 projects outward from the main body 14. In the case of this embodiment, the machine body unit 11 includes four arm portions 15 at equal intervals in the circumferential direction of the main body 14. The number of arms 15 is not limited to four and can be set arbitrarily as long as it is two or more. An axis A passing through the center of the body unit 11 corresponds to the yaw axis of the flight device 10.

  Each thruster 12 is provided at the end of the arm 15 opposite to the body 14. The thruster 12 includes a propeller 16 and a motor 17 that rotationally drives the propeller 16. The propeller 16 rotates about an axis 18. In the case of this embodiment, the axis 18 of the propeller 16 is parallel to the yaw axis. The thruster 12 generates a propulsive force when the propeller 16 is rotated by the driving force of the motor 17.

  The casing 13 covers the outer peripheral side of the thruster 12. In the case of the present embodiment, the casing 13 is fixed to the arm portion 15. The inner circumference of the casing 13 is set larger than the turning range of the propeller 16. Further, the casing 13 projects in the yaw axis direction more than other portions. For example, when the flying device 10 flies toward the target object 19 as shown in FIG. 3, the casing 13 projects toward the target object 19 side from the fuselage unit 11 and the thruster 12 forming the flying device 10. As a result, the propeller 16 forming the thruster 12 is housed inside the casing 13. The casing 13 has a cylindrical shape that covers the outer peripheral side of the thruster 12. The casing 13 defines the distance between the airframe unit 11 and the target object 19 by contacting the target object 19. That is, the casing 13 corresponds to distance defining means.

  The flying device 10 includes a control unit 20 as shown in FIG. The control unit 20 is housed in the main body 14. The control unit 20 acquires various data by an information acquisition unit (not shown) and controls the output of the motor 17 of the thruster 12, the pitch of the propeller 16, and the like. The information acquisition unit has, for example, an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, and an altitude sensor. The flight device 10 receives a flight command wirelessly or by wire from an external operator (not shown). The control unit 20 of the flying device 10 controls the flight of the flying device 10 based on the input flight command and the data acquired by the information acquisition unit.

Next, the operation of the flight device 10 of the first embodiment having the above configuration will be described.
The flight device 10 rises by generating thrust on the thruster 12. The elevated flight device 10 flies toward an object 19 to be inspected or investigated. The target object 19 is, for example, a structure such as a building, a bridge, or a tunnel. The flight device 10 approaches the object 19 by continuing to climb and fly. In the case of the example shown in FIG. 3, the target object 19 is a ceiling of a building. The target object 19 is not limited to the ceiling of the building, but may be the back side of the bridge girder that constitutes the bridge. Further, the target object 19 is not limited to an object parallel to the ground such as a wall surface of a tunnel or a wall surface of a pier.

  When the flying device 10 approaches the target object 19, the casing 13 protruding from the airframe unit 11 comes into contact with the target object 19 prior to other portions, as shown in FIG. When the casing 13 contacts the object 19, the distance between the airframe unit 11 of the flying device 10 and the object 19 is defined by the casing 13. That is, since the casing 13 and the target object 19 are in contact with each other, the flight device 10 is restricted from further moving to the target object 19 side, and the flight device 10 is stuck to the target object 19.

  Thus, even when the flight device 10 is attached to the target object 19, the propeller 16 of the thruster 12 is rotating. Therefore, as shown by the dashed arrow in FIG. 3, the air inside the casing 13 is sent out from the side close to the target object 19 to the airframe unit 11 side far away with the propeller 16 interposed therebetween. As a result, the pressure inside the casing 13 on the side closer to the object 19 than the propeller 16 is reduced below atmospheric pressure. As a result, a suction force is generated between the flying device 10 and the object 19 due to the pressure reduction inside the casing 13. The generated suction force acts to maintain the state where the flight device 10 is attached to the target object 19. That is, the flying device 10 is in a state of being adsorbed to the target object 19 in the casing 13.

