JP6830663B2 - Rotorcraft for aerial photography - Google Patents

Description

The present invention relates to a rotary wing aircraft for aerial photography. More specifically, the present invention relates to an aerial rotary wing aircraft capable of taking a picture closer to the subject without losing the balance even if the mooring rope is pulled when the rotary wing aircraft is pulled back to the original position.

Rotorcraft, so-called drones or multicopters, are used in various fields such as security, agriculture, and infrastructure monitoring. By utilizing the rotorcraft, it is possible to observe phenomena occurring in places that humans cannot approach, such as disaster sites and undeveloped land, and analyze the observed big data. Among the rotary wing aircraft, particularly small and lightweight rotary wing aircraft are preferably used mainly as rotary wing aircraft for aerial photography. By using such a rotary wing aircraft, it is possible to take a high-resolution image of a high-rise building construction site such as a tower condominium, which enables "panoramic aerial photography".

In recent years, a rotary wing aircraft for aerial photography has been proposed, which is small in size, lightweight, easy to maneuver, less affected by wind, and capable of maintaining a stable posture (for example, Patent Document 1). In this rotary wing aircraft for aerial photography, the first support rod is installed so as to be located vertically below the rotary wing aircraft from the center of the rotary wing aircraft, and the mounting portion is installed below the first support rod. There is. Further, this rotary wing aircraft for aerial photography is provided with a second support rod at the lower part of the mounting portion, and a mooring rope is connected from the second support rod.

Since the flight range of the rotorcraft for aerial photography is limited by the length of the mooring rope, it will not be lost even if the rotorcraft becomes uncontrollable. In addition, this rotary wing aircraft for aerial photography is equipped with a mooring rope, and by winding the mooring rope, it is possible to prevent a crash or runaway.

On the other hand, according to the revised Aviation Law that regulates rotary wing aircraft including unmanned aerial vehicles, it is often obligatory to attach a mooring rope to the rotary wing aircraft when flying the rotary wing aircraft. The Patent Applicant presents the following patent documents as well-known inventions related to the present invention.

Japanese Unexamined Patent Publication No. 2013-79034

However, since the conventional rotary wing aircraft for aerial photography has a mooring rope vertically below the main body of the rotary wing aircraft, there is a problem that the subject in the vicinity of the rotary wing aircraft cannot be sufficiently approached. Moreover, the flight range of the rotary wing aircraft for aerial photography is limited to the region formed by the arc whose radius is the length of the member composed of the first support portion, the mounting portion, the mooring rope, and the like. Have.

In particular, when the subject is a human being, there is a limit to the distance that the rotary blade for aerial photography can approach the subject. That is, the rotary wing aircraft for aerial photography must maintain a certain distance from the subject in case the rotary wing aircraft crashes. As a result, even if aerial photography is performed using the above-mentioned rotary wing aircraft for aerial photography, it is not possible to sufficiently approach the subject, and it is not possible to take a realistic image.

Furthermore, since the conventional rotorcraft for aerial photography has a mooring rope vertically below the rotorcraft body, the subject is a building such as a bridge or a tunnel, the water surface in the sea or river, the inside of a cave, etc. In the case of a natural object, the rotorcraft cannot even approach the subject.

In addition, when the above-mentioned rotary wing aircraft for aerial photography causes rolling due to air flow or the like during flight, the operator pulls the mooring rope in order to undo the rolling and recall it. However, since the mooring rope of the rotorcraft for aerial photography is attached vertically below the rotorcraft, there is a problem that the flight posture of the rotorcraft becomes unstable by pulling the mooring rope. Has.

Therefore, an object of the present invention is that the balance is not lost even if the mooring rope is pulled when the rotorcraft is returned to the original position, and even if the subject is a human being, a bridge, the sea, the water surface in a river, the ground surface, or the like. The present invention is to provide a rotary wing machine for aerial photography that can be closer to the subject.

As a result of diligent studies, the present inventors have made a central shaft member and a central shaft member that extend the guide member for controlling the flight position of the rotorcraft vertically upward from the central point of the central part of the rotorcraft. It is formed from an outer edge shaft member that extends in the vertical direction in parallel and protects the rotor blade, and a bridging member that bridges and joins the central shaft member and the outer edge shaft member, and is moored on the outer edge shaft member. Completed the present invention by finding that by attaching the end of the rope to a predetermined position, it is possible to get closer to the subject without losing the balance even if the mooring rope is pulled when pulling the rotorcraft back to its original position. I came to do it. Specifically, the present invention comprises the following technical matters.

