JP6754515B1 - Aircraft - Google Patents

Abstract

It is not always easy to realize a flight with sufficiently high reliability in terms of safety and the like by using a conventional UAV. The airframe frame (11f) has a first pipe frame member (510) whose both ends are bent outward in a top view and a second pipe frame member whose both ends are bent outward in a top view. The first plate frame member (610) connecting the (520), one bent portion of the first pipe frame member (510), and one bent portion of the second pipe frame member (520), and the first It has a second plate frame member (620) that connects the other bent portion of the pipe frame member (510) and the other bent portion of the second pipe frame member (520), and has a first pipe frame member. The (510) and the second pipe frame member (520) are multi-rotor helicopters (10) arranged so as to face each other in a top view.

Description

The present invention relates to, for example, an air vehicle for practical use of unmanned long-distance flight in various consumer fields.

UAVs (Unmanned Aerial Vehicles) such as unmanned exploration helicopters have been studied in the United States and other countries for military use.

In recent years, lithium-ion battery technology has been rapidly developed, and UAVs equipped with batteries such as LiPo (Lithium Polymer) batteries have been put into practical use for agricultural use such as pesticide spraying work.

Therefore, a UAV equipped with such a battery is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-76676

By the way, the present inventor believes that it is desirable that a UAV equipped with a battery be put into practical use more widely for various purposes.

However, it is not always easy to realize a flight with sufficiently high reliability in terms of safety and the like by using a conventional UAV.

An object of the present invention is to provide an air vehicle capable of realizing a more reliable flight in consideration of the above-mentioned conventional problems.

The first invention comprises an airframe having an airframe frame and an airframe.
A flight motor unit attached to the airframe, which has a flight motor for driving a propeller,
With
The airframe frame
The first pipe frame member whose both ends are bent outward in top view,
A second pipe frame member whose both ends are bent outward in top view,
A first plate frame member that connects one bent portion of the first pipe frame member and one bent portion of the second pipe frame member.
A second plate frame member that connects the other bent portion of the first pipe frame member and the other bent portion of the second pipe frame member.
Have,
The first pipe frame member and the second pipe frame member are flying objects that are arranged so as to face each other in a top view.

In the second aspect of the present invention, the one bent portion of the first pipe frame member and the one bent portion of the second pipe frame member utilize a U-band fastener to form the first plate frame member. It is attached to the upper surface of
The other bent portion of the first pipe frame member and the other bent portion of the second pipe frame member are attached to the upper surface of the second plate frame member by using a U-band fastener. It is the first flying object of the present invention characterized by the above.

In the third aspect of the present invention, the flight motor unit has an arm member having one end attached to the flight motor and the other end attached to the airframe.
The number of flight motors is 4,
The number of the arm members is 4,
Each of the four arm members includes the one bent portion of the first pipe frame member, the one bent portion of the second pipe frame member, the other bent portion of the first pipe frame member, and the other bent portion. The first flying object of the present invention is characterized in that it is attached to the airframe so as to correspond to the other bent portion of the second pipe frame member.

The first invention related to the present invention includes an airframe having an airframe frame and an airframe.
A flight motor unit attached to the airframe, which has a flight motor for driving a propeller,
A power supply unit attached to the airframe that supplies power to the flight motor unit, and
The control unit attached to the aircraft and
A liquid tank unit attached to the machine that stores the liquid required for aerial spraying work, and
With
The aerial spraying operation is performed so that the liquid remains in the liquid tank unit after the aerial spraying operation.
The amount of the liquid remaining in the liquid tank unit is a flying object characterized in that the change in the flight weight center position before and after the aerial spraying operation is the minimum liquid storage amount that does not exceed a predetermined level.

A second invention related to the present invention is the flying object of the first invention related to the present invention, wherein the minimum liquid storage amount is determined based on the attitude controllable range of the control unit. is there.

A third invention related to the present invention is related to the present invention, wherein the control unit controls the aerial spraying operation so that the amount of the liquid does not fall below the minimum liquid storage amount. It is an air vehicle of the first or second invention.