  When the flying device 10 is held on the target object 19 by the suction force generated in the casing 13, the distance between the body unit 11 and the target object 19 is defined according to the length of the casing 13. That is, when the flying device 10 is held by the target object 19, the distance between the body unit 11 and the target object 19 is defined by the protrusion amount of the casing 13 protruding from the body unit 11. Therefore, the positional relationship between the machine unit 11 and the target object 19 is maintained constant. Further, when the flight device 10 is attached to the target object 19 by the generated suction force, the output of the thruster 12 is reduced as compared with the case where the airframe unit 11 is stationary near the target object 19. That is, when the airframe unit 11 is simply stopped near the object 19, the thruster 12 is required to have thrust equivalent to ascending to hover the airframe unit 11. On the other hand, when the flying device 10 is attached to the target object 19 by using the suction force as in the present embodiment, it is sufficient that the thruster 12 generate a thrust enough to depressurize the inside of the casing 13. In this case, the thrust force of the thruster 12 required for decompressing the inside of the casing 13 is sufficiently smaller than that for hovering. As a result, by using the suction force as in the present embodiment, the energy consumed to make the machine unit 11 stationary with respect to the target object 19 is reduced.

  As described above, in the first embodiment, the casing 13 is provided as the distance defining means. The casing 13 covers the outer peripheral side of the thruster 12 in parallel with the shaft 18 of the propeller 16. Then, the casing 13 projects toward the object 19 side from other portions in the yaw axis direction of the machine body unit 11. Therefore, when the machine body unit 11 approaches the target object 19, the casing 13 comes into contact with the target object 19 prior to other portions. Since the casing 13 and the target object 19 are in contact with each other in this manner, the distance between the body unit 11 and the target object 19 is defined by the casing 13. Therefore, the machine unit 11 can be easily stopped at a specific position with respect to the target object 19. Furthermore, since the casing 13 covers the outer peripheral side of the thruster 12, when the propeller 16 rotates, the inside pressure is reduced. As a result, a suction force due to decompression is generated between the inside of the casing 13 and the object 19. Therefore, the machine unit 11 is held by the target object 19 by the generated suction force. As a result, the output of the thruster 12 can be reduced when the airframe unit 11 is maintained at a specific position with respect to the object 19. Therefore, the energy consumed to make the airframe unit 11 stationary can be reduced.

  In addition, in the first embodiment, the casing 13 projects toward the object 19 side in the yaw axis direction. Therefore, in the flying device 10, the first end of the casing comes into contact with the object 19 prior to the other portion. As a result, unexpected contact between the airframe unit 11 or the thruster 12 of the flying device 10 and the object 19 is avoided. Therefore, damage to each part can be reduced and safety can be improved.

(Second embodiment)
The flight device according to the second embodiment is shown in FIGS. 4 and 5.
In the second embodiment, the flying device 10 includes a casing 21 as a distance defining means. In the case of the second embodiment, the casing 21 covers the outer peripheral side of the machine body unit 11. That is, the casing 21 does not cover the outer circumference of the thruster 12 as in the first embodiment, but covers the entire outer circumference of the machine body unit 11 in a tubular shape. In the case of the second embodiment, the casing 21 is supported by the main body 14 by the arm portion 22. As described above, even when the casing 21 covers the outer periphery of the body unit 11, the pressure on the side closer to the target object 19 becomes lower than the atmospheric pressure due to the rotation of the propeller 16 of the thruster 12. By depressurizing the target object 19 side inside the casing 21, a suction force is generated between the flying device 10 and the target object 19.

  In the second embodiment as well, the distance between the object 19 and the machine body unit 11 is defined by the casing 21 as in the first embodiment. Therefore, the machine unit 11 can be easily stopped at a specific position with respect to the target object 19. Further, also in the second embodiment, since the casing 21 covers the outer peripheral side of the machine body unit 11, when the propeller 16 rotates, the inside pressure is reduced. As a result, a suction force is generated between the inside of the casing 21 and the object 19 due to the reduced pressure. Therefore, the energy consumed to make the airframe unit 11 stationary can be reduced. Further, also in the second embodiment, the abrupt contact between the airframe unit 11 or the thruster 12 of the flying device 10 and the target object 19 is avoided. Therefore, damage to each part can be reduced and safety can be improved.