(1) With multiple rotors
A central portion to which a plurality of arm portions supporting the rotor blades are connected, and
The mounting part installed vertically below the central part and
A rotary wing aircraft equipped with a guide member for controlling the flight position of the rotary wing aircraft.
The guide member includes a central shaft member extending vertically upward from the center point of the central portion, an outer edge shaft member extending vertically in parallel with the central shaft member to protect the rotary blade, and the center. It is formed of a bridging member for bridging and joining the shaft member and the outer edge shaft member.
A rotary wing aircraft for aerial photography, characterized in that an end portion of a mooring rope is mounted on the outer edge shaft member.

(2) The lower end of the mooring rope is on the outer edge shaft member.
The aerial view according to (1), wherein the center of gravity, which is the center point of gravity applied to the rotorcraft, is attached to the position of the mooring point Px corresponding to the outer edge shaft member in the horizontal direction. Rotorcraft for.

(3) The upper end of the mooring rope is the outer edge shaft member.
The rotary wing aircraft for aerial photography according to (1) or (2), which is mounted below the position of the mooring point Py specified by the following general formula [1].
(Equation 1)
Tethering point Py = R · tanθ ・ ・ ・ [1]
(In the general formula [1], R: the distance from the central shaft member to the outer edge shaft member, θ: the apex angle when the upper end portion of the outer edge shaft member is viewed from the end portion of the central shaft member. .)

(4) The rotary wing machine for aerial photography according to any one of (1) to (3), wherein the central portion includes a driving means for rotating the central shaft member as a fulcrum.

According to the present invention, after the rotary wing aircraft for aerial photography rolls, even if the mooring rope is pulled when pulling back to the original position, the balance is not lost and the rotary wing aircraft for aerial photography can be closer to the subject. Is provided.

It is a perspective view which showed the structure of the rotary wing aircraft for aerial photography which concerns on one Embodiment of this invention. It is a side view of the rotary wing aircraft for aerial photography. It is a model diagram which showed the position of the mooring point (P1) of the rotary wing aircraft for aerial photography. It is a model diagram when a conventional rotary wing aircraft for aerial photography rolls. It is a model figure when the rotary wing aircraft for aerial photography which concerns on one Embodiment of this invention rolls. It is a side view which showed the structure of the rotary wing aircraft for aerial photography which concerns on another Embodiment of this invention. When comparing the distance that the rotary wing aircraft for aerial photography according to the embodiment of the present invention can approach the subject (athletics runner / spectator) and the distance that the conventional rotary wing aircraft for aerial photography can approach the subject. It is a model diagram of. It is a model figure when the rotary wing aircraft for aerial photography which concerns on one Embodiment of this invention is flying between skyscrapers. In the model diagram when the distance that the rotary wing aircraft for aerial photography according to the embodiment of the present invention can approach the subject (person) and the distance that the conventional rotary wing aircraft for aerial photography can approach the subject are compared. is there. It is a model figure when the rotary wing aircraft for aerial photography which concerns on one Embodiment of this invention is flying near a bridge.

<Embodiment 1>
FIG. 1 is a perspective view showing an outline of the rotary wing aircraft 1 for aerial photography of the present invention. As shown in FIG. 1, in the rotary wing machine 1 for aerial photography, a plurality of rotary blades 12, a central portion 20 to which a plurality of arm portions 16 supporting the rotary blades 12 are connected, and an outer peripheral direction of the plurality of arm portions 16 It is provided with a plurality of rotary blades 10 provided at the ends. Further, the rotary wing aircraft 1 for aerial photography includes a mounting member 42 directly below the central portion 20. The mounting member 42 includes two support members 46 and support members 48 that extend in the outer horizontal direction. A control unit 44 for controlling the aerial rotary wing aircraft 1 is attached to the outer horizontal end of the support member 46. Further, a photographing unit 50 used for photographing a subject is installed at an external end of the support member 48.

