JP6822267B2 - Flyer and how to use the flyer - Google Patents

Description

The technology disclosed in the present application relates to a flying machine and a method of using the flying machine.

In recent years, flying aircraft that take pictures with cameras and record images while flying unmanned have begun to be used. Further, a method of using a flying machine in which such a flying machine is moved along a vertical wall surface of an object to cause the flying machine to perform various operations has been proposed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-039334

In the above-mentioned method of using the flying machine, when the flying machine is moved along the vertical wall surface of the object, for example, if the flying machine is disturbed by a crosswind, the work of the flying machine is hindered. There is a risk that it will be done. Therefore, it is desired to move the flying machine stably along the vertical wall surface of the object.

Therefore, one aspect of the technique disclosed in the present application is to enable the flying machine to move stably along the vertical wall surface of the object.

In order to achieve the above object, according to one aspect of the technology disclosed in the present application, a flying machine including a flying machine main body, a first rotorcraft, a second rotorcraft, a pair of wheels, and a duct is provided. Will be done. The first rotor is included in the main body of the flying machine, and the vertical direction of the main body of the flying machine is the axial direction. The second rotor is arranged in front of the side of the flying machine main body, and the front-rear direction of the flying machine main body is the axial direction. The pair of wheels are arranged in front of the flying machine main body and are arranged in the vertical direction of the flying machine main body. The duct is an annular shape that surrounds the second rotor. The pair of wheels project forward and vertically from the duct when viewed from the side of the aircraft body.

According to the technique disclosed in the present application, the flying machine can move stably along the vertical wall surface of the object.

It is a perspective view of the flying machine which concerns on 1st Embodiment. It is a top view of the flying machine of FIG. It is a front view of the flying machine of FIG. It is a side view of the flying machine of FIG. It is an enlarged view of the main part of the flying machine of FIG. FIG. 5 is an enlarged top view of a main part showing a state in which a crosswind hits the flying machine when the flying machine of FIG. 1 is in contact with a vertical wall surface of an object. It is an enlarged side view of the main part which shows the state which the flying machine of FIG. 1 comes into contact with a vertical wall surface of an object from the state which leaned forward. It is explanatory drawing which shows the vacuum mechanism applied to the flying machine which concerns on 2nd Embodiment in comparison with the vacuum mechanism of 1st Embodiment. It is a side view which shows the modification of the vacuum mechanism of 2nd Embodiment. It is a front view of the flying machine which concerns on 3rd Embodiment. It is a front view of the flying machine which concerns on 4th Embodiment. It is an enlarged view of the 1st omni wheel and the 1st wheel drive motor of FIG. It is a block diagram of the flying machine which concerns on 5th Embodiment. It is a top view which shows the case where the first specific example of the wall surface detection sensor is applied to the flying machine of FIG. It is a side view of the flying machine of FIG. It is a top view which shows the case where the 2nd specific example of the wall surface detection sensor is applied to the flying machine of FIG. It is a side view of the flying machine of FIG. It is a side view which shows how the flying machine of FIG. 13 approaches a vertical wall surface of an object in front while flying. It is a side view which shows how the flying machine of FIG. 13 moves along the vertical wall surface of the object in front. It is a side view which shows how the flying machine of FIG. 13 separates from the vertical wall surface of the object in front. It is a flowchart which shows the process flow in the wall surface approach mode of the cooperative controller of FIG. It is a flowchart which shows the flow of processing in the wall contact movement mode of the cooperative controller of FIG. It is a flowchart which shows the flow of processing in the wall surface detachment mode of the cooperative controller of FIG. It is a top view of the flying machine which concerns on 6th Embodiment. It is a top view which shows the modification of the flying machine of FIG. It is a perspective view of the flying machine which concerns on 7th Embodiment. It is a perspective view which shows an example of the usage method of the flying machine which concerns on 8th Embodiment.

[First Embodiment]
First, the first embodiment of the technique disclosed in the present application will be described.

1 to 5 show the flying machine 10 according to the first embodiment. The arrows FR, UP, and RH shown in each figure indicate the front side in the front-rear direction, the upper side in the up-down direction, and the right side in the left-right direction of the flying machine 10. As shown in FIGS. 1 to 5, the flying machine 10 includes a flying machine main body 12, a pair of vacuum mechanisms 14, and a pair of wheel drive mechanisms 16.

The flying machine main body 12 includes a frame 18 and a plurality of propulsion units 20. As an example, the frame 18 has an outer frame 22 having a square frame shape when viewed from above, and an inner frame 24 provided inside the outer frame 22. The inner frame 24 connects the front portion and the rear portion of the outer frame 22.

The number of the plurality of propulsion units 20 is 4, for example. The plurality of propulsion units 20 are arranged in regions in which the inside of the outer frame 22 is evenly divided into four in a top view. The plurality of propulsion units 20 have the same configuration as each other. Each propulsion unit 20 has a flying rotary wing 26 and a flying motor 28.

The flight rotor 26 is an example of a "first rotor", and the flight motor 28 is an example of a "first rotor motor". The flying rotor 26 and the flying motor 28 are arranged with the vertical direction of the flying machine main body 12 as the axial direction, respectively. The flight motor 28 is fixed to a fixed portion 30 provided on the inner frame 24, and the flight rotary blade 26 is fixed to the output shaft of the flight motor 28.

When the plurality of flight motors 28 are operated and the plurality of flight rotors 26 are rotated, an airflow from above to downward is generated in the flight machine main body 12, and the flight machine 10 flies. Further, the attitude of the flying machine 10 is changed by controlling the plurality of flying motors 28 and individually adjusting the rotation speeds of the plurality of flying rotary blades 26.

The pair of vacuum mechanisms 14 have the same configuration as each other. Each vacuum mechanism 14 has a vacuum rotary blade 32, a vacuum motor 34, and a duct 36. The vacuum rotor 32 is an example of a "second rotor", and the vacuum motor 34 is an example of a "second rotor motor". The vacuum rotor 32 and the vacuum motor 34 are arranged with the front-rear direction of the flying machine main body 12 as the axial direction, respectively. The duct 36 is formed in an annular shape (cylindrical shape) that surrounds the vacuum rotary blade 32.

A fixing portion 38 extending to the side of the flying machine main body 12 is provided at a corner portion on the front side of the outer frame 22, and the vacuum motor 34 and the duct 36 of the vacuum mechanism 14 are fixed to the fixing portion 38, respectively. Has been done. In this way, the fixing portions 38 for fixing the vacuum mechanism 14 extend from the front corners of the outer frame 22 to the sides of the flying machine main body 12, so that the vacuum mechanism 14 is moved to the sides of both sides of the flying machine main body 12, respectively. Have been placed. The vacuum mechanism 14 is arranged so as to project laterally with respect to the side portion 40 of the flying machine main body 12 (outer frame 22).

Further, the vacuum mechanism 14 is fixed to the fixing portion 38 from the front of the flying machine main body 12. Then, the vacuum mechanism 14 is located in front of the flying machine main body 12 with respect to the fixed portion 38 extending to the side of the flying machine main body 12, so that the vacuum mechanism 14 is arranged laterally forward of the flying machine main body 12. .. That is, the vacuum mechanism 14 is located in front of the front portion 42 of the flying machine main body 12 (outer frame 22) and laterally of the side portion 40 of the flying machine main body 12.