A fourth invention related to the present invention is the first aspect of the present invention, wherein the control unit controls a user warning operation so that the amount of the liquid does not fall below the minimum liquid storage amount. Or the flying object of the second invention.

A fifth invention related to the present invention is the flying object of the first invention related to the present invention, wherein the liquid tank unit is detachably attached to the airframe.

A sixth invention related to the present invention is related to the present invention, wherein the liquid tank unit has an outer shape such that the shaking of the airframe due to wind is suppressed, and functions as a windshield canopy. It is an airframe of the invention of 1.

A seventh invention related to the present invention is the flying object of the first invention related to the present invention, wherein the airframe frame functions as a liquid tank unit mounting frame for mounting the liquid tank unit. is there.

The eighth invention related to the present invention is the flying object of the first invention related to the present invention, which comprises a leg having a skid formed by utilizing a carbon plate.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide an air vehicle capable of realizing more reliable flight.

Block diagram of a multi-rotor helicopter and a wireless control device according to an embodiment of the present invention. Schematic partial top view of the vicinity of the airframe frame of the multi-rotor helicopter of the embodiment of the present invention. Left side view of the multi-rotor helicopter of the embodiment of the present invention Top view of the multi-rotor helicopter of the embodiment of the present invention Bottom view of the multi-rotor helicopter of the embodiment of the present invention (A) Schematic partial cross-sectional view of the vicinity of the fuselage frame of the multi-rotor helicopter of the embodiment of the present invention (No. 1), (b) Schematic of the vicinity of the fuselage frame of the multi-rotor helicopter of the embodiment of the present invention. Partial sectional view (No. 2) Schematic partial perspective view of the vicinity of the airframe of the multi-rotor helicopter according to the embodiment of the present invention. Schematic partial top view of the vicinity of the airframe of the multi-rotor helicopter according to the embodiment of the present invention. Schematic left side view of the vicinity of the legs of the multi-rotor helicopter of the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

First, the configuration and operation of the multi-rotor helicopter 10 of the present embodiment will be specifically described with reference to FIGS. 1 to 5.

Here, FIG. 1 is a block diagram of the multi-rotor helicopter 10 and the radio control device 20 of the embodiment of the present invention, and FIG. 2 is a schematic view of the vicinity of the body frame 11f of the multi-rotor helicopter 10 of the embodiment of the present invention. FIG. 3 is a left side view of the multi-rotor helicopter 10 of the embodiment of the present invention, and FIG. 4 is a top view of the multi-rotor helicopter 10 of the embodiment of the present invention. Is a bottom view of the multi-rotor helicopter 10 according to the embodiment of the present invention.

Similar below, but some components may not be shown in the drawings or may be shown fluoroscopically or abbreviated.

The multi-rotor helicopter 10 is an example of an air vehicle in the present invention.

The flight motor unit 100, the power supply unit 200, the liquid tank unit 300, and the control unit 400 are attached to the airframe 11 having the airframe frame 11f.

The flight motor unit 100 is a unit having a flight motor 110 for driving the propeller 120. The electric power supply unit 200 is a unit that supplies electric power to the flight motor unit 100. The liquid tank unit 300 is a unit for storing the liquid required for aerial spraying work.

The airframe frame 11f includes a first pipe frame member 510, a second pipe frame member 520, a first plate frame member 610, and a second plate frame member 620.

Both the first pipe frame member 510 and the second pipe frame member 520 are members whose both ends are bent outward in a top view.

The first pipe frame member 510 and the second pipe frame member 520 are arranged so as to face each other in a top view.

The configuration of the first pipe frame member 510 and the configuration of the second pipe frame member 520 are similar to each other and are similar.

A conventional heavy connecting member manufactured by CNC (Computer Numerical Control) machining for connecting adjacent rectangular sides arranged at four corners of an airframe frame 11f formed in a rectangular shape in a top view. Since such as is not required, not only the highly reliable flight is realized by reducing the weight of the airframe frame, but also the cost performance is improved.

The first plate frame member 610 is a member that connects one bent portion of the first pipe frame member 510 and one bent portion of the second pipe frame member 520.

