JP6844330B2 - Flyer, how to use the flyer, flyer frame - Google Patents

Description

The technology disclosed in the present application relates to a flying machine having a rotary wing, a method of using the flying machine, and a frame of the flying machine.

In recent years, flying aircraft that perform tasks such as taking pictures with a camera and recording images while flying unmanned have begun to be used. Further, as this type of flying machine, a flying machine main body having rotary wings and a pair of wheels that can rotate with respect to the flying machine main body have been proposed (see, for example, Patent Document 1). In addition, Patent Documents 2 and 3 disclose a technique relating to a wheel support mechanism.

Japanese Unexamined Patent Publication No. 2015-11003 JP-A-2009-113782 Japanese Unexamined Patent Publication No. 2003-236767

In a flying machine having a rotor main body having rotor blades and a pair of wheels that can rotate with respect to the flying machine main body, for example, a detector such as a camera is fixed to the flying machine main body. Examples of the method of using such a flying machine include a method of bringing the wheel into contact with the vertical surface of the object and raising the flying machine along the vertical surface to detect the state of the object with a detector. ..

In this method, when the aircraft is raised along a vertical surface, if the aircraft body is tilted so that thrust acts on the side of the vertical surface with respect to the flying aircraft, the wheels are kept in contact with the vertical surface. Can be made to.

However, if the main body of the flying machine is tilted, the detector is also tilted together with the main body of the flying machine, which may reduce the accuracy of detecting the state of the object. Therefore, in order to improve the detection accuracy of the state of the object, it is desirable that the detector can be maintained in a state of facing the object.

One aspect of the technique disclosed in the present application is to provide a flying machine capable of maintaining a detector facing an 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 frame, and a detector is provided. The main body of the flying machine has rotary wings. Frame includes a frame body for supporting the flying machine body is provided on both sides of the width direction of the frame body, a pair pressed against the object at least two positions spaced apart along a direction perpendicular to the width direction of the frame body It has a pressing part of. The detector is fixed to the frame. The detection direction of this detector is a direction orthogonal to the direction connecting the above two points and facing the object.

According to the technique disclosed in the present application, the detector can be maintained in a state of facing the object.

It is a perspective view of the flying machine which concerns on 1st Embodiment. It is a side view of the flying machine of FIG. It is a front view of the flying machine of FIG. It is a top view of the flying machine of FIG. It is a figure which shows an example of the usage method of the flying machine which concerns on 1st Embodiment. It is a perspective view of the flying machine which concerns on 2nd Embodiment. It is a side view of the flying machine of FIG. It is a front view of the flying machine of FIG. It is a top view of the flying machine of FIG. It is a figure which shows an example of the usage method of the flying machine which concerns on 2nd Embodiment. It is a side view of the flying machine which concerns on 3rd Embodiment. It is a figure which shows an example of the usage method of the flying machine which concerns on 3rd Embodiment. It is a side view of the flying machine which concerns on 4th Embodiment. It is a side view which shows the modification of the flying machine which concerns on 4th Embodiment. It is a side view of the flying machine which concerns on 5th Embodiment. It is a side view of the flying machine which concerns on 6th Embodiment. It is a top view of the flying machine of FIG. It is a figure which shows an example of the usage method of the flying machine which concerns on 6th Embodiment. It is a figure which shows the 1st modification example of the flying machine which concerns on 6th Embodiment. It is a figure which shows the 2nd modification of the flying machine which concerns on 6th Embodiment. It is a figure which shows the 3rd modification of the flying machine which concerns on 6th Embodiment. It is a figure which shows the 4th modification of the flying machine which concerns on 6th Embodiment. It is a figure which shows the 5th modification of the flying machine which concerns on 6th Embodiment. It is a figure which shows the 6th modification of the flying machine which concerns on 6th Embodiment. It is a figure which shows the expansion / contraction mechanism of FIG. 24 enlarged. It is a figure which shows the other example of the expansion / contraction mechanism applied to the 6th modification. It is a figure which shows the other example of the expansion / contraction mechanism applied to the 6th modification. It is a figure which shows the 7th modification of the flying machine which concerns on 6th Embodiment. FIG. 28 is an enlarged view showing the weight mechanism of FIG. 28. It is a side view of the flying machine which concerns on a comparative example. It is a figure which shows an example of the usage method of the flying machine which concerns on a comparative example.