Further, the flight rotor 26 and the rotation center 32A of the vacuum rotor 32 are arranged within the range in the vertical direction of the flight machine main body 12. That is, the vertical range of the flying machine main body 12 is the range H between the upper 44 and the lower 46 of the flying machine main body 12 (outer frame 22) as shown in FIG. 3, and the flying rotor 26 The rotation center portion 32A of the vacuum rotary blade 32 is within the range H in the front view.

When the vacuum motors 34 provided in each of the above-mentioned vacuum mechanisms 14 operate and the pair of vacuum rotors 32 rotate, an air flow from the front to the rear is generated in each of the vacuum mechanisms 14, and the flying machine 10 moves forward. Proceed to.

The pair of wheel drive mechanisms 16 are fixed to the left and right end portions of the front portion 42 of the flying machine main body 12, respectively. The pair of wheel drive mechanisms 16 are symmetrically configured. Each wheel drive mechanism 16 has a pair of wheels 48 and a wheel drive motor 50. The pair of wheels 48 are arranged in front of the flying machine main body 12, and are arranged in the vertical direction of the flying machine main body 12. Each wheel 48 is arranged with the left-right direction of the flying machine main body 12 as the axial direction, and is rotatably supported by the front portion 42 of the flying machine main body 12 via a support member 52.

The pair of wheels 48 project forward and vertically from the above-mentioned duct 36 in the side view of the flying machine main body 12. That is, each of the pair of wheels 48 projects forward from the duct 36, the upper wheel 48 projects upward from the duct 36, and the lower wheel 48 projects downward from the duct 36. ing.

The wheel drive motor 50 is arranged with the left-right direction of the flying machine main body 12 as the axial direction, and is fixed to the upper support member 52. The output shaft of the wheel drive motor 50 is fixed to the upper wheel 48.

Subsequently, the operation and effect of the flying machine 10 according to the first embodiment described above will be described. According to the flying machine 10 according to the first embodiment described in detail above, a pair of vacuum rotary wings 32 are arranged on the side of the flying machine main body 12, and each vacuum rotary blade 32 is for vacuum. It is fixed to the output shaft of the motor 34. Then, when the pair of vacuum motors 34 operate and the pair of vacuum rotors 32 rotate, an air flow from the front to the rear is generated in the vacuum mechanism 14, and the flying machine 10 advances forward. Therefore, for example, when there is an object in front of the flying aircraft 10, the flying aircraft 10 can be smoothly brought closer to the object in front by rotating the pair of vacuum rotary wings 32.

Moreover, the pair of vacuum rotary wings 32 are arranged on the side of the flight machine main body 12 including the plurality of flight rotary wings 26. Therefore, as shown in FIG. 2, the downward airflow 56 generated by the rotation of the plurality of flying rotors 26 and the backward airflow 58 generated by the rotation of the pair of vacuum rotors 32. Can be suppressed from interfering with each other. As a result, the flying machine 10 can be stably brought close to the object in front.

Further, even when the flying machine 10 is in contact with the vertical wall surface of the object, it is generated between the vacuum rotary blade 32 and the vertical wall surface by rotating the pair of vacuum rotary blades 32. Adsorption force is generated by the negative pressure. Therefore, the flying machine 10 can be maintained in a stable posture in contact with the wall surface. As a result, it can be stably moved along the wall surface of the flying machine 10.

Further, a plurality of wheels 48 are arranged in front of the flying machine main body 12. Therefore, when the flying machine 10 is raised or lowered along the wall surface, the flying machine 10 is raised or lowered while the plurality of wheels 48 are in contact with the wall surface and the plurality of wheels 48 are rotated. be able to. As a result, when ascending or descending along the wall surface of the flying machine 10, the attitude of the flying machine 10 can be made more stable, and the flying machine 10 can be moved smoothly.

Here, FIG. 6 shows a state in which the crosswind 202 hits the flying machine 10 when the flying machine 10 of FIG. 1 is in contact with the vertical wall surface 200 of the object. As shown in FIG. 6, when a crosswind 202 blows from the side of the flying machine 10, a disturbance force in the left-right direction acts on the flying machine 10 around the yaw axis that tries to separate the flying machine 10 from the wall surface 200. A rotational moment is generated. Here, if the vacuum mechanism 14 including the rotary blade 32 for vacuum is arranged inside the side portion 40 of the flying machine main body 12, the flying machine 10 can easily be hit by the crosswind 202 when the flying machine 10 is hit by the crosswind 202. There is a risk of being pulled away from the wall surface 200.

On the other hand, according to the flying machine 10 according to the first embodiment described above, the vacuum rotary wings 32 are arranged on both sides of the flying machine main body 12. Therefore, for example, even when the crosswind 202 hits the flying machine 10, the resistance to the crosswind 202 is improved as compared with the case where the vacuum mechanism 14 is arranged inside the side portion 40 of the flying machine main body 12 as described above. Can be made to.

Further, FIG. 7 shows how the flying machine 10 of FIG. 1 comes into contact with the vertical wall surface 200 of the object from the state of being tilted forward. According to the flying machine 10 according to the first embodiment described above, the pair of wheels 48 in each wheel driving mechanism 16 project forward and vertically from the duct 36 in the side view of the flying machine main body 12. Therefore, as shown in FIG. 7, even when the flying machine 10 comes into contact with the wall surface 200 from a forward tilted state, the upper wheel 48 comes into contact with the wall surface 200 before the duct 36. As a result, the flying machine 10 can be rotated rearward from the wheel 48 in contact with the wall surface 200, so that the flying machine 10 can be quickly leveled.

Further, according to the flying machine 10 according to the first embodiment described above, the vacuum rotary wing 32 is surrounded by an annular duct 36. Further, the vacuum mechanism 14 including the vacuum rotor 32 and the duct 36 is arranged laterally forward of the flying machine main body 12. As a result, the distance between the duct 36 and the wall surface 200 is shortened, and a large pressure difference (negative pressure) is generated between the space between the vacuum rotary blade 32 and the wall surface 200 and the space outside the space. 10 can be attracted to the wall surface 200 with a large force.

By the way, as another example of horizontalizing the forward tilted flying machine 10 as shown in FIG. 7, for example, as shown by the imaginary line in the upper figure of FIG. 7, each wheel drive mechanism 16 is set to one wheel. It is conceivable to have a configuration having 54. However, in this case, since the outer diameter dimension of the wheel 54 becomes larger than the vertical dimension of the duct 36, the weight of the flying machine 10 increases due to the increase in size of the wheel 54, and the wheel 54 comes into contact with the wall surface 200. In this case, the distance between the duct 36 and the wall surface 200 becomes long.

On the other hand, according to the flying machine 10 according to the first embodiment described above, since each wheel drive mechanism 16 has a pair of wheels 48, each of the pair of wheels 48 can be miniaturized. As a result, the weight of the flying machine 10 can be reduced. Further, when the pair of wheels 48 come into contact with the wall surface 200, the distance between the duct 36 and the wall surface 200 can be shortened, so that the flying machine 10 can be attracted to the wall surface 200 with a larger force.