The second plate frame member 620 is a member that connects the other bent portion of the first pipe frame member 510 and the other bent portion of the second pipe frame member 520.

The configuration of the first plate frame member 610 and the configuration of the second plate frame member 620 are similar to each other and are similar.

One bent portion of the first pipe frame member 510 and one bent portion of the second pipe frame member 520 are attached to the upper surface of the first plate frame member 610 by using the U-band fastener 530.

The other bent portion of the first pipe frame member 510 and the other bent portion of the second pipe frame member 520 are attached to the upper surface of the second plate frame member 620 by using the U-band fastener 530.

Since all of these attachments are the same, the attachment of one bent portion of the first pipe frame member 510 to the upper surface of the first plate frame member 610 will be specifically described as follows.

One bent portion of the first pipe frame member 510 is attached to the upper surface of the first plate frame member 610 by utilizing two U-band fasteners 530 arranged so as to sandwich the corner.

The two U-band fasteners 530 may be connected by a reinforcing member arranged along one bend of the first pipe frame member 510.

As shown in FIG. 6 (a), each of the two wedge members 531 is vertically aligned with each of both ends of the U-band fastener 530, whereby the U-band fastener 530 is thed. It is firmly fixed to one plate frame member 610.

Here, FIG. 6A is a schematic partial cross-sectional view (No. 1) of the AA line (see FIGS. 2 and 9) in the vicinity of the airframe frame 11f of the multi-rotor helicopter 10 according to the embodiment of the present invention. ..

As shown in FIG. 6 (b), one bar member 532 is horizontally aligned with both ends of the U-band fastener 530, whereby the U-band fastener 530 is a first plate frame member. It may be firmly fixed to 610.

Here, FIG. 6B is a schematic partial cross-sectional view taken along line AA (No. 2) in the vicinity of the airframe frame 11f of the multi-rotor helicopter 10 according to the embodiment of the present invention.

The flight motor unit 100 has an arm member 700 whose one end is attached to the flight motor 110 and the other end is attached to the airframe 11.

The number of flight motors 110 is 4, and the number of arm members 700 is also 4.

Each of the four arm members 700 includes one bent portion of the first pipe frame member 510, one bent portion of the second pipe frame member 520, the other bent portion of the first pipe frame member 510, and the second pipe. It is attached to the machine body 11 so as to correspond to the other bent portion of the frame member 520.

Since the four flight motors 110 are symmetrically arranged so as to correspond to the four corners of the fuselage frame 11f formed in a rectangular shape in the top view, highly reliable flight with excellent symmetry can be performed. Not only will it be realized, but the aesthetics will also be improved.

The number of propellers 120 attached to the machine body 11 by using the radially extending arm members is 4, in the present embodiment, but may be smaller than 4 or larger than 4.

A camera unit or the like may be attached using the legs 12.

In many industrial UAVs, a battery-powered UAV system that uses a lithium-ion rechargeable battery is adopted. The maximum non-landing flight time of a multi-rotor UAV for pesticide application is approximately 2 hours with a 3 kg payload such as a camera unit and approximately 20 minutes with a 10 kg payload. Battery technology is expected to achieve a maximum non-landing flight time of 10 hours with a payload of 10 kilograms, but due to restrictions on weight volume energy density, a maximum non-landing flight time exceeding 2 hours can be achieved by a battery-powered UAV system. It is difficult to achieve.

On the other hand, since the octane number of gasoline is high, there is a possibility that a large amount of energy can be extracted by using a drive device of an internal combustion engine represented by a gasoline engine generator, but the weight of the device tends to be large.

The present inventor believes that it is desirable to put into practical use an ultra-compact and lightweight hybrid system for UAVs, such as a hybrid system for automobiles, in which an engine, a generator and a livestock battery are combined.

In the multi-rotor helicopter 10, a hybrid UAV system that utilizes the power supply unit 200 is adopted.

The power supply unit 200 includes a generator 210 that supplies power to the flight motor unit 100, an engine 220 that drives the generator 210, and power to the flight motor unit 100 when the power of the generator 210 is insufficient. It is a unit having a LiPo battery 230 for supplying the above.