The rotary wing aircraft 1 for aerial photography shown in FIG. 1 includes four arm portions, but the number of arm portions is not limited to this. For example, the arm portion of the rotary wing aircraft 1 for aerial photography may be provided with 6, 8, 12 or the like. When the rotary wing aircraft 1 for aerial photography of the present invention flies stably, is heavy, and is equipped with a highly accurate camera, the number of arm portions is preferably 6 or more. In the first embodiment, a rotary wing aircraft for aerial photography 1 including four arm portions, which is the simplest rotary wing aircraft, will be described.

The central portion 20 of the rotary wing aircraft 1 for aerial photography is located at the center in the ring formed by connecting the tip portions of the arm portions 16 when the rotary wing aircraft 1 is viewed from directly above. The central portion 20 has a disk shape in a planar shape composed of a flat plate. The four arm portions 16A to 16D extend from the side surface of the central portion 20 toward the outer peripheral direction of the ring formed by connecting the tip portions of the arm portions 16. The four arm portions 16A to 16D are provided in four directions at equal intervals in the ring. That is, the four arm portions 16A to 16D are provided so that the distance between the adjacent arm portions is 90 °. The arm portions 16A to 16D may have a linear shape or may have a bent shape based on the linear shape from the viewpoint of design. A central shaft member 22 extends vertically upward at the center of the central portion 20.

Landing legs 30 and 32 are provided directly below the central portion 20. The landing legs 30 and 32 each include two support members that support their own weight when the aerial rotary wing aircraft 1 lands. Therefore, the rotary wing aircraft 1 for aerial photography is supported by a leg portion composed of four support members. The support members provided by the landing legs 30 and 32 may extend vertically downward with respect to the arrival surface, or may extend diagonally so as to open downward.

Further, the support members provided by the landing legs 30 and 32 may be further connected to one member orthogonal to the support members to form a T-shape. Since the one member comes into vertical contact with the landing surface and the contact area with the landing ground surface increases, more stable landing can be achieved.

The arm portions 16A to 16D are members that support the corresponding rotary blade portions 10A to 10D, respectively. In order to stabilize the arm portions 16A to 16D, the outer circumference of the ring formed by connecting the end portions of the arm portion 16 from the side surface of the central portion 20 is connected by using a ring-shaped member or the like (not shown). It may be. A color-developing body such as an LED may be installed on the side surface of the ring shape to indicate the flight state of the rotary wing aircraft.

The arm portions 16A to 16D have the same structure except that the arm portions 16A are provided with a guiding member for controlling the flight position of the rotary wing aircraft. The structure of the arm portion 16A will be mainly described. A rotary wing portion 10A is provided at the tip portion of the arm portion 16A which is in the outer peripheral direction when viewed from the central portion 20. The rotary blade portion 10A includes a rotary blade 12A and a power unit 14A. The rotor blade 12A rotates in response to the output from the power unit 14A. The rotation of the rotary wing 12A generates a propulsive force for taking off the rotary wing aircraft 1 for aerial photography from the starting point, moving it horizontally, and landing it at the destination. The rotary blade 12A can rotate to the right, stop, and rotate to the left.

The power unit 14A is a drive device for rotating the rotary blade 12A. The power unit 14A is not particularly limited as long as it is a means capable of driving the rotary blade 12A. For example, it may be an internal combustion engine, an electric motor, or the like. The power units 14A to 14D correspond to the rotary blades 12A to 12D, respectively.

As shown in FIG. 1, the rotary blade 12A faces the rotary blade 12C diagonally and rotates in the same rotation direction. The rotor blade 12B faces the rotor blade 12D diagonally and rotates in the same rotation direction. The rotation directions of the rotary blade 12A and the rotary blade 12B are different. For example, the power unit 14A for driving the rotor 12A may be a right-handed electric motor, and the power unit 14B for driving the rotor 12B may be a left-handed electric motor.

The rotary wing aircraft 1 for aerial photography includes a mounting portion 40. The mounting unit 40 includes a mounting member 42, a control unit 44, and a photographing unit 50. The mounting portion 40 is located directly below the central portion 20, and is attached to the central portion 20 via an attachment member 42 which is an attachment. The mounting member 42 can be fitted to the central portion 20. The mounting member 42 mounts a photographing unit 50 at its end via a support member 48. The camera mounted on the shooting unit 50 is always held at an intended angle so that tilt does not occur when shooting a subject. The mounting unit 40 may include a support motor (not shown). By providing the support motor, the position of the camera mounted on the mounting unit 40 can be held more stably.