Further, according to the flying machine 10 according to the first embodiment described above, the flying rotary wing 26 and the rotation center 32A of the vacuum rotary wing 32 are arranged within the vertical range H of the flying machine main body 12. (See Fig. 3). Therefore, even when the vacuum rotor 32 is rotated in addition to the flight rotor 26, it is possible to suppress the generation of a rotational moment around the roll axis of the flight machine 10. As a result, the flying machine 10 can be brought closer to the wall surface 200 more stably.

Subsequently, a modified example of the first embodiment will be described. In the flying machine 10 according to the first embodiment described above, the outer frame 22 of the flying machine main body 12 is formed in a square frame shape when viewed from above, but other shapes may be used.

Further, the frame 18 preferably has an outer frame 22, but the outer frame 22 may be omitted.

Further, the flying machine 10 includes a pair of vacuum mechanisms 14, but the number of vacuum mechanisms 14 may be three or more.

Further, the vacuum mechanism 14 is preferably arranged in the lateral front of the flying machine main body 12, but may be arranged in the rear side of the side front of the flying machine main body 12.

Further, the vacuum mechanism 14 preferably includes a duct 36, but the duct 36 may be omitted.

Further, the flying machine 10 preferably includes the wheel drive mechanism 16, but the wheel drive mechanism 16 may be omitted.

Further, each wheel drive mechanism 16 preferably includes a pair of wheels 48 arranged in the vertical direction of the flying machine main body 12, but may include a plurality of wheels 48 arranged in a direction other than the vertical direction of the flying machine main body 12. good.

Further, the wheels 48 are preferably arranged with the left-right direction of the flying machine main body 12 as the axial direction. However, for example, when the flying machine 10 is intended to move in the horizontal direction, the wheels 48 are arranged in the flying machine main body. 12 may be arranged with the vertical direction as the axial direction. Further, the wheels 48 may be supported so as to be able to turn around the flying machine main body 12 in the front-rear direction.

[Second Embodiment]
Next, a second embodiment of the technique disclosed in the present application will be described.

FIG. 8 shows the vacuum mechanism 14 applied to the flying machine 60 according to the second embodiment in comparison with the vacuum mechanism 14 of the first embodiment. That is, FIG. 8 (A) shows the vacuum mechanism 14 applied to the flying machine 60 according to the second embodiment, and FIG. 8 (B) shows the flying machine 10 according to the first embodiment. The vacuum mechanism 14 applied is shown.

As shown in FIG. 8A, in the flying machine 60 according to the second embodiment, the vacuum mechanism 14 has a seal member 62 provided at the front portion of the duct 36. The seal member 62 is formed in an annular shape along the circumferential direction of the duct 36. The seal member 62 has a structure like a floating ring, for example, and has a cushioning property.

On the other hand, in the flying machine 10 according to the first embodiment shown in FIG. 8B, the seal member 62 is omitted. If the seal member 62 is omitted, a gap is formed between the duct 36 and the wall surface 200, so that the airtightness of the duct 36 is lowered and air 64 may flow into the duct 36.

On the other hand, as shown in FIG. 8A, if the seal member 62 is provided at the front portion of the duct 36, the gap between the duct 36 and the wall surface 200 can be filled, so that the duct 36 can be filled. The airtightness of the duct 36 is improved, and the inflow of air into the duct 36 can be suppressed. As a result, the pressure difference (negative pressure) between the space between the vacuum rotary blade 32 and the wall surface 200 and the space outside the space can be made larger, so that the flying machine 60 can be applied to the wall surface 200 with a larger force. Can be adsorbed with.

Note that FIG. 9 shows a modified example of the vacuum mechanism 14 of the second embodiment. In the modified example shown in FIG. 9, a brush-shaped seal member 62 is used. As described above, when the brush-shaped seal member 62 is used, even if the seal member 62 is in sliding contact with the wall surface 200, the influence on the wall surface 200 can be reduced.

[Third Embodiment]
Next, a third embodiment of the technique disclosed in the present application will be described.

FIG. 10 shows the flying machine 70 according to the third embodiment. The flying machine 70 according to the third embodiment shown in FIG. 10 has the following configuration changed from the flying machine 10 according to the first embodiment described above.

That is, in the flight machine 70 according to the third embodiment, the rotation center portion 26A of the flight rotary blade 26 and the rotation center portion 32A of the vacuum rotary blade 32 extend in the front-rear direction and the left-right direction of the flight machine main body 12. They are arranged on the same virtual plane 72. That is, in other words, the rotation center portion 26A of the flight rotor 26 and the rotation center portion 32A of the vacuum rotor 32 are arranged at the same position (same height) in the vertical direction of the flight machine main body 12 in the front view. ing.

With this configuration, even when the vacuum rotor 32 is rotated in addition to the flight rotor 26, the generation of a rotational moment around the roll axis of the flight aircraft 70 can be further suppressed. As a result, the stability of the flying machine 70 when the flying machine 70 approaches the vertical wall surface of the object can be further improved.

[Fourth Embodiment]
Next, a fourth embodiment of the technique disclosed in the present application will be described.

FIG. 11 shows the flying machine 80 according to the fourth embodiment. The flying machine 80 according to the fourth embodiment shown in FIG. 11 has the following configuration changed from the flying machine 10 according to the first embodiment described above.

That is, the flying machine 80 according to the fourth embodiment includes a pair of side wheel driving mechanisms 82 instead of the pair of wheel driving mechanisms 16 (see FIG. 3). In addition, the flying machine 80 additionally includes a central wheel drive mechanism 84.

The pair of side wheel drive mechanisms 82 are fixed to the upper left and right end portions of the front portion 42 of the flying machine main body 12, respectively. The pair of side wheel drive mechanisms 82 are symmetrically configured. Each side wheel drive mechanism 82 has a first omni wheel 86 as a wheel and a first wheel drive motor 88. The first omni wheel 86 is arranged so as to project forward and upward of the flying machine main body 12.

FIG. 12 shows the first omni wheel 86 and the first wheel driving motor 88 of FIG. 11 in an enlarged manner. The first omni wheel 86 has a first wheel portion 90 and a second wheel portion 92. The first wheel portion 90 and the second wheel portion 92 are arranged side by side in the axial direction with each other. The first wheel portion 90 and the second wheel portion 92 are fixed so as to rotate integrally with each other.

A plurality of small wheels 94 are provided on the first wheel portion 90 and the second wheel portion 92. The plurality of small wheels 94 are arranged side by side in the circumferential direction of the first omni wheel 86. Each small wheel 94 is rotatably supported by a shaft 96 extending tangentially to the first omni wheel 86. Each of the plurality of small wheels 94 provided on the first wheel portion 90 and each of the plurality of small wheels 94 provided on the second wheel portion 92 are arranged so as to be offset in the circumferential direction of the first omni wheel 86. It is staggered.

The axial direction of the first omni wheel 86 including the plurality of small wheels 94 will be hereinafter referred to as the spindle direction of the first omni wheel 86 in order to distinguish it from the axial direction of the small wheels 94. That is, the spindle direction of the first omni wheel 86 is the direction in which the output shaft 106 of the first wheel drive motor 88, which will be described later, extends.