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

As shown in FIGS. 1 to 4, the flying machine 10 according to the first embodiment includes a flying machine main body 20, a frame 30, and a camera 50.

The flying machine main body 20 is, for example, a multicopter, and has a base portion 21, a plurality of motors 22, and a plurality of rotor blades 23. In the present embodiment, the number of the plurality of motors 22 and the plurality of rotary blades 23 is four as an example.

The base portion 21 has an H shape in a plan view, and a plurality of motors 22 are arranged at the four corners of the base portion 21, respectively. The plurality of motors 22 and the plurality of rotary blades 23 are all arranged with the height direction of the flying machine 10 as the axial direction. The plurality of rotary blades 23 are fixed to the output shaft of the motor 22. The base portion 21 is provided with a control circuit for controlling a plurality of motors 22, a battery for supplying electric power to the plurality of motors 22, and the like.

The frame 30 has a frame main body 31, a plurality of pulleys 32, and a pair of annular belts 33. Further, the frame main body 31 has a central support rod 41, a plurality of side support rods 42, and a plurality of connecting rods 43.

The central support rod 41 extends in the lateral width direction of the frame main body 31. A mounting member 44 is rotatably fixed to the central portion of the central support rod 41 around the axial direction of the central support rod 41, and the flying machine main body 20 is fixed to the mounting member 44. By being supported by the central support rod 41 via the mounting member 44, the flying machine main body 20 can rotate around the axial direction of the central support rod 41, that is, around the lateral width direction of the frame main body 31. The flying machine main body 20 is arranged below the central support rod 41.

The plurality of side support rods 42 are provided at both ends of the central support rod 41, respectively. The frame main body 31 is symmetrical, and in the present embodiment, the number of side support rods 42 provided on one side of the central support rod 41 is three as an example. The three side support rods 42 on one side extend in directions orthogonal to the axial direction of the central support rod 41, and have the same length as each other. Further, the three side support rods 42 on one side are arranged at equal angle intervals (120 degree intervals) around the central support rod 41 in the axial direction, and extend radially around the central support rod 41.

The plurality of connecting rods 43 extend in the lateral width direction of the frame main body 31, respectively. The number of the plurality of connecting rods 43 is the same as the number of the side support rods 42 on one side, and in the present embodiment, the number of the plurality of connecting rods 43 is three. Both ends of the three connecting rods 43 are fixed to the tips of the three side surface support rods 42 on each side.

The plurality of pulleys 32 are provided at both ends of the frame main body 31 in the lateral width direction. The number of the plurality of pulleys 32 on one side is the same as the number of the side support rods 42 on one side, and in the present embodiment, the number of the plurality of pulleys 32 on one side is three. The three pulleys 32 on each side are provided corresponding to the tip portions of the side support rods 42, and are arranged at intervals around the width direction of the frame main body 31.

More specifically, both ends of the above-mentioned three connecting rods 43 penetrate the tips of the three side support rods 42 on each side, and the three pulleys 32 on each side each penetrate the connecting rods. It is rotatably fixed to both ends of the 43. That is, the three connecting rods 43 are the three pulleys 32 provided at one end in the width direction of the frame body 31 and the three pulleys 32 provided at the other end in the width direction of the frame body 31. Each is connected. Further, the three connecting rods 43 are supported by each of the three side surface support rods 42 on each side by fixing both ends thereof to the tips of the three side surface support rods 42 on each side.

The pair of annular belts 33 is an example of "a pair of annular members" and are provided at both ends of the frame main body 31 in the lateral width direction. Each annular belt 33 has a thin plate shape and is wound around three pulleys 32 on each side. Each of the annular belts 33 rotates with the rotation of the three pulleys 32 on each side. Further, by arranging three pulleys 32 on each side at equal intervals around the width direction of the frame body 31, each annular belt 33 has a regular triangle around the width direction of the frame body 31 as an example of the "polygonal shape". It has a shape.