The mounting member 42 mounts the control unit 44 on the other end via the support member 46. The control unit 44 is located 180 ° opposite to the photographing unit 50 when viewed from the central portion 20. The control unit 44 mainly mounts members and devices necessary for driving and controlling the rotary wing aircraft 1 for aerial photography. Examples of necessary members and devices include a drive battery, a receiver for receiving a signal from a transmitter operated by an operator, a control device, an infrared sensor, a GPS antenna for receiving a positioning signal, and the like. ..

The control device includes a sensor for measuring the position and orientation of the rotorcraft for aerial photography, a sensor for measuring the speed and acceleration of the rotorcraft, and a sensor for measuring the rotation direction and rotation speed of the rotorcraft. The measuring instrument, the weight of the rotorcraft, the measuring instrument for measuring the load (loading) at the time of loading luggage, the central processing unit (CPU), and the like are included.

The rotary wing aircraft 1 for aerial photography of the present invention includes a guide member 186 for controlling the flight position of the rotary wing aircraft. Here, "controlling the flight position of the rotorcraft" means that even if the subject is a human being, a bridge, the sea, the water surface in a river, the ground surface, etc., the rotorcraft can fly closer to the subject. It means to maintain the position and direction of the aircraft, and to provide a flight state in which the balance is not lost even if the mooring rope is pulled when the rotorcraft is pulled back to its original position. The guide member 186 is composed of at least three shaft members. The guide member 186 has a central shaft member 22 extending vertically upward from the center of the central portion 20, and an outer edge shaft member 22 extending in the vertical direction parallel to the central shaft member 22 and for protecting the rotary blade 10A. A bridge member 184 that joins the 182 and the central shaft member 22 is provided.

The arm portion 16A that supports the rotary wing portion 10A includes an extension arm portion 18A that penetrates the rotary wing portion 10A and extends while maintaining the direction as it is. That is, the rotary wing portion 10A is attached on a straight line formed by the arm portion 16A and the extension arm portion 18A. The extension arm portion 18A is on a straight line formed by the arm portion 16A and the extension arm portion 18A, and the end portion is a position beyond the region where the rotary blade 12A rotates. The extension arm portion 18A is bent vertically upward and downward with the end portion as a joining point, and is connected to the outer edge shaft member 182.

In the rotary wing aircraft 1 for aerial photography shown in FIG. 1, the guide member 186 is fixed so as to protect the rotary wing portion 10A. Further, the guide member 186 may be rotated by rotating the outer edge shaft member 182 around the central shaft member 22. By rotating the guide member 186, the rotary blades 12A to 12D included in the rotary blades 10A to 10D can be protected. When the guide member 186 is rotated, the extension arm portion 18A and the outer edge shaft member 182 are configured to be separable at the joining point.

FIG. 2 is a side view of the rotary wing aircraft 1 for aerial photography. FIG. 2 is a side view of the rotary wing aircraft 1 for aerial photography shown in FIG. 1 as viewed from the X direction. As shown in FIG. 2, a mooring rope 190 is mounted on the outer edge shaft member 182 constituting the guide member 186 of the rotary wing aircraft 1 for aerial photography. The mooring rope 190 is attached at the position of the mooring point P1 via the fixing member 188. The mooring point P1 may be fixed at one position or may be fixed at a moved position. That is, the mooring point P1 may be changed and fixed at the position according to the conditions under which the aerial rotary wing aircraft 1 flies.

FIG. 3 is a model diagram showing a range in which the mooring point P1 of the mooring rope 190 attached to the rotary wing aircraft 1 for aerial photography moves. The mooring point P1 can move up and down in the vertical direction on the outer edge shaft member 182. In FIG. 3, the mooring point P1 moves on the outer edge shaft member 182 with Px as the lower end portion, and moves on the outer edge shaft member 182 with the mooring point Py as the upper end portion. The tethering point Px is a lower end portion where the tethering point P1 can move on the outer edge shaft member 182. The mooring point Px is a point formed by projecting the center of gravity G, which is the center point of gravity applied to the rotary wing machine 1 for aerial photography, horizontally onto the outer edge shaft member 182. The center of gravity G of the rotary wing aircraft 1 for aerial photography is located at the center of the central portion 20 below the rotary blades 12A to 12D. As shown in FIG. 3, the mooring point Px is located on the outer edge shaft member 182 by extending the height of the rotary blade 12A in the vertical upward direction in the horizontal direction with reference to the extension arm portion 18A. It is located further below P0, which is the corresponding point.