The engine 220, such as a single-cylinder or multi-cylinder gasoline engine, and the generator 210 are housed in an integrally molded housing, resulting in ultra-compactness and weight reduction. As parts of the engine 220, a spark plug, an air cleaner, an air-cooled cooling fin for heat dissipation, a starting recoil starter, and the like are efficiently housed. The PTO (Power Take Off) shaft of the engine 220 is integrally formed with the power generation coil rotation shaft of the generator 210, and a direct contribution to the magnetic flux power generation rotation motion of the power generation coil is realized.

The LiPo battery 230 is charged using the surplus electric power of the generator 210.

The LiPo battery 230 not only supplies the flight motor 110 with a current of approximately 1300 mA when the maximum load current for takeoff or landing is required, but also utilizes the surplus power of the generator 210 to reserve. It is charged to, so even a maximum non-landing flight time of 10 hours is expected with a payload of 100 kilograms.

The LiPo battery 230 automatically supplies electric power to the flight motor unit 100 when an abnormality occurs in the generator 210.

When an abnormality such as a fire is detected by the temperature sensor and the power from the generator 210 is stopped, the LiPo battery 230, which is the built-in battery of the hybrid UAV system, automatically starts and continues highly reliable flight. A fail-safe system for this is realized.

Next, the configuration and operation of the multi-rotor helicopter 10 of the present embodiment will be described more specifically with reference to FIGS. 1 and 7 to 9.

Here, FIG. 7 is a schematic partial perspective view of the vicinity of the body 11 of the multi-rotor helicopter 10 of the embodiment of the present invention, and FIG. 8 is a schematic partial perspective view of the vicinity of the body 11 of the multi-rotor helicopter 10 of the embodiment of the present invention. It is a schematic partial top view, and FIG. 9 is a schematic partial left side view of the vicinity of the leg 12 of the multi-rotor helicopter 10 according to the embodiment of the present invention.

FIG. 7 shows a state in which the flight motor unit 100 and the control unit 400 are removed.

FIG. 8 shows a state in which the airframe 11 is folded and the propeller 120 is removed.

While more specifically explaining the operation of the multi-rotor helicopter 10 of the present embodiment, the control method of the flying object will also be described.

The aerial spraying operation is performed so that the liquid remains in the liquid tank unit 300 after the aerial spraying operation.

The liquid is a pesticide in the present embodiment, but may be water, a fire extinguisher, or gasoline for an engine.

The liquid tank unit 300 is a unit having a liquid tank 301 and a liquid spraying mechanism including a liquid spraying nozzle 302 and the like.

The upper part 301u of the liquid tank of the liquid tank 301 is attached to the upper part of the machine body 11, and the lower part 301d of the liquid tank of the liquid tank 301 which is communicated with the upper part 301u of the liquid tank is attached to the lower part of the machine body 11. ..

A solid sprayer 303 for spraying seeds, granular fertilizers, or the like may be attached to the lower surface of the lower portion 301d of the liquid tank.

The upper part 301u of the liquid tank can store about 10 kilograms of liquid, and the lower part 301d of the liquid tank can store about 2 kilograms of liquid.

The amount of liquid required for standard aerial spraying operations on 1 hectare of farmland, corresponding to 10 minutes of non-landing flight time, is approximately 8 kilograms, less than 12 (= 10 + 2) kilograms. Therefore, when a typical aerial spraying operation is performed, approximately 4 (= 12-8) kilograms of liquid remains in the liquid tank unit 300 after the aerial spraying operation.

The amount of liquid remaining in the liquid tank unit 300 is the minimum amount of liquid stored in which the change in the flight weight center position before and after the aerial spraying operation does not exceed a predetermined level.

The minimum liquid storage amount is determined based on the attitude controllable range of the control unit 400.

The center-of-gravity movement path followed by the flight center-of-gravity position, which changes over time as the aerial spraying operation progresses, may be a straight straight line or a curved curve. However, the level of change in the position of the flight center of gravity before and after the aerial spraying operation is usually the maximum level of change regardless of the path of movement of the center of gravity.