As shown in FIG. 2, the annular belt 33 having a regular triangular shape has a size inscribed in a circle 24 accommodating the flying machine main body 20 when viewed from the side of the frame 30, and the flying machine main body 20 has a size inscribed in the circle 24. It is located inside the annular belt 33 in a side view of the frame 30.

The frame 30 having the above pair of annular belts 33, the above-mentioned central support rod 41, the plurality of side support rods 42, and the plurality of connecting rods 43 has the lateral width direction of the flying machine 10 as the axial direction. It is formed in a roughly tubular cage shape. Further, the flying machine main body 20 is arranged between the pair of annular belts 33 when viewed from the front of the frame 30, and is arranged inside the annular belts 33 when viewed from the side of the frame 30. As a result, the flying machine main body 20 is surrounded by a frame main body 31 and a frame 30 having a pair of annular belts 33.

The camera 50 is an example of a “detector”. The camera 50 is fixed to the central support rod 41 of the frame 30 via the legs 45. The leg portion 45 is an example of a “fixed portion”. The camera 50 is arranged above the central support rod 41. Further, the camera 50 is arranged between the pair of annular belts 33 in the front view of the frame 30 and inside the annular belt 33 in the side view of the frame 30, similarly to the above-mentioned flying machine main body 20. ing. As a result, the camera 50 is also surrounded by the frame 30.

As shown in FIG. 2, in the side view of the frame 30, the camera 50 is oriented so that its optical axis 51 is orthogonal to one of the three side portions 34 formed on the annular belt 33. Is set. Of the three side portions 34 formed on the annular belt 33, one side portion 34 orthogonal to the optical axis 51 of the camera 50 functions as a pressing portion 35 that is pressed against the object as described later.

The pressing portion 35 is formed not by a specific portion of the rotating annular belt 33 but by a portion of the rotating annular belt 33 between the pair of pulleys 32. In FIGS. 1 to 4, as an example, the camera 50 faces diagonally forward and upward of the frame 30, and the pressing portion 35 is a side portion 34 located between the upper pulley 32 and the front pulley 32. Is formed by. The pressing portion 35 is formed in a linear shape by being formed by one side portion 34.

In this way, the pressing portion 35, which is one side portion 34, forms a straight line, so that the pressing portion 35 covers the entire length direction including the two locations 35A and 35B on both ends in the length direction. It is pressed against the object so that it comes into contact with the object. Each pressing portion 35 is formed on a pair of annular belts 33 on both sides, so that each pressing portion 35 is provided at both ends in the lateral width direction of the frame main body 31. Further, the pressing portion 35 is formed by one side portion 34, so that the pressing portion 35 extends along a direction orthogonal to the lateral width direction of the frame main body 31. The two locations 35A and 35B on both ends in the length direction of the pressing portion 35 are separated from each other along a direction (arrow A direction) orthogonal to the width direction of the frame main body 31.

Further, as described above, the orientation of the camera 50 is set so that the optical axis 51 of the camera 50 is orthogonal to the pressing portion 35 which is one side portion 34 in the side view of the frame 30. As a result, the optical axis direction of the camera 50, that is, the shooting direction of the camera 50 is set to the pressing direction of the pressing portion 35 against the object. Specifically, the shooting direction of the camera 50 is orthogonal to the direction connecting the two locations 35A and 35B on both ends in the length direction of the pressing portion 35 (the length direction of one side portion 34) and faces the object. It is set in the direction. The shooting direction of the camera 50 is an example of the “detection direction of the detector”.

Next, an example of how to use the above-mentioned flying machine 10 will be described.

FIG. 5 shows an example of how to use the flying machine 10. The flying machine 10 flies based on a signal emitted from a controller operated by the operator. The signal emitted from the controller may be wirelessly transmitted to the flying machine 10, or may be transmitted to the flying machine 10 by wire.