The mooring point Py is a point formed on the outer edge shaft member 182 when the outer edge shaft member 182 is viewed upward from the apex of the central shaft member 22 at a predetermined angle θ. The mooring point Py is defined as follows.

(Equation 1)
Tethering point Py = R · tanθ ・ ・ ・ [1]
(In the general formula [1], R: the distance from the central shaft member to the outer edge shaft member, θ: the apex angle when the outer edge shaft member is viewed from the end portion of the central shaft member to the upper end portion. .)

In the general formula [1], θ representing the apex angle when the outer edge shaft member is viewed upward from the apex of the central shaft member is preferably 0 to 30 °. When θ is 0 ° or more, the buoyancy generated in the rotorcraft is preferable from the viewpoint of being located above the center of gravity of the rotorcraft, and when it is 30 ° or less, the rotorcraft 1 for aerial photography is returned to its original position. Even if the mooring rope is pulled when pulling back, the rotorcraft does not lose its balance and falls, which is preferable.
Here, the tethering point Px is a lower end portion where the tethering point P1 can move on the outer edge shaft member 182, and is set on the outer edge shaft member 182 corresponding to the center of gravity G of the rotary wing aircraft 1 for aerial photography. It is a point. The mooring point Px is P0 (θ), which is a point in which the height of the rotary blade 12A in the vertically upward direction is extended in the horizontal direction as it is with respect to the extension arm portion 18A and corresponds to the outer edge shaft member 182. Is located further below (corresponding to 0 °). Therefore, the apex angle α when the outer edge shaft member 182 is viewed downward from the apex of the central shaft member 22 is −10 °.
Therefore, the range in which the mooring point P1 moves 182 on the outer edge shaft member is from the mooring point Px to the mooring point Py. Corresponding to the mooring point Py from the mooring point Px, the apex angle (θ + α) when the outer edge shaft member is viewed from the apex of the central shaft member 22 in the upward and downward directions is −10 to 30 °.

The rotary wing aircraft 1 for aerial photography has a mooring point P1 for attaching the mooring rope 190 on the outer edge shaft member 182. The mooring point P1 moves between Px and Py on the outer edge shaft member 182, and is fixed at a position most favorable to the conditions when the aerial rotary wing aircraft 1 flies. A stopper may be provided to prevent the mooring point P1 on the outer edge shaft member 182 from moving below the position of Px. Similarly, a stopper may be provided on the Py on the outer edge shaft member 182 to prevent the mooring point P1 from moving above the position of the Py. The rotary wing aircraft 1 for aerial photography has a structure in which the mooring point P1 can pass through the intersection point between the outer edge shaft member 182 and the cross-linking member 184 and the intersection point between the outer edge shaft member 182 and the extension arm portion 18A. Have.

FIG. 4 is a model diagram when the conventional rotary wing aircraft Z for aerial photography rolls. In FIG. 4, when the rotary wing aircraft Z for aerial photography rolls, in order to restore the flight state of the rotary wing aircraft, the mooring rope attached directly under the center is moved toward the operator's hand. It shows the pulled state. In FIG. 4, the rotary wing aircraft Z for aerial photography flying horizontally with respect to the ground surface is tilted downward to the left by receiving a force such as an updraft. In FIG. 4, the state in which the aerial rotary wing aircraft Z shown by the solid line is tilted downward to the left is shown, and the state in which the aerial rotary wing aircraft Z shown by the broken line is flying horizontally. Is shown, and the arrow (1) indicates the force such as an updraft.

When the rotary wing aircraft Z for aerial photography is tilted downward to the left, the camera mounted on the photographing unit 50 is also tilted, and the subject cannot be photographed from a desired direction. Therefore, the operator pulls the mooring rope attached below the center of the rotary wing aircraft Z for aerial photography toward the operator's hand. In FIG. 4, the rotary wing aircraft Z for aerial photography shown by the solid line indicates a state in which the aircraft is flying at an angle of downward left, and the arrow (2) indicates the force due to the mooring rope.