As shown in FIG. 11, the spindle direction of the first omni wheel 86 is set to the left-right direction of the flying machine main body 12. The first omni wheel 86 is rotatably supported above the front portion 42 of the flying machine main body 12 via the first support member 98.

The first wheel drive motor 88 is arranged with the left-right direction of the flying machine main body 12 as the axial direction, and is fixed to the first support member 98. The output shaft 106 of the first wheel drive motor 88 is fixed to the first omni wheel 86.

The central wheel drive mechanism 84 is fixed to the central portion in the left-right direction below the front portion 42 of the flying machine main body 12, respectively. The central wheel drive mechanism 84 has a second omni wheel 100 as wheels and a second wheel drive motor 102. The second omni wheel 100 and the second wheel drive motor 102 have the same configuration as the first omni wheel 86 and the first wheel drive motor 88 described above.

The second omni wheel 100 is arranged so as to project forward and downward of the flying machine main body 12. The spindle direction of the second omni wheel 100 is set to be orthogonal to the spindle direction of the first omni wheel 86 in the front view of the flying machine main body 12, and in the present embodiment, it is set in the vertical direction of the flying machine main body 12. It is set. The second omni wheel 100 is rotatably supported under the front portion 42 of the flying machine main body 12 via the second support member 104.

The second wheel drive motor 102 is arranged with the vertical direction of the flying machine main body 12 as the axial direction, and is fixed to the second support member 104. The output shaft 108 of the second wheel driving motor 102 is fixed to the second omni wheel 100.

As described above, in the fourth embodiment, the first omni wheel 86 and the second omni wheel 100 are used as the wheels. Further, the second omni wheel 100 is orthogonal to the first omni wheel 86 in the main axis direction when viewed from the front of the flying machine main body 12. Therefore, for example, by driving the first omni wheel 86 and the second omni wheel 100 at the same time, the flying machine 80 can be moved in all directions while being kept horizontal along the vertical wall surface with which the flying machine 80 contacts. .. Thereby, the maneuverability of the flying machine 80 can be improved.

In the fourth embodiment, as an example, the spindle direction of the first omni wheel 86 is set to the left-right direction of the flying machine main body 12, and the spindle direction of the second omni wheel 100 is set to the vertical direction of the flying machine main body 12. ing. However, the main axis direction of the first omni wheel 86 may be set in the vertical direction of the flying machine main body 12, and the main axis direction of the second omni wheel 100 may be set in the horizontal direction of the flying machine main body 12.

Further, the flying machine 80 preferably includes a pair of side wheel driving mechanisms 82 and one central wheel driving mechanism 84, but the number of the side wheel driving mechanisms 82 and the central wheel driving mechanism 84 may be other. ..

Further, the flying machine preferably includes a side wheel driving mechanism 82 and a central wheel driving mechanism 84, but either one of the side wheel driving mechanism 82 and the central wheel driving mechanism 84 may be omitted.

[Fifth Embodiment]
Next, a fifth embodiment of the technique disclosed in the present application will be described.

FIG. 13 shows a block diagram of the flying machine 110 according to the fifth embodiment. The flight machine 110 according to the fifth embodiment shown in FIG. 13 has a configuration changed as follows with respect to the flight machine 10 according to the first embodiment described above.

That is, the flight device 110 according to the fifth embodiment includes a remote control communication device 112, a cooperative controller 114, a wall surface detection sensor 116, a flight controller 118, a vacuum controller 120, and a wheel drive controller 122. There is. Further, the flight machine 110 includes a plurality of flight motor controllers 124, a plurality of vacuum motor controllers 126, and a plurality of wheel drive motor controllers 128.

The remote control communication device 112 is wirelessly connected to the external remote control communication device 130. The external remote control communication device 130 is connected to the operation interface device 132 operated by the operator. When the operator inputs an operation command to the operation interface device 132, a signal corresponding to the operation command is transmitted from the external remote control communication device 130 and received by the remote control communication device 112. From the remote control communication device 112, various information regarding the state of the flying machine 110 is transmitted to the external remote control communication device 130, and the transmitted information is presented to the operation interface device 132.

The cooperative controller 114 is connected to the remote control communication device 112. Further, the cooperative controller 114 is connected to a flight controller 118 that controls the flight of the flight machine 110 and a vacuum controller 120 that controls the vacuum mechanism 14 for adsorbing to the vertical wall surface of the object. Further, the cooperative controller 114 is connected to the wheel drive controller 122 that controls the wheel drive mechanism 16 when the flying machine 110 comes into contact with the wall surface.

The wall surface detection sensor 116 is a sensor that detects the contact state and distance between the flying machine 110 and the wall surface, and is connected to the cooperative controller 114. The wall surface detection sensor 116 is, for example, arranged at the same position as the wheels 48 of the front portion 42 of the flying aircraft 110, and has a switch that turns on when it comes into contact with or approaches the front wall surface and turns off when it leaves the wall surface. Applies. Further, a sensor that outputs a signal according to the distance to the wall surface is applied to this wall surface sensor. When the wall surface detection sensor 116 outputs a signal according to the contact state or distance with the wall surface to the cooperative controller 114, the cooperative controller 114 causes the vacuum controller 120 and the wheel drive according to the signal output from the wall surface detection sensor 116. A control signal is output to the controller 122.

The plurality of flight motor controllers 124 are as many as the number of flight motors 28, and are connected to the plurality of flight motors 28. The plurality of vacuum motor controllers 126 are as many as the number of vacuum motors 34 for vacuum, and are connected to the plurality of vacuum motors 34. The plurality of wheel drive motor controllers 128 are as many as the number of wheel drive motors 50, and are connected to the plurality of wheel drive motors 50.

The flight controller 118 is a device that controls the flight of the flight machine 110 having a plurality of rotary wings 26 for flight (forward movement in the air, reverse movement, lateral movement left and right, ascent, and descent). As an example, the flight controller 118 is equipped with the devices and sensors exemplified in the following (A) to (F). The flight controller 118 controls the flight of the flight device 110 by using the signals output from the devices and sensors exemplified in (A1) to (F). The cooperative controller 114 acquires data obtained by using the devices and sensors exemplified in (A) to (F) by communicating with the flight controller 118.

(A) A device that measures the position of a flying machine 110 using a GNSS (Global Navigation Satellite System) such as GPS (Global Positioning System).
(B) A sensor that measures the acceleration generated in the flying machine 110.
(C) A sensor that measures the angular velocity.
(D) An azimuth sensor that uses geomagnetism to measure the orientation of the flying aircraft 110.
(E) An altitude sensor that measures the altitude of the flying aircraft 110 from the ground using atmospheric pressure.
(F) A sensor that measures the attitude angle such as the tilt of the flying machine 110 with respect to the vertical direction.

The flight motor controller 124 is for generating the thrust required for the flight of the flight machine 110, and controls the rotation speed of the flight motor 28 to which the flight rotor 26 is fixed. In the present embodiment, as an example, one flight motor controller 124 controls one flight motor 28. Each flight motor controller 124 controls the rotation speed of the flight motor 28 so that the rotation speed is as commanded by the flight controller 118. For the flight motor 28, for example, a brushless DC motor or the like is used.