The device weight of the power supply unit 200 including the tank in which the engine gasoline is stored is about 5 kilograms.

The lower portion 301d of the liquid tank is attached to the side of one end of the machine 11, and the power supply unit 200 is attached to the side of the other end of the body 11.

The control unit 400 uses a gyro sensor or the like to control the attitude according to the change in the flight weight center position.

In the present embodiment, the flight weight center position changes with time in a horizontal plane, and the change in the flight weight center position before and after the aerial spraying operation is about 10 cm within the attitude controllable range of the control unit 400. is there.

As described above, the present inventor has noticed that it is difficult to realize the aerial spraying work so that the liquid tank unit 300 is completely emptied due to the air biting of the liquid spraying pump, etc., and the lower portion 301d of the liquid tank. We have reached the idea of maintaining a stable air vehicle balance by balancing the device weight of the liquid tank unit 300 and the device weight of the power supply unit 200 by utilizing the liquid of.

Of course, since the liquid remaining in the liquid tank unit 300 is used, a large-scale dedicated weight member or the like for realizing the balance of the flying object after the aerial spraying work is unnecessary.

Therefore, more reliable flight can be realized without increasing the number of parts.

The control unit 400 may control the aerial spraying operation so that the amount of liquid does not fall below the minimum liquid storage amount.

Even if the user does not instruct the control unit 400 by the wireless control device 20, the valve is automatically closed, and the aerial spraying work is surely interrupted if necessary.

Further, the control unit 400 may control the user warning operation so that the amount of liquid does not fall below the minimum liquid storage amount.

When the user instructs the control unit 400 by the wireless control device 20 based on the user warning operation by sight, hearing, touch, etc., the valve is closed and the aerial spraying work is surely interrupted if necessary.

The liquid tank unit 300 is detachably attached to the machine body 11.

It is desirable that not only the liquid tank 301 but also the liquid spraying mechanism including the liquid spraying nozzle 302 and the like are detachably attached.

Both the liquid tank upper portion 301u and the liquid tank lower portion 301d may be detachably attached, or only one of the liquid tank upper portion 301u and the liquid tank lower portion 301d may be detachably attached.

The handle 301h of the upper portion 301u of the liquid tank is useful not only when the liquid tank unit 300 is transported, but also when the liquid tank unit 300 is attached or detached.

Since the liquid tank unit 300 is easily attached to and detached from the machine body 11, by preparing a plurality of liquid tank units 300 for storing the liquid required for aerial spraying work, a wide range of aerial spraying work can be performed. It can be done efficiently with 300 one-touch exchanges.

The liquid tank unit 300 has an outer shape that suppresses the shaking of the airframe 11 due to the wind, and functions as a windshield canopy.

In particular, it is desirable that the outer shape of the upper part 301u of the liquid tank attached to the upper part of the airframe 11 is designed so as to be able to withstand complicated changes in the wind direction by using so-called multifaceted structural analysis. ..

Since a large-scale dedicated windshield canopy is not required, the number of parts is reduced and extremely remarkable weight reduction is realized.

The airframe frame 11f functions as a liquid tank unit mounting frame for mounting the liquid tank unit 300.

Since the airframe frame 11f is formed in a rectangular shape when viewed from above and neither the top plate member nor the bottom plate member is used, the weight of the airframe frame can be reduced.

Since a large-scale dedicated liquid tank unit mounting frame for mounting the upper part 301u of the liquid tank and the lower part 301d of the liquid tank is not required, the total weight of the aircraft of the multi-rotor helicopter 10 of about 6 kg is about 15 kg. It is considerably smaller than the total weight of the aircraft, and extremely remarkable weight reduction is realized. Therefore, the legal maximum weight of 25 (= 15 + 10) kilograms, which is assumed to have a payload of 10 kilograms, has been overcome without problems.

The leg portion 12 has a skid 12s formed by utilizing a carbon plate.

The pair of skids 12s are integrally formed by using a carbon plate bent into a trapezoidal shape in a front view, and are attached to the lower part of the machine body 11. Therefore, the weight reduction of the leg portion 12 is realized without sacrificing the strength of the leg portion 12.