However, the force due to the mooring rope shown by the arrow (2) is the force in the direction in which the rotary wing aircraft Z for aerial photography falls. Further, the force of the mooring rope according to the arrow (2) becomes a force away from the mooring point of the mooring rope attached below the center of the rotary wing machine Z for aerial photography. As a result, the rotary wing aircraft Z for aerial photography becomes more unstable in flight state by applying the force of the mooring rope indicated by the arrow (2).

In order to avoid an unstable flight condition of the aerial rotorcraft, it is conceivable to move the mooring point of the mooring rope attached below the center of the aerial rotorcraft upward. Ideally, this mooring point is preferably on the axis connecting the center of gravity G, which is the center point of gravity applied to the rotorcraft for aerial photography, and the mooring point. However, when the mooring point is made to coincide with the buoyancy generation point of the rotary wing machine for aerial photography, a situation occurs in which the mooring rope is likely to be entangled with the rotary wing portion of the rotary wing machine.

FIG. 5 is a model diagram when the rotary wing aircraft 1 for aerial photography according to the embodiment of the present invention rolls. In FIG. 5, when the rotary wing aircraft 1 for aerial photography rolls, the mooring rope 190 attached to the guide member 186 is moved toward the operator's hand in order to restore the flight state of the rotary wing aircraft. It shows the pulled state. The rotary wing aircraft 1 for aerial photography is tilted downward to the right due to a force such as an updraft.

However, the force of the mooring rope 190 shown by the arrow (3) is fulcrumed at the mooring point P1 set on the outer edge shaft member 182 of the guide member 186 of the rotary wing aircraft 1 for aerial photography. The mooring point P1 is located above the center of gravity of the aerial rotorcraft 1 and is higher than the center of gravity of the aerial rotorcraft 1. Therefore, after the rotary wing aircraft 1 for aerial photography rolls, the tilt of the rotary wing aircraft does not become unreasonable when the rotary wing aircraft is pulled back.

The rotary wing aircraft 1 for aerial photography of the present invention has a mooring rope 190 at a mooring point P1 set on the outer edge shaft member 182 of the guiding member 186. By setting the position of the mooring point P1 in relation to the inclination of the aerial rotary wing aircraft 1, the flight state of the aerial rotary wing aircraft 1 can be maintained horizontally without stress.

<Embodiment 2>
The aerial photography rotary wing aircraft 1A of the second embodiment is a rotary wing aircraft in which the form of the guide member 186 and the position of the photographing unit 50 are changed in the aerial photography rotary wing aircraft of the first embodiment.
FIG. 6 is a side view of the rotary wing aircraft 1A for aerial photography of the second embodiment. The guidance member 286 included in the aerial rotary wing aircraft 1A rotates in the horizontal direction with the central shaft member 22 extending vertically upward from the central portion 22 as the central axis. The rotary wing aircraft 1A for aerial photography includes a driving means 288 for rotating the central shaft member 22 directly below the central portion 22. The photographing unit 50 is provided directly below the driving means 288, and is located on the central shaft member 22 penetrating the central portion 20. The rotary wing aircraft 1A for aerial photography can rotate the guide member 286 around the central shaft member 22. In order to rotate the guide member 286, the driving means 288 is used to drive the central shaft member 22 in the rotational direction. For example, the driving means 288 may be used as a bearing portion. Specifically, the drive means 288 is provided with a bearing portion that supports the central shaft member 22 below the central portion 20, and the central shaft member is applied by applying a constant force from the mooring rope with the bearing portion as an outer cylinder. 22 may be rotated.
By rotating the guide member 286, all rotor blades 10A to 10D can be protected.

The guide member 286 extends vertically downward from the central shaft member 22, the bridge member 284 that is bent from the apex of the central shaft member 22 and extends horizontally to the ground surface, and the outer end portion of the bridge member 284. It is composed of an outer edge shaft member 282. The cross-linking member 284 has a sufficient length to guard the rotary blade portions 10A and 10B around the central shaft member 22.

The mooring rope 190 of the rotary wing machine 1A for aerial photography horizontally has the center of gravity G, which is the center point of gravity applied to the rotary wing machine, on the outer edge shaft member 182 from the point where the outer edge shaft member 282 and the bridging member 284 intersect. The corresponding mooring point Px is used as the lower end to move.