The vacuum controller 120 is a device that controls the rotation speed (the number of rotations per unit time) of the vacuum motor 34 of the vacuum mechanism 14 that generates an attractive force on the wall surface. The vacuum controller 120 independently commands the rotation speed of each of the vacuum motors 34 of the left and right vacuum mechanisms 14.

The vacuum motor controller 126 is a device that controls the vacuum motor 34. In the present embodiment, as an example, one vacuum motor controller 126 controls one vacuum motor 34. The vacuum motor controller 126 controls the rotational speed of the vacuum motor 34 so that the rotational speed is as commanded by the vacuum controller 120. For the vacuum motor 34, for example, a brushless DC motor or the like is used.

The wheel drive controller 122 performs flight control in which the flying machine 110 is moved by the wheels 48 on the wall surface in a state of being in contact with the wall surface. The wheel drive controller 122 calculates the rotation speed of the wheels 48 and commands the wheel drive motor controller 128, for example, when a command is given from the cooperative controller 114 to move the flying machine 110 at a moving speed V. give. The wheel drive motor controller 128 is a device that controls the rotation speed of the wheel drive motor 50 at the rotation speed commanded by the wheel drive controller 122.

The above-mentioned cooperative controller 114, flight controller 118, vacuum controller 120, wheel drive controller 122, a plurality of flight motor controllers 124, a plurality of vacuum motor controllers 126, and a plurality of wheel drives. The motor controller 128 forms a control unit 134.

Subsequently, a specific example of the wall surface detection sensor 116 described above will be described. The wall surface detection sensor 116 includes, for example, a distance measuring sensor 136 that measures the distance to one point of an object, and a rotary distance measuring sensor that measures the distance to an object in a plane by rotating the distance measuring sensor 136. 138 and the like are applicable. Further, a sensor that measures the distance and the relative angle between the flying machine 110 and the vertical wall surface of the object when the flying machine 110 is in a horizontal posture can also be applied to the wall surface detection sensor 116.

14 and 15 show a case where the first specific example of the wall surface detection sensor is applied to the flying machine 110 of FIG. In the examples shown in FIGS. 14 and 15, a distance measuring sensor 136 that measures the distance to one point of an object is used as the wall surface detection sensor. The distance measuring sensor 136 is arranged at the left and right side ends of the front portion 42 of the flying machine main body 12. The distance measuring sensor 136 outputs a signal according to the distance to the wall surface 200. From the signal corresponding to the distance to the wall surface 200, the relative angle θ between the flying machine 110 and the wall surface 200 can be calculated.

Specifically, the measured value based on the output signal of the left ranging sensor 136 is L, the measured value based on the output signal of the right ranging sensor 136 is R, and the known distance between the left and right ranging sensors 136 is set. Assuming W, the relative angle θ is calculated by the following equation (1).

16 and 17 show a case where the second specific example of the wall surface detection sensor is applied to the flying machine 110 of FIG. In the example shown in FIGS. 16 and 17, as the wall surface detection sensor, a rotary ranging sensor 138 that rotates the ranging sensor to measure the distance to the object in a plane is used. The rotary ranging sensor 138 is arranged at the center of the flying machine main body 12 in the front-rear direction and the left-right direction. The rotary ranging sensor 138 outputs a signal according to the distance to the wall surface 200. From the signal corresponding to the distance to the wall surface 200, the relative angle θ between the flying machine 110 and the wall surface 200 can be calculated.

Specifically, a large number of distance measurement values can be obtained from the rotary distance measurement sensor 138. The relative angle θ _i between the flying machine 110 and the wall surface 200 is calculated by the following equation (2) from two adjacent distance measuring values. The relative angle between the flying machine 110 and the wall surface 200 can be obtained by selecting the one having a close value from all the calculated relative angles θ _i and calculating the average value of the selected values.

In this way, when the distance measuring sensor 136 or the rotary distance measuring sensor 138 is used as the wall surface detection sensor, the distance to the object located in front of the flying machine main body 12 is the distance measuring sensor 136 or the rotary distance measuring sensor. Measured by sensor 138. Then, based on the detection results of the distance measuring sensor 136 and the rotary distance measuring sensor 138, the flight motor 28, the vacuum motor 34, and the wheel drive motor 50 are operated by the cooperative controller 114 shown in FIG. Be controlled.

Subsequently, a specific example of the control of the cooperative controller 114 will be described. The cooperative controller 114 has the following control modes (A) to (D) as an example.

(A) An aerial flight mode in which the flight motor 28 is controlled so that the flight machine 110 flies when the flight rotary blade 26 rotates.
(B) For flight so that the flight machine 110 flies and approaches the vertical wall surface of the object in front by rotating the flight rotor 26 or the flight rotor 26 and the vacuum rotor 32. A wall surface approach mode for controlling the motor 28 and the vacuum motor 34.
(C) The flight motor 28, the vacuum motor 34, and the wheel drive so that the flying machine 110 moves along the wall surface by rotating the flying rotary wing 26, the vacuum rotary wing 32, and the wheel 48. Wall contact movement mode for controlling the motor 50.
(D) A wall surface separation mode in which the flight motor 28 is controlled so that the flight machine 110 is separated from the wall surface by rotating the flight rotary blade 26.

Here, FIG. 18 shows how the flying machine 110 approaches the vertical wall surface 200 of the object in front while flying in accordance with the wall surface approach mode. As shown in FIG. 18, in the wall surface approach mode, when the flying aircraft 110 approaches the wall surface 200 only by the thrust due to the rotation of the flying rotor 26, the flying aircraft 110 tilts forward about the pitch axis. Take a posture. On the other hand, when the vacuum mechanism 14 is used in combination, that is, when the vacuum rotor 32 is rotated, the thrust of the flight rotor 26 causes the flight machine 110 to hover while maintaining the horizontal posture, and the vacuum rotor The flying machine 110 moves forward with the thrust generated by the rotation of 32.

Further, FIG. 19 shows how the flying machine 110 moves along the wall surface 200 in response to the wall surface contact movement mode. As shown in FIG. 19, in the wall contact movement mode, the flight machine 110 maintains the altitude by the thrust due to the rotation of the flight rotor 26. Further, in the wall surface contact movement mode, the vacuum mechanism 14 operates to generate an attractive force on the wall surface 200. Then, by rotating the wheel 48 in contact with the wall surface 200 with the wheel drive motor 50, the flying machine 110 uses the flying rotary wing 26, the vacuum rotary wing 32, and the wall surface while rotating the wheel 48. Move up and down along 200. The flying machine 80 of the fourth embodiment described above (see FIG. 11) may be used to move the flying machine 80 in the left-right direction or in all directions along the wall surface 200.

FIG. 20 shows how the flying machine 110 separates from the wall surface 200 in response to the wall surface detachment mode. In the wall surface detachment mode, the flying machine 110 separates from the wall surface 200 while maintaining the altitude by the thrust generated by the rotation of the flying rotor 26. At this time, the flying machine 110 takes a backward leaning posture that is tilted backward around the pitch axis.