(Third Embodiment)
A flight device according to the third embodiment is shown in FIG.
In the third embodiment, the casing 13 has an elastic portion 23 at the end on the object 19 side. The elastic portion 23 is formed of a flexible material such as porous resin or rubber. The elastic portion 23 is annularly provided at the end of the casing 13 on the side of the object 19. As described above, the flight device 10 flies in the yaw axis direction. Then, when the flying device 10 approaches the target object 19, the casing 13 first contacts the target object. By providing the elastic portion 23 in the casing 13 that contacts the target object 19, the impact when the flying device 10 contacts the target object 19 is mitigated. Further, by providing the flexible elastic portion 23, the elastic portion 23 deforms along the object 19. Therefore, even when the target object 19 is an irregular surface including irregularities, the casing 13 closely contacts the target object 19.

  In the third embodiment, the casing 13 is provided with the elastic portion 23. Thereby, the impact at the time of contact between the casing 13 and the object 19 can be mitigated. Further, by deforming the flexible elastic portion 23, stable contact between the casing 13 and the target object 19 is easy even when the surface shape of the target object 19 is rough or when the target object 19 has an irregular shape. become. Therefore, the position of the flying device 10 with respect to the object 19 can be defined more precisely. Further, by providing the elastic portion 23, the contact between the casing 13 and the target object 19 becomes more dense. Therefore, the inside of the casing 13 can be easily depressurized, and the energy consumption can be further reduced.

(Fourth Embodiment)
A flight device according to the fourth embodiment is shown in FIGS. 7 and 8.
In the fourth embodiment, the casing 13 has a valve portion 24. The valve portion 24 is provided closer to the object 19 than the propeller 16 in the casing 13 that covers the thruster 12. The valve portion 24 is made of a flexible material and connects or disconnects the inside of the casing 13 due to a pressure difference. Specifically, the valve portion 24 is provided closer to the object 19 than the propeller 16. Therefore, when the propeller 16 rotates, the air on the side of the object 19 with respect to the propeller 16 is sucked toward the machine unit 11 side. At this time, the valve portion 24 opens downward due to the flow of air generated by the propeller 16, and connects the object 19 side and the machine body unit 11 side inside the casing 13. As a result, the pressure on the object 19 side of the valve portion 24 is reduced by the flow of air accompanying the rotation of the propeller 16. Here, when the rotation of the propeller 16 is decelerated or stopped after the target object 19 side is sufficiently decompressed, the pressure on the side of the machine body unit 11 that is the lower part of FIG. The pressure above 7 is low. In this way, when a pressure difference occurs across the valve portion 24 and the pressure on the side far from the object 19 increases, the valve portion 24 shuts off the inside of the casing 13 as shown in FIG. As a result, the inside of the casing 13 on the object 19 side of the valve portion 24 is maintained in a reduced pressure state lower than atmospheric pressure. Since the pressure on the object 19 side of the valve portion 24 is maintained in the reduced pressure state, the suction force between the casing 13 and the object 19 is maintained even if the propeller 16 does not continue to rotate. That is, the object 19 side of the valve portion 24 of the casing 13 is in a state similar to a suction cup.

  In the fourth embodiment, the casing 13 is provided with the valve portion 24. When the propeller 16 is rotating, the valve portion 24 connects the inside of the casing 13, and the pressure on the object 19 side of the valve portion 24 of the casing 13 is reduced. On the other hand, when the propeller 16 decelerates or stops, the valve portion 24 shuts off the inside of the casing 13 due to the pressure difference, and the depressurized state is maintained on the object 19 side of the casing 13 relative to the valve portion 24. Therefore, even when the drive of the thruster 12 is stopped or the output is reduced, the suction force is maintained inside the casing 13. Therefore, the energy consumed when the position of the airframe unit 11 is stationary with respect to the target object 19 can be further reduced.