<Embodiment 3>
The third embodiment is an embodiment in which the rotary wing aircraft 1 for aerial photography of the present invention is used to approach a subject such as an athletics such as an outdoor sport, a marathon, a festival, or a street parade to perform aerial photography. FIG. 7 is a model diagram when aerial photography of a marathon competition is performed using the rotary wing aircraft 1 for aerial photography and the conventional rotary wing aircraft Z for aerial photography of the present invention. As shown in FIG. 7, the rotary wing aircraft 1 for aerial photography and the conventional rotary wing aircraft Z for aerial photography of the present invention stay at a fixed position by hovering, and the altitude H from the ground surface and the subject from the subject. Holds the distance D.

The conventional rotary wing aircraft Z for aerial photography maintains a distance D1 from the subject so that the rotary wing aircraft does not come into contact with the subject even if the rotary wing aircraft crashes. The distance D1 from the subject is the sum of the length R1 of the mooring rope included in the rotary wing machine Z for aerial photography and the safety zone Ds that secures a certain distance from the subject. The altitude H1 (R1) when the aerial rotary wing aircraft Z is hovering is equal to the length R1 of the mooring rope. The rotary wing machine Z for aerial photography performs hovering at an altitude of H1 (R1) with the ground surface at a distance of D1 away from the subject as the ground surface fixed point O1 of the mooring rope, and maintains the aerial camera horizontally with respect to the ground surface. You can take aerial shots of the subject.

The rotary wing aircraft 1 for aerial photography of the present invention maintains a distance D2 from the subject so that the rotary wing aircraft does not come into contact with the subject even if the rotary wing aircraft crashes. The distance D2 from the subject is the sum of the length R2 of the mooring rope provided in the rotorcraft 1 for aerial photography and the safety zone Ds that secures a certain distance from the subject.

Here, in the aerial photography rotary wing aircraft 1, the mooring rope 190 is fixed on the outer edge shaft member 182 of the guide member 186. Therefore, the length R2 of the mooring rope 190 can be set longer than the length R1 of the mooring rope provided in the rotary wing aircraft Z for aerial photography.

The rotary wing machine 1 for aerial photography performs hovering at an altitude of H2 with the ground surface at a distance D2 away from the subject as the ground surface fixed point O2 of the mooring rope 190, and maintains the aerial camera horizontally with respect to the ground surface. You can take aerial shots of the subject. The rotorcraft 1 for aerial photography can move on an arc whose center point is the ground surface fixed point O2 of the mooring rope 190 and which is the radius of R2 of the mooring rope 190. The altitude H2 of the rotorcraft 1 for aerial photography can take an altitude from altitude H2 (0: ground surface) to altitude H2 according to the position of the rotorcraft. The rotary wing machine 1 for aerial photography of the present invention can shorten the horizontal distance from the subject as compared with the conventional rotary wing machine Z for aerial photography, and can set the flight altitude to be low.

<Embodiment 4>
In the fourth embodiment, the rotary wing aircraft 1 for aerial photography of the present invention is used to approach subjects such as outdoor sports, athletics such as marathons and relay road races, festivals, and street parades, which are performed between high-rise buildings. This is the usage pattern in which the photograph was taken.
FIG. 8 is a model diagram in the case where a fixed point is placed on the floor of a high-rise building and an aerial photograph of a marathon competition held in a valley of the high-rise building is performed using the rotary wing machine 1 for aerial photography. As shown in FIG. 8, the aerial rotary wing machine 1 has a fixed point of the mooring rope of the aerial rotary wing machine 1 placed on the floor of the 16th floor of a high-rise building, and hovering around the fixed point. Allows you to stay in place.

In FIG. 8, one of the rotary wing machines for aerial photography 1 sets the fixed point not on the ground surface (ground) but on the ground (16th floor of a high-rise building) having a certain altitude from the ground surface. Therefore, the rotary wing aircraft 1 for aerial photography can be hovered downward from the fixed point (near the 4th floor of a high-rise building). Further, in the other rotorcraft 1 for aerial photography, the fixed point is set not on the ground surface (ground) but on the ground (7th floor of a high-rise building) having a certain altitude from the ground surface. Therefore, the rotary wing aircraft 1 for aerial photography can be hovered downward from the fixed point (near the ground of a high-rise building).