FIG. 21 shows the flow of processing of the cooperative controller 114 of FIG. 13 in the wall surface approach mode. The cooperative controller 114 executes the following steps S1 to S7 in the wall surface approach mode. In the following wall surface approach mode, as an example, a case where the flying machine 110 approaches the wall surface 200 only by the thrust due to the rotation of the flying rotor 26 will be described. Therefore, the vacuum mechanism 14 is in the stopped state at the start of the process.

In step S1, the cooperative controller 114 commands the flight controller 118 in accordance with the command of the operator to control the flight of the flight aircraft 110.

In step S2, the cooperative controller 114 measures the distance to the wall surface 200 using the wall surface detection sensor 116.

In step S3, the cooperative controller 114 calculates the relative angle θ between the flying machine 110 and the wall surface 200 based on the detection result of the wall surface detection sensor 116.

In step S4, the cooperative controller 114 determines whether or not the relative angle θ is equal to or less than the allowable value. If the relative angle θ is not less than the permissible value, the process proceeds to step S5, and if the relative angle θ is not less than or equal to the permissible value, the process returns to step S1.

In step S5, the cooperative controller 114 determines whether or not the flying machine 110 is in contact with the wall surface 200 based on the detection result of the wall surface detection sensor 116. When the wall surface detection sensor 116 is the distance measuring sensor 136 (see FIG. 14), the contact determination between the flying machine 110 and the wall surface 200 is output when the distance measuring value is a predetermined threshold value (when the flying machine 110 comes into contact). If the distance is less than the distance measurement error added), it is judged that the contact is made. If it is determined that the flying machine 110 is in contact with the wall surface 200, the process proceeds to step S6, and if it is determined that the flying machine 110 is not in contact with the wall surface 200, the process returns to step S1.

In step S6, the cooperative controller 114 commands the vacuum controller 120 to start operation so that the vacuum mechanism 14 operates.

In step S7, the cooperative controller 114 commands the flight controller 118 so that the flight aircraft 110 is in the horizontal attitude.

Then, the cooperative controller 114 ends the wall surface approach mode, and then shifts to the wall surface contact movement mode. As described above, in the wall surface approach mode of this example, the vacuum mechanism 14 is controlled following the flight control of the flying machine 110.

FIG. 22 shows the flow of processing in the wall contact movement mode of the cooperative controller 114 of FIG. The cooperative controller 114 executes the following steps S11 to S22 in the wall contact movement mode.

In step S11, the cooperative controller 114 commands the flight controller 118 in accordance with the command of the operator to control the flight of the flight aircraft 110.

In step S12, the cooperative controller 114 determines whether or not the operator has instructed the flying machine 110 to be separated from the wall surface 200. If there is an instruction from the pilot, the process proceeds to step S13, and if there is no instruction from the operator, the process proceeds to step S14.

In step S13, the cooperative controller 114 shifts to the wall surface detachment mode described later.

In step S14, the cooperative controller 114 measures the distance to the wall surface 200 using the wall surface detection sensor 116.

In step S15, the cooperative controller 114 calculates the relative angle θ between the flying machine 110 and the wall surface 200 based on the detection result of the wall surface detection sensor 116.

In step S16, the cooperative controller 114 determines whether or not the flying machine 110 is in contact with the wall surface 200 based on the detection result of the wall surface detection sensor 116. When the wall surface detection sensor 116 is the distance measuring sensor 136 (see FIG. 14), the contact determination between the flying machine 110 and the wall surface 200 is output when the distance measuring value is a predetermined threshold value (when the flying machine 110 comes into contact). If the distance is less than the distance measurement error added), it is judged that the contact is made. If it is determined that the flying machine 110 is in contact with the wall surface 200, the process proceeds to step S6, and if it is determined that the flying machine 110 is not in contact with the wall surface 200, the process proceeds to step S18.

In step S17, the cooperative controller 114 commands the vacuum controller 120 to increase the rotational speed of the vacuum motor 34. After step S17, the process returns to step S11.

In step S18, the cooperative controller 114 determines whether or not the operator has instructed the flying aircraft 110 to move on the wall surface 200. If the pilot has given an instruction, the process proceeds to step S19, and if the pilot has not given an instruction, the process proceeds to step S22.

In step S19, the cooperative controller 114 commands the wheel drive controller 122 to start the operation of the wheel drive motor 50.

In step S20, the cooperative controller 114 determines whether or not the wheels 48 are rotating. If it is determined that the wheel 48 is rotating, the process returns to step S17, and if it is determined that the wheel 48 is not rotating, the process proceeds to step S21.

In step S21, the cooperative controller 114 commands the vacuum controller 120 to reduce the rotational speed of the vacuum motor 34. After step S21, the process returns to step S17.

In step S22, the cooperative controller 114 commands the flight controller 118 to maintain the current altitude and attitude of the flight aircraft 110. After step S22, the process returns to step S17.

As described above, in the wall surface contact movement mode of this example, the vacuum mechanism 14 and the wheel drive mechanism 16 are controlled following the flight control of the flying machine 110. That is, in the wall contact movement mode, the cooperative controller 114 controls the flight motor 28 so that the flight machine 110 maintains the altitude by the thrust generated by the rotation of the flight rotary blade 26. At the same time, the cooperative controller 114 controls the wheel driving motor 50 so that the flying machine 110 moves along the wall surface 200 by the driving force generated by the rotation of the wheels 48.

In this way, it is possible to prevent the thrust due to the rotation of the flying rotor 26 from exceeding the driving force due to the rotation of the wheels 48, so that the wheels 48 slip when the flying machine 110 moves along the wall surface 200. Can be suppressed.

FIG. 23 shows the flow of processing in the wall surface detachment mode of the cooperative controller 114 of FIG. The cooperative controller 114 executes the following steps S31 to S32 in the wall surface detachment mode.

In step S31, the cooperative controller 114 commands the wheel drive controller 122 to stop the rotation of the wheels 48.

In step S32, the cooperative controller 114 commands the vacuum controller 120 to stop the vacuum mechanism 14.

Then, the cooperative controller 114 ends the wall surface detachment mode, and then shifts to the aerial flight mode. In the aerial flight mode, the cooperative controller 114 controls a plurality of flight motors 28 based on a control command from the operator.

In the fifth embodiment described above, the flying machine 110 may automatically fly and move by issuing an operation command by an artificial intelligence program stored in advance in the cooperative controller 114.

Further, in the fifth embodiment described above, the control of the cooperative controller 114 may be applied to the flying machine 80 (see FIG. 11) of the fourth embodiment described above. It should be noted that the roll angle of the flying machine 80 shown in FIG. 11 is zero, that is, with the flying machine 80 kept horizontal, the flying machine 80 moves in parallel at a speed V in the direction φ that is inclined with respect to the horizontal direction when viewed from the front. rotational speed V _L of the first omni-wheel 86 in the left and right when _moving, and V _R, the rotational speed V _U of the center of the second omni-wheel 100 is shown by the following equation.

Then, when the velocity V and the direction φ when the flying machine 80 moves along the vertical wall surface of the object are given, the above-mentioned cooperative controller 114 (see FIG. 13) is shown in FIG. rotational speed _V L single omni-wheel 86 and the second omni-wheel _100, V R, calculate the _{V U} wheel drive controller 122 may provide a command (see Figure 13).