  In addition, in 4th Embodiment, the structure which the valve part 24 opens and closes by a pressure difference was demonstrated. However, the valve portion 24 may be configured to mechanically open and close the inside of the casing 13 by using power not shown.

(Fifth Embodiment)
FIG. 9 shows a flight device according to the fifth embodiment.
In the fifth embodiment, the flying device 10 has a protruding member 31 as a distance defining means. The protruding member 31 extends from the machine unit 11 in the yaw axis direction. In the case of the fifth embodiment, the projecting member 31 is provided so as to extend upward when the flying device 10 is raised, that is, toward the target 19 side of the machine body unit 11. By contacting the target object 19, the projecting member 31 restricts further movement of the machine unit 11 toward the target object 19. Thereby, the projecting member 31 defines the distance between the machine body unit 11 and the target object 19.

  In the fifth embodiment, the flying device 10 includes the protruding member 31 as the position defining means. The protruding member 31 extends from the machine unit 11 in the yaw axis direction. Therefore, when the machine body unit 11 approaches the target object 19, the projecting member 31 comes into contact with the target object 19 prior to other portions. As described above, since the protruding member 31 and the target object 19 are in contact with each other, the distance between the airframe unit 11 and the target object 19 is defined by the protruding member 31. Therefore, the machine unit 11 can be easily stopped at a specific position with respect to the target object 19.

(Sixth Embodiment)
FIG. 10 shows a flight device according to the sixth embodiment.
In the sixth embodiment, a camera 32 as an inspection means is provided. The camera 32 acquires an image of the surroundings including the target object 19. The camera 32 as an inspection means is an example. The inspection unit is not limited to the camera 32, and may be, for example, a device that irradiates and receives laser light to inspect the surface shape of the object 19. Further, the inspection means may be a sensor for measuring the surrounding environment such as temperature and wind speed. When the camera 32 is used as in the sixth embodiment, the object 19 is visually inspected through the camera 32. The camera 32 is provided on the protruding member 40.

  In the sixth embodiment, the protruding member 40 is divided into two members, a first member 41 and a second member 42, in the yaw axis direction. The camera 32 is provided on the divided first member 41. The divided first member 41 and second member 42 are relatively rotatable about a central axis, that is, a yaw axis. The flight device 10 according to the sixth embodiment includes the rotation drive unit 43. The rotary drive unit 43 rotationally drives the first member 41 provided with the camera 32 in a direction perpendicular to the yaw axis. That is, the rotation driving unit 43 relatively drives the first member 41 and the second member 42 to rotate relative to each other. Accordingly, even when the machine body unit 11 is stationary, the first member 41 provided with the camera 32 is rotated about the yaw axis by the rotation drive unit 43. As a result, the camera 32 acquires an image over the entire circumference in the circumferential direction around the yaw axis. At this time, the tip of the protruding member 40 is only in contact with the target object 19. Therefore, the first member 41 provided with the camera 32 is easily rotated by the driving force of the rotation driving unit 43.

  A camera 32 is provided in the sixth embodiment. Therefore, the camera 32 acquires an image around the target object 19 in a state where the distance between the flying device 10 and the target object 19 is defined by the projecting member 40. Therefore, an image with high position accuracy can be acquired without causing unnecessary position changes. Further, in the sixth embodiment, the camera 32 is rotationally driven by the rotational driving unit 43 about the projecting member 40. Therefore, the camera 32 can take an image of the entire circumference of the projecting member 40 without rotating the machine body unit 11.

(Seventh embodiment)
FIG. 11 shows a flight device according to the seventh embodiment.
In the seventh embodiment, the drive unit 50 is provided. The drive unit 50 reciprocally drives the camera 32 provided on the protruding member 40 in a direction parallel to the yaw axis. For example, the drive unit 50 has a power unit 51 provided on the camera 32 side and a rack 52 provided on the projecting member 40. The power unit 51 has, for example, a motor and a pinion. When the pinion driven by the motor of the power unit 51 meshes with the rack 52, the camera 32 reciprocates in the yaw axis direction along the protruding member 40. As a result, even when the machine body unit 11 is stationary, the camera 32 moves in the yaw axis direction along the projecting member 40. As a result, the camera 32 acquires an image while moving along the yaw axis.