As shown in FIG. 8, in the rotary wing machine 1 for aerial photography of the present invention, a fixed point is set in a high-rise building having a certain altitude from the ground surface between high-rise buildings, and a fixed point is set on the upper floor centering on the fixed point. It is possible to take aerial photographs of both the vicinity of the floor and the vicinity of the lower floor.
That is, in the rotary wing machine for aerial photography 1 of the present invention, by setting the fixed point of the mooring rope on the ground instead of the ground surface, the rotary wing machine for aerial photography can be seen downward and upward from the fixed point. 1 can be flown.

<Embodiment 5>
The fifth embodiment is an embodiment in which the rotary wing aircraft 1 for aerial photography of the present invention is used to take an aerial photograph in close proximity to a person who is a subject. FIG. 9 is a model diagram of the rotary wing aircraft 1 for aerial photography of the present invention when aerial photography of a person is performed. As shown in FIG. 9, the rotary wing aircraft 1 for aerial photography of the present invention stays at a fixed position by hovering, and maintains an altitude from the ground surface and a distance from a person. Since the rotary wing aircraft for aerial photography 1 of the present invention can be closer to a person than the conventional rotary wing aircraft for aerial photography, it is possible to take a bust-up size photograph closer to a person. As a result, a vast image can be taken without breaking the cut. Further, the rotary wing aircraft 1 for aerial photography can take a so-called low-angle image along the ground together with a person.

<Embodiment 6>
The sixth embodiment is a use mode in which the rotary wing aircraft 1 for aerial photography of the present invention is used to approach the bridge B for aerial photography. FIG. 10 is a model diagram when aerial photography of the bridge B is performed using the rotary wing aircraft 1 for aerial photography of the present invention. As shown in FIG. 10, the rotary wing aircraft 1 for aerial photography of the present invention stays at a fixed position of the bridge B by hovering, and maintains the altitude from the water surface W and the distance from the bridge B. There is. In the conventional rotary-wing aircraft Z for aerial photography, since the mooring rope is provided directly below the central portion, the operator of the rotary-wing aircraft must operate under the bridge B. However, since the rotary wing aircraft 1 for aerial photography of the present invention includes the mooring rope 190 attached to the guide member 186, it is not necessary to operate it under the bridge B.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and changes in conditions that do not deviate from the gist are all within the scope of the present invention.

The rotary wing aircraft for aerial photography of the present invention can be closer to the subject without losing the balance even if the mooring rope is pulled when the rotary wing aircraft is pulled back to the original position. Therefore, the rotary wing machine for aerial photography of the present invention can be expected to be used as a rotary wing machine for aerial photography for bridges, tunnel interiors, water surfaces in seas and rivers with natural objects, and caves. Further, the rotary wing aircraft for aerial photography of the present invention can be used in airplane-related industries such as multicopter drones, and further, the present invention can be used in various industries such as security field, agriculture, and infrastructure monitoring. can do.

1 Rotorcraft for aerial photography 1A Rotorcraft for aerial photography (rotary type)
10A-10D Rotor 12A-12D Rotor 14A-14D Power 16A-16D Arm 18A Extension arm 182 Outer edge shaft member 184 Bridge member 186 Guidance member 188 Fixing member 190 Tethering rope 20 Center 22 Central shaft member 30 Landing Leg 32 Landing leg 40 Control 42 Mounting member
44 Support member (control unit side)
46 Support member (photographing part side)
50 Photographing unit 282 Outer edge shaft member 284 Bridge member 286 Guidance member 288 Drive means

Claims (3)

With multiple rotors,
A central portion to which a plurality of arm portions supporting the rotor blades are connected, and
Connected to the arm portion, and a guide member comprising at least an outer edge shaft member extending in the vertical direction,
A rotary wing aircraft including a mooring rope attached to the outer edge shaft member.
The attachment position of the mooring rope is vertically above the center of gravity of the aircraft.
A rotary wing aircraft characterized by that. The attachment position of the mooring rope is vertically above the central portion.
The rotary wing aircraft according to claim 1. The attachment position of the mooring rope is vertically upward from the arm portion.
The rotary wing aircraft according to claim 1.

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