[Sixth Embodiment]
Next, a sixth embodiment of the technique disclosed in the present application will be described.

FIG. 24 shows the flying machine 140 according to the sixth embodiment. The flying machine 140 according to the sixth embodiment shown in FIG. 24 has the following configuration changed from the flying machine 10 according to the first embodiment described above.

That is, the flying machine 140 according to the sixth embodiment has a pair of propulsion units 20. The pair of propulsion units 20 are arranged side by side in the front-rear direction of the flying machine main body 12. Each propulsion unit 20 has a flying rotary wing 26 and a flying motor 28. The flight rotor 26 and the flight motor 28 are surrounded by an annular duct 142.

The flying machine 140 according to the sixth embodiment is specialized for the movement of the vertical wall surface 200. That is, the two flying rotors 26 of the flying machine 140 are mainly in charge of generating thrust for levitating the flying machine and controlling the attitude around the pitch axis. On the other hand, the driving wheels 48 are mainly in charge of the movement of the wall surface 200 of the flight machine 140 and the attitude control around the roll axis. Further, the vacuum mechanism 14 is in charge of suction to the wall surface 200. In this way, for the purpose of constantly contacting and moving on the vertical wall surface 200, as shown in FIG. 24, even in a configuration having two flying rotors 26 arranged in the front-rear direction of the flying machine main body 12. good.

If the flight machine 140 is to exhibit flight performance in the air, it may be configured as follows. FIG. 25 shows a modified example of the flying machine 140 of FIG. 24. In the modified example shown in FIG. 25, the flying machine 140 has three flying rotors 26. Two of the three flying rotors 26 are arranged side by side along the front portion 42 of the flying machine main body 12, and the remaining flying rotors 26 are arranged side by side. It is located behind the two flying rotors 26. Each of the three flying rotors 26 is surrounded by an annular duct 142. The duct 142 may be omitted for the purpose of weight reduction. In this way, in order to make the flying machine 140 exhibit flight performance in the air, it is sufficient to have three or more flying rotary wings 26.

[Seventh Embodiment]
Next, a seventh embodiment of the technique disclosed in the present application will be described.

FIG. 26 shows the flying machine 150 according to the seventh embodiment. The flying machine 150 according to the seventh embodiment shown in FIG. 26 has the following configuration changed from the flying machine 10 according to the first embodiment described above.

That is, the flying machine 150 according to the seventh embodiment has a wire guard 152 and a wire 154. The wire guard 152 has a pair of first pipe portions 156, a pair of second pipe portions 158, and a third pipe portion 160. The pair of first pipe portions 156 extend in a direction orthogonal to the left-right direction of the flying machine main body 12. One end of the pair of first pipe portions 156 is rotatably connected to the side portion 40 of the flying machine main body 12 in the left-right direction. The pair of second pipe portions 158 are connected to the other ends of the pair of first pipe portions 156, and the third pipe portion 160 is fixed between the pair of first pipe portions 156.

The wire 154 connects the flying machine main body 12 and an external device, and is, for example, a power cable, a video transmission cable, or the like. One end side of the wire 154 is inserted inside each of the first pipe portion 156, the second pipe portion 158, and the third pipe portion 160.

As described above, when the wire guard 152 into which the wire 154 is inserted is provided, it is possible to prevent the wire 154 from being entangled with the flight rotor 26.

In the flying machine 150 according to the seventh embodiment, the camera 162 and the sensor 164 are mounted in the central portion of the flying machine main body 12.

[Eighth Embodiment]
Next, an eighth embodiment of the technique disclosed in the present application will be described.

FIG. 27 shows an example of how to use the flying machine according to the eighth embodiment. In the method of using the flying machine according to the eighth embodiment shown in FIG. 27, as an example, the flying machine 150 according to the seventh embodiment described above is used. As a method of using the flying machine using this flying machine 150, for example, while moving the flying machine 150 along the pier of the bridge 210, the flying machine 150 may perform work such as photographing and inspecting the pier. Be done. The wire 154 connects the flying machine 150 to an external device installed on the bridge girder.

According to the method of using the flying machine according to the eighth embodiment, since the flying machine 150 provided with the vacuum mechanism 14 is used, the flying machine 150 is placed on the vertical wall surface of the pier of the bridge 210 even if a crosswind blows, for example. Can be moved along. As a result, more accurate work can be performed using the flying machine 150.

In the method of using the flying machine according to the eighth embodiment, the objects to which the flying machine 150 moves are, for example, buildings, tunnels, roofs, ladders, utility poles, chimneys, large passenger planes, and other objects other than bridges. It may be at least one of the structures.

Further, in the method of using the flying machine according to the eighth embodiment, the work to be performed by the flying machine 150 is at least of observation, recording, inspection, transportation, painting, marking, and other work other than photography and inspection. Either is fine.

Further, in the method of using the flying machine according to the eighth embodiment, as an example, the flying machine 150 according to the seventh embodiment described above is used. However, in the method of using the flying machine according to the eighth embodiment, the flying machine is appropriately combined with the flying machine of any of the above-mentioned first to sixth embodiments or the above-mentioned first to seventh embodiments. A flying machine can be applied.

The first to eighth embodiments of the technology disclosed in the present application have been described above, but the technology disclosed in the present application is not limited to the above, and various other technologies are used within a range not deviating from the gist thereof. Of course, it can be modified and implemented.

The following additional notes will be further disclosed with respect to one embodiment of the above-mentioned technique disclosed in the present application.