In the seventh embodiment, the camera 32 is driven by the drive unit 50 along the protruding member 40. Therefore, it is possible to take an image with the camera 32 along the protruding member 40 without moving the machine unit 11.
In addition, in the flying device 10 of the seventh embodiment, an example provided as a modification of the sixth embodiment in combination with the rotation drive unit 43 has been described. However, the flying device 10 may be configured to include only the drive unit 50 without including the rotation drive unit 43.

(Eighth Embodiment)
FIG. 12 shows a flight device according to the eighth embodiment.
In the eighth embodiment, the projecting member 60 has an expandable / contractible structure whose total length changes. That is, the protruding member 60 also functions as an expansion / contraction means. The protruding member 60 has a first member 61 and a second member 62 as shown in FIG. 12, for example. The inner diameter of the second member 62 on the machine body unit 11 side is larger than the outer diameter of the first member 61 on the object 19 side. Therefore, the first member 61 can move inside the second member 62. As a result, the first member 61 becomes axially movable relative to the second member 62, and the amount of protrusion from the second member 62 changes. By changing the protrusion amount of the first member 61 protruding from the second member 62 in this manner, the entire length of the protruding member 60 changes. That is, the protruding member 60 can be expanded and contracted. By changing the amount of protrusion of the first member 61 by an expansion / contraction drive unit (not shown) or the like, the total length of the protrusion member 60 is changed.

  In the eighth embodiment, the protruding member 60 can be expanded and contracted. Therefore, the distance between the machine body unit 11 and the target object 19 is arbitrarily defined according to the total length of the projecting member 60. Therefore, even when the distance between the body unit 11 and the target object 19 is set variously, the distance can be stably maintained, and the body unit 11 can be easily moved to a specific position with respect to the target object 19. Can be stationary.

  In the eighth embodiment, the example in which the protruding member 60 is configured by the two members of the first member 61 and the second member 62 has been described. However, the projecting member 60 is not limited to two, and may be composed of three or more members whose outer diameter and inner diameter change stepwise. Further, the protruding member 60 is not limited to the structure illustrated in FIG. 12 as long as it can be expanded and contracted, and can be arbitrarily adopted. For example, the configuration may be such that the distance from the machine body unit 11 to the target object 19 changes as one projecting member 60 penetrating the main body 14 moves in the axial direction. Further, the first member 61 and the second member 62 of the eighth embodiment may be relatively rotatable, and the camera 32 may be rotatable around the protruding member 60 as in the sixth embodiment. .

(9th Embodiment)
The flight device according to the ninth embodiment is shown in FIG.
In the ninth embodiment, the projecting member 31 has an elastic portion 71 at the end opposite to the machine unit 11 in the yaw axis direction, that is, at the end closer to the target object 19. The elastic portion 71 is formed of a flexible material such as porous resin or rubber. The flying device 10 flies in the yaw axis direction. When the flying device 10 approaches the target object 19, the tip of the projecting member 31 first contacts the target object 19. By providing the elastic portion 71 at the tip of the projecting member 31 in contact with the target object 19, the impact when the flying device 10 contacts the target object 19 is mitigated. Further, by providing the flexible elastic portion 71, the elastic portion 71 is deformed along the object 19. Therefore, even when the target object 19 is an irregular surface including irregularities, the projecting member 31 stably contacts the target object 19. Note that in FIG. 13, the outer diameter of the elastic portion 71 is shown to be larger than that of the protruding member 31. However, the outer diameter of the elastic portion 71 may be the same as or smaller than that of the protruding member 31.