The object 60 shown in FIG. 5 is, for example, a structure such as a bridge or a building. The object 60 has a lower vertical surface 61, an upper vertical surface 62, and a downward horizontal plane 63 formed between the vertical surfaces 61 and 62.

Then, in this example, first, as shown in the state (1), the flying machine 10 flies, and one side portion 34 formed on the annular belt 33 comes into contact with the vertical surface 61 of the object 60. Further, the flying machine 10 rises along the vertical surface 61 with the rotation of the annular belt 33.

Further, when the flying machine 10 rises and the flying machine 10 reaches the horizontal plane 63 of the object 60, as shown in the states (1) to (2), one corner formed on the annular belt 33 is formed. The frame 30 rotates as a fulcrum. Then, another side portion 34 formed on the annular belt 33 comes into contact with the horizontal plane 63 of the object 60, and the flying machine 10 moves along the horizontal plane 63 with the rotation of the annular belt 33.

Further, when the flying machine 10 moves along the horizontal plane 63 and the central portion of the flying machine 10 exceeds the corner portion 64 of the object 60, the annular belt 33 is shown from the state (3) to the state (4). The frame 30 rotates while being in contact with the corner portion 64. Then, another side portion 34 formed on the annular belt 33 comes into contact with the vertical surface 62 of the object 60.

As described above, in the flying machine 10 according to the first embodiment, even if the object 60 has a step, the contact surface of the annular belt 33 with respect to the object 60 changes due to the rotation of the frame 30, so that the flying machine 10 Overcomes the step.

Further, the side portion 34 in contact with the vertical surface 62 of the above-mentioned object 60 is orthogonal to the optical axis 51 of the camera 50 and functions as a pressing portion 35. Then, the flying machine 10 rises with the rotation of the annular belt 33 in a state where the pressing portion 35 is pressed against the vertical surface 62 of the object 60. Further, as described above, the direction of the camera 50 is set so that its optical axis 51 is orthogonal to the side portion 34 that functions as the pressing portion 35. Then, the camera 50 shoots the vertical surface 62 with the pressing direction of the pressing portion 35 against the vertical surface 62 as the photographing direction.

As shown in the state (4), in order to press the pressing portion 35 against the vertical surface 62, the flying machine main body 20 is tilted so that thrust acts on the vertical surface 62 side with respect to the flying machine 10. It will be in a state of being.

However, in the present embodiment, the camera 50 is fixed to the frame 30, and the camera 50 is fixed to the frame 30 with the pressing direction of the pressing portion 35 against the vertical surface 62 as the photographing direction. Therefore, even if the flying machine main body 20 is tilted, the camera 50 is maintained in a state of facing the vertical surface 62.

Next, the operation and effect of the first embodiment will be described.

First, a comparative example will be described in order to explain the operation and effect of the first embodiment. FIG. 30 shows a flying machine 230 according to a comparative example. The flying machine 230 according to the comparative example has a different configuration from the flying machine 10 (see FIG. 1) according to the first embodiment described above as follows.

That is, the flying machine 230 according to the comparative example includes a flying machine main body 240, a pair of wheels 243, and a camera 250. The flying machine main body 240 has the same configuration as the flying machine main body 20 (see FIG. 1) in the above-described first embodiment. The pair of wheels 243 are arranged on both sides of the flying machine main body 240 in the lateral width direction, and are rotatably supported by the axle 241 extending in the horizontal width direction of the flying machine main body 240 with respect to the flying machine main body 240. The camera 250 is fixed to the flying machine main body 240 via the legs. The camera 50 faces the front of the flying machine main body 240.

FIG. 31 shows how to use the flying machine 230 according to the comparative example. In the method of using the flying machine 230 according to this comparative example, first, as shown in the state (1), the flying machine 230 flies, and the pair of wheels 243 come into contact with the vertical surface 61 of the object 60. Then, the flying machine 230 rises along the vertical surface 61 with the rotation of the pair of wheels 243.

Further, when the flying machine 230 rises and the flying machine 230 reaches the horizontal plane 63 of the object 60, the pair of wheels 243 come into contact with the horizontal plane 63. Then, the flying machine 230 moves along the horizontal plane 63 with the rotation of the pair of wheels 243.