(Appendix 1)
The main body of the flying machine and
The first rotorcraft included in the flying machine body and having the vertical direction of the flying machine body as the axial direction,
A second rotor that is arranged on the side of the flying machine body and has an axial direction in the front-rear direction of the flying machine body.
A flying machine equipped with.
(Appendix 2)
The second rotor blades are arranged on both sides of the flying machine main body, respectively.
The flying machine described in Appendix 1.
(Appendix 3)
The second rotor is arranged so as to project laterally with respect to the side portion of the flying machine main body.
The flying machine according to Appendix 1 or Appendix 2.
(Appendix 4)
The second rotor is arranged laterally forward of the aircraft body,
The flying machine according to any one of Supplementary note 1 to Supplementary note 3.
(Appendix 5)
Further provided with an annular duct surrounding the second rotor.
The flying machine according to any one of Supplementary notes 1 to 4.
(Appendix 6)
A sealing member is provided on the front portion of the duct.
The flying machine described in Appendix 5.
(Appendix 7)
The first rotor and the rotation center of the second rotor are arranged within the vertical range (H) of the flying machine main body.
The flying machine according to any one of Supplementary note 1 to Supplementary note 6.
(Appendix 8)
The rotation center of the first rotor and the rotation center of the second rotor are arranged on the same virtual plane extending in the front-rear direction and the left-right direction of the flying machine main body.
The flying machine according to any one of Supplementary notes 1 to 7.
(Appendix 9)
The first rotor motor that rotates the first rotor and
A second rotor motor that rotates the second rotor and
A control unit having a mode for controlling the first rotor motor and the second rotor motor,
Further prepare
The flying machine according to any one of Supplementary notes 1 to 8.
(Appendix 10)
Further provided with wheels arranged in front of the aircraft body.
The flying machine according to any one of Supplementary notes 1 to 9.
(Appendix 11)
Further provided with an annular duct surrounding the second rotor,
The wheels include a pair of wheels arranged vertically in the flying machine body.
The pair of wheels project forward, vertically and vertically from the duct when viewed from the side of the flying machine main body.
The flying machine according to Appendix 10.
(Appendix 12)
The wheel is an omni wheel,
The flying machine according to Appendix 10 or Appendix 11.
(Appendix 13)
The wheels
A plurality of first omni wheels arranged at the left and right ends on the front left and right sides of the flying machine body, respectively.
A second omni wheel, which is arranged in the center of the front of the flying machine body in the left-right direction and whose main axis direction is orthogonal to the first omni wheel when viewed from the front of the flying machine body,
including,
The flying machine according to any one of Appendix 10 to Appendix 12.
(Appendix 14)
The first rotor motor that rotates the first rotor and
A second rotor motor that rotates the second rotor and
A wheel drive motor that rotates the wheels,
The first rotorcraft, the second rotorcraft, and the first rotorcraft motor so that the aircraft moves along the vertical wall surface of the object with which the wheels come into contact with the rotation of the rotorcraft. A control unit having a mode for controlling the second rotor motor and the wheel drive motor,
Further prepare
The flying machine according to any one of Appendix 10 to Appendix 13.
(Appendix 15)
The first rotor motor that rotates the first rotor and
A second rotor motor that rotates the second rotor and
A wheel drive motor that rotates the wheels,
A distance measuring sensor that measures the distance between the flying machine main body and an object located in front of the flying machine main body.
A control unit having a mode for controlling the first rotor motor, the second rotor motor, and the wheel drive motor based on the detection result of the distance measuring sensor.
Further prepare
The flying machine according to any one of Supplementary note 10 to Supplementary note 14.
(Appendix 16)
The control unit controls the first rotary blade motor so that the flying machine maintains its altitude by the thrust due to the rotation of the first rotary blade when the wheel is in contact with the vertical wall surface of the object. It has a mode of controlling the wheel driving motor so that the flying machine moves along the vertical wall surface of the object by the driving force due to the rotation of the wheels.
The flying machine according to Appendix 15.
(Appendix 17)
The control unit
An aerial flight mode that controls the first rotary wing motor so that the flying machine flies by rotating the first rotary wing.
The first rotary wing rotates, or the first rotary wing and the second rotary wing rotate so that the flying machine flies and approaches the vertical wall surface of the object in front. A wall approach mode for controlling the motor and the second rotor motor,
The first rotorcraft, the second rotorcraft, so that the rotors move along the vertical wall surface of the object in front by rotating the first rotorcraft, the second rotorcraft, and the wheels. A wall contact movement mode for controlling the rotor blade motor and the wheel drive motor, and
A wall surface detachment mode that controls the first rotary wing motor so that the flying machine is separated from the vertical wall surface of the object in front by the rotation of the first rotary wing.
Have,
The flying machine according to any one of Supplementary note 10 to Supplementary note 16.
(Appendix 18)
An object that is at least one of a bridge, a building, a tunnel, a roof, a ladder, an electric pole, a chimney, a large passenger plane, and other structures using the flying machine according to any one of Supplementary notes 1 to 17. Includes having the aircraft perform at least one of photography, inspection, observation, recording, inspection, transportation, painting, marking, and other tasks while moving the aircraft along a vertical wall surface.
How to use the flying machine.

(First Embodiment)
10 Flyer 12 Flyer body 14 Vacuum mechanism 16 Wheel drive mechanism 26 Flying rotor (an example of the first rotor)
26A Rotation center of rotary blade for flight 28 Flying motor (example of first rotary blade motor)
32 Vacuum rotor (an example of the second rotor)
32A Center of rotation of rotary blade for vacuum 34 Vacuum motor (example of second rotary blade motor)
36 Duct 40 Side part of the flying machine body 42 Front part of the flying machine body 44 Upper part of the flying machine body 46 Lower part of the flying machine body 48 Wheels 50 Wheel drive motor 52 Support member (second embodiment)
60 Flyer 62 Seal member (third embodiment)
70 Flyer 72 Virtual plane (fourth embodiment)
80 Flyer 82 Side wheel drive mechanism 84 Central wheel drive mechanism 86 First omni wheel 88 First wheel drive motor 94 Small wheel 100 Second omni wheel 102 Second wheel drive motor (fifth embodiment)
110 Flyer 112 Remote control communication device 114 Coordinated controller 116 Wall surface detection sensor 118 Flying controller 120 Vacuum controller 122 Wheel drive controller 124 Flying motor controller 124 Each flying motor controller 126 Vacuum motor controller 128 Wheel drive motor controller 134 Control unit 136 Distance measurement sensor 138 Rotary distance measurement sensor (sixth embodiment)
140 Flyer (7th Embodiment)
150 Flyer 152 Wire Guard 154 Wire

Claims (6)

The main body of the flying machine and
The first rotorcraft included in the flying machine body and having the vertical direction of the flying machine body as the axial direction,
A second rotor that is arranged in front of the side of the flying machine body and has an axial direction in the front-rear direction of the flying machine body.
A pair of wheels arranged in front of the flying machine main body and arranged in the vertical direction of the flying machine main body,
An annular duct surrounding the second rotor and
With
The pair of wheels project forward, vertically and vertically from the duct when viewed from the side of the flying machine main body.
Flyer. The second rotor is arranged laterally forward on both sides of the flying machine body, respectively.
The flying machine according to claim 1. The first rotor motor that rotates the first rotor and
A second rotor motor that rotates the second rotor and
A wheel drive motor that rotates the wheels,
The first rotorcraft, the second rotorcraft, and the first rotorcraft motor so that the aircraft moves along the vertical wall surface of the object with which the wheels come into contact with the rotation of the rotorcraft. A control unit having a mode for controlling the second rotor motor and the wheel drive motor,
Further prepare
The flying machine according to claim 1 or 2. The first rotor motor that rotates the first rotor and
A second rotor motor that rotates the second rotor and
A wheel drive motor that rotates the wheels,
A distance measuring sensor that measures the distance between the flying machine main body and an object located in front of the flying machine main body.
A control unit having a mode for controlling the first rotor motor, the second rotor motor, and the wheel drive motor based on the detection result of the distance measuring sensor.
Further prepare
The flying machine according to any one of claims 1 to 3. The control unit controls the first rotary blade motor so that the flying machine maintains its altitude by the thrust due to the rotation of the first rotary blade when the wheel is in contact with the vertical wall surface of the object. It has a mode of controlling the wheel driving motor so that the flying machine moves along the vertical wall surface of the object by the driving force due to the rotation of the wheels.
The flying machine according to claim 4 . An object that uses the flying machine according to any one of claims 1 to 5 and is at least one of a bridge, a building, a tunnel, a roof, a ladder, an electric pole, a chimney, a large passenger plane, and other structures. Having the aircraft perform at least one of photography, inspection, observation, recording, inspection, transportation, painting, marking, and other tasks while moving the aircraft along the vertical wall of an object. Including,
How to use the flying machine .