  In the ninth embodiment, the elastic portion 71 is provided at the tip of the protruding member 31. Thereby, the impact at the time of contact between the projecting member 31 and the target object 19 can be mitigated. Further, by deforming the flexible elastic portion 71, even if the surface shape of the target object 19 is rough or the target object 19 has an irregular shape, the projecting member 31 and the target object 19 are in stable contact with each other. .. Therefore, the position of the flying device 10 with respect to the object 19 can be more stably defined.

(10th Embodiment)
The flight device according to the tenth embodiment is shown in FIG.
In the tenth embodiment, the flying device 10 further includes a protruding member 81 in addition to the protruding member 31 provided with the camera 32. That is, the flying device 10 includes the plurality of projecting members 31 and the projecting members 81. Like the protruding member 31, the protruding member 81 protrudes in the yaw axis direction from a plurality of positions of the machine body unit 11. By providing the projecting member 81 in addition to the projecting member 31 as described above, the machine unit 11 contacts the object 19 more stably. Therefore, the position of the flying device 10 with respect to the object 19 can be more stably defined.

Further, the protruding member 81 may protrude not only on one side but also on both sides in the yaw axis direction. That is, the flying device 10 may include not only the protruding member 81 extending toward the target 19 side in the yaw axis direction as shown in FIG. 14, but also a protruding member extending toward the side opposite to the target 19. Further, the flying device 10 may be provided with inspection means such as the camera 32 on each of the plurality of projecting members 81.
Note that the number of protruding members 81 is not limited to two, and may be any number as long as it is one or more.

  The present invention described above is not limited to the above embodiment, but can be applied to various embodiments without departing from the scope of the invention. Although a plurality of embodiments explained the example applied individually, they may be applied in combination.

  In the drawing, 10 is a flight device, 11 is a fuselage unit, 12 is a thruster, 13 and 21 are casings (distance determining means), 16 is a propeller, 18 is a shaft, 19 is an object, 23 is an elastic part, and 24 is a valve part. , 31, 40 and 81 are projecting members (distance defining means), 32 is a camera (inspecting means), 43 is a rotation driving section (rotating means), 50 is a driving section (driving means), 60 is a projecting member (expanding and contracting means). , 71 denote elastic portions.

Claims (3)

A plurality of thrusters (12) having a propeller (16) rotating about an axis (18) and generating propulsion,
An airframe unit (11) provided with the thruster (12),
Distance defining means (13, 21, 31, 40, 60, 81) for defining the distance between the airframe unit (11) and the object (19),
Equipped with
The distance defining means covers the outer peripheral side of the thruster (12) in parallel with the axis (18) of the propeller (16), and the target is more than the other part in the yaw axis direction of the airframe unit (11). A casing (13) protruding toward the object (19) side,
When the casing (13) is in contact with the object (19), the propeller (16) rotates so that the air inside the casing (13) sandwiches the propeller (16) and the object. (19) is sent from the side closer to the far side, and the side of the propeller (16) closer to the object (19) is decompressed inside the casing (13) ,
The casing (13) is a flight device having a flexible elastic portion (23) at an end portion on the object (19) side . A plurality of thrusters (12) having a propeller (16) rotating about an axis (18) and generating propulsion,
An airframe unit (11) provided with the thruster (12),
Distance defining means (13, 21, 31, 40, 60, 81) for defining the distance between the airframe unit (11) and the object (19),
Equipped with
The distance defining means covers the outer peripheral side of the machine body unit (11) in parallel with the yaw axis of the machine body unit (11), and the target is more than the other portion in the yaw axis direction of the machine body unit (11). A casing (21) protruding toward the object (19),
When the casing (21) is in contact with the target object, the propeller (16) rotates so that the air inside the casing (21) sandwiches the propeller (16) and the target object (19). From the side closer to the distant side, and the side of the propeller (16) closer to the object (19) is depressurized inside the casing (21) ,
The casing (21) is a flight device having a flexible elastic portion (23) at an end portion on the object (19) side . The flight device according to claim 1 or 2, wherein the casing (13, 21) has a valve portion (24) for connecting or disconnecting the inside of the casing (13, 21) closer to the object (19) than the propeller (16).

Images