Further, when the flying machine 230 moves along the horizontal plane 63 and reaches the corner 64 of the object 60, as shown in the state (2), the pair of wheels 243 are in line contact with the corner 64 of the flying machine. 230 moves. Then, as shown in the state (3), the flying machine 230 comes into contact with the vertical surface 62 of the object 60, and the flying machine 230 takes a picture of the vertical surface 62 by the camera 250.

However, this comparative example has the following problems. That is, in this comparative example, as shown in the state (3), when the flying machine 230 is raised along the vertical surface 62, the flying machine 230 flies so that a thrust acts on the side of the vertical surface 62 with respect to the flying machine 230. When the machine body 240 is tilted, the pair of wheels 243 are maintained in contact with the vertical surface 62. However, when the flying machine main body 240 is tilted, the camera 250 is also tilted together with the flying machine main body 240, and the camera 250 does not face the vertical surface 62, so that the shooting accuracy with respect to the vertical surface 62 may decrease.

Further, in this comparative example, as shown in the state (1), when the step formed by the horizontal plane 63 is larger than the radius of the wheel 243, the wheel 243 gets over the step even if the flying machine 230 is simply raised. It may not be possible.

Further, as shown in the state (2), when the flying machine 230 moves from the horizontal plane 63 to the vertical plane 62, the contact state between the pair of wheels 243 and the corner portion 64 of the object 60 becomes line contact. Therefore, the control of the magnitude and direction of the contact force becomes complicated, and if the control of the magnitude and direction of the contact force is not appropriate, the pair of wheels 243 may be easily separated from the corner portion 64. Further, if the pair of wheels 243 do not come into contact with the corner portion 64 at the same time, one wheel 243 may be caught by the corner portion 64 and the attitude of the flying machine 230 may be lost. That is, in the flying machine 230 according to this comparative example, it is difficult to move according to the unevenness of the object.

On the other hand, in the flying machine 10 according to the first embodiment shown in FIGS. 1 to 5, the camera 50 is fixed to the frame 30, and the camera 50 is applied to the object of the pressing portion 35. It is fixed to the frame 30 with the pressing direction as the photographing direction. Therefore, as shown in the state (4) of FIG. 5, even if the flying machine main body 20 is tilted, the camera 50 is made to face the object in the state where the pressing portion 35 is pressed against the object. Can be maintained in a state. This makes it possible to improve the shooting accuracy of the object.

Further, in the flying machine 10 according to the first embodiment, the frame 30 is rotatable with respect to the flying machine main body 20, and moreover, a pair of annular rings forming a triangular shape are formed at both ends of the frame main body 31 in the lateral width direction. A belt 33 is provided. Therefore, as shown in FIG. 5, even if the object has a step, the flying machine 10 can overcome the step by rotating the frame 30 to change the contact surface of the annular belt 33 with the object. .. As a result, it is possible to move in accordance with the unevenness of the object, so that the running performance against the unevenness can be improved.

Further, by using the linear pressing portion 35, the contact area between the object and the flying machine 10 is expanded, so that the flying machine 10 can be stably moved along the object. As a result, the shooting accuracy of the object can be further improved.

Further, the annular belt 33 is wound around a plurality of pulleys 32 provided at both ends in the lateral width direction of the frame main body 31. Therefore, when the flying machine 10 moves along the object while the annular belt 33 is in contact with the object, the annular belt 33 rotates, so that the flying machine 10 can be smoothly moved along the object. ..

Further, since one linear side portion 34 formed on the annular belt 33 is used as the pressing portion 35 to expand the contact area between the object and the flying machine 10, the wind resistance performance and straight running stability of the flying machine 10 are increased. The sex can be improved.

Further, each of the plurality of pulleys 32 provided at one end in the width direction of the frame body 31 and each of the plurality of pulleys 32 provided at the other end in the width direction of the frame body 31 are formed by a plurality of connecting rods 43. It is connected. Therefore, since the rattling of the plurality of pulleys 32 can be suppressed, the annular belt 33 can be smoothly rotated. Thereby, the traveling performance of the flying machine 10 can be improved.