Such a trapezoidal shape used to bend the carbon plate may be an isosceles trapezoidal trapezoidal shape, or a balance between the device weight of the liquid tank unit 300 and the device weight of the power supply unit 200. It may be a trapezoidal shape with an isosceles trapezoid in consideration of stable air vehicle balance.

Regardless of the pipe member, the skid 12s formed by the carbon plate has a pair of skid vertical portions 12v. The lower end portion of the horizontally bent skid vertical portion 12v is not connected by the skid horizontal portion in the present embodiment, but may be connected by the skid horizontal portion. The upper end portion of the horizontally bent skid vertical portion 12v realizes excellent airframe support of the leg portion 12 even if the lower end portion of the skid vertical portion 12v is not connected by the skid horizontal portion, and is the lower surface of the airframe frame 11f. It constitutes a skid upper end portion 12u connected to.

In addition, the program of the invention related to the present invention causes a computer to perform the operation of all or a part of the steps (or steps, operations, actions, etc.) of the control method of the flying object of the invention related to the present invention described above. It is a program that works in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention is a whole or a part of all or a part of the steps (or steps, operations, actions, etc.) of the control method of the flying object of the invention related to the present invention described above. It is a recording medium on which a program for causing a computer to execute an operation is recorded, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

The above-mentioned "partial step (or process, operation, action, etc.)" means one or several steps among the plurality of steps.

Further, the above-mentioned "operation of a step (or process, operation, action, etc.)" means an operation of all or a part of the above-mentioned steps.

In addition, one usage form of the program of the invention related to the present invention is a form in which the program is transmitted in a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer. It may be.

Further, the recording medium includes a ROM (Read Only Memory) and the like.

Further, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may include a firmware, an OS (Operating System), and further peripheral devices.

As described above, the configuration of the present invention may be realized by software or hardware.

The air vehicle in the present invention can realize more reliable flight, and is useful for the purpose of using the air vehicle for practical use of unmanned long-distance flight in various consumer fields.

10 Multi-rotor helicopter 11 Aircraft 11f Aircraft frame 12 Legs 12s Skid 12v Skid vertical part 12u Skid upper end 20 Radio control device 100 Flight motor unit 110 Flight motor 120 Propeller 200 Power supply unit 210 Generator 220 Engine 230 LiPo battery 300 Liquid tank unit 301 Liquid tank 301u Liquid tank upper part 301d Liquid tank lower part 301h Handle 302 Liquid spray nozzle 303 Solid sprayer 400 Control unit 510 First pipe frame member 520 Second pipe frame member 530 U band fastener 531 Wedge member 532 Barbage member 610 First plate frame member 620 Second plate frame member 700 Arm member

Claims (3)

An aircraft with an aircraft frame and
A flight motor unit attached to the airframe, which has a flight motor for driving a propeller,
With
The airframe frame
The first pipe frame member whose both ends are bent outward in top view,
A second pipe frame member whose both ends are bent outward in top view,
A first plate frame member that connects one bent portion of the first pipe frame member and one bent portion of the second pipe frame member.
A second plate frame member that connects the other bent portion of the first pipe frame member and the other bent portion of the second pipe frame member.
Have,
A flying object characterized in that the first pipe frame member and the second pipe frame member are arranged so as to face each other in a top view. The one bent portion of the first pipe frame member and the one bent portion of the second pipe frame member are attached to the upper surface of the first plate frame member by using a U-band fastener. ,
The other bent portion of the first pipe frame member and the other bent portion of the second pipe frame member are attached to the upper surface of the second plate frame member by using a U-band fastener. The flying object according to claim 1. The flight motor unit has an arm member having one end attached to the flight motor and the other end attached to the airframe.
The number of flight motors is 4,
The number of the arm members is 4,
Each of the four arm members includes the one bent portion of the first pipe frame member, the one bent portion of the second pipe frame member, the other bent portion of the first pipe frame member, and the other bent portion. The flying object according to claim 1, wherein the flying object is attached to the airframe so as to correspond to the other bent portion of the second pipe frame member.

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