Further, at both ends of the central support rod 41 that supports the flying machine main body 20, a plurality of side support rods 42 extending in directions orthogonal to the axial direction of the central support rod 41 are provided. Each of the plurality of connecting rods 43 is supported by a plurality of side surface supporting rods 42 provided on both sides of the plurality of connecting rods 43. Therefore, the rigidity of the central support rod 41, the plurality of side support rods 42, and the frame main body 31 having the plurality of connecting rods 43 can be improved. Thereby, for example, even when the flying machine 10 lands, it is possible to prevent the frame main body 31 from being damaged by the impact of the landing and the annular belt 33 from being disengaged due to the distortion of the frame main body 31.

Further, the flying machine main body 20 is arranged between the pair of annular belts 33 when viewed from the front of the frame 30, and is arranged inside the annular belts 33 when viewed from the side of the frame 30. As a result, the flying machine main body 20 is surrounded by a frame main body 31 and a frame 30 having a pair of annular belts 33. Therefore, since the flying machine main body 20 can be protected by the frame 30, it is possible to prevent the flying machine main body 20 from coming into contact with an external object, an obstacle, or the like. As a result, it is possible to prevent the rotation of the rotary blade 23 from being hindered and the flying machine main body 20 from being damaged.

Further, the camera 50 is also arranged between the pair of annular belts 33 when viewed from the front of the frame 30, and is also arranged inside the annular belt 33 when viewed from the side of the frame 30. As a result, the camera 50 is also surrounded by the frame 30. Therefore, since the camera 50 can be protected by the frame 30, it is possible to prevent the camera 50 from coming into contact with an external object, an obstacle, or the like. As a result, it is possible to prevent the camera 50 from being impacted to change the angle of the camera 50 or damage the camera 50.

Next, a modified example of the first embodiment will be described.

In the first embodiment, the object to be operated by the flying machine 10 is, for example, a structure such as a bridge or a building. In addition to the structure such as a bridge or a building, for example, a tunnel, a roof, or the like. It may be a ladder, an electric pole, a chimney, a large passenger plane, or other structure. In addition to the structure, the object may be, for example, the ground or the water surface. That is, the object on which the flying machine 10 works may be at least one of a bridge, a building, a tunnel, a roof, a ladder, a utility pole, a chimney, a large passenger plane, other structures, the ground, and a water surface.

Further, in the first embodiment, the flying machine 10 takes a picture with the camera 50 as an example of "work", but in addition to the picture, for example, observation, recording, inspection, inspection, transportation, painting, marking, and , Other work may be done.

Further, in the first embodiment, the camera 50 for taking a picture is used as an example of the "detector", but a detector suitable for other work may be used.

Further, in the first embodiment, the flying machine main body 20 is supported by the central support rod 41 via the mounting member 44, so that the flying machine main body 20 can rotate around the width direction of the frame main body 31. However, the flying machine main body 20 may be rotatable around the width direction of the frame main body 31 and may be rotatable around the height direction of the frame main body 31 with respect to the mounting member 44.

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

The flying machine 120 according to the second embodiment shown in FIGS. 6 to 9 has a structure different from that of the flying machine 10 (see FIG. 1) according to the first embodiment described above as follows.

That is, the flying machine 120 according to the second embodiment has a frame 70. The frame 70 has three wheels 72 on one side and an annular frame 73 instead of the three pulleys 32 on one side and the annular belt 33 (see FIG. 1) in the first embodiment. The frame body 71 in the frame 70 has a central support rod 41, a plurality of side support rods 42, and a plurality of connecting rods 43, similarly to the frame body 31 (see FIG. 1) in the first embodiment.

The annular frame 73 is an example of an “annular member”. As an example of the "polygonal shape", the annular frame 73 has a regular triangular shape around the width direction of the frame body 71. The annular frame 73 has a thin plate shape. Each corner of the annular frame 73 is connected to the tip of each side support rod 42.

The three wheels 72 on one side are provided at the tips of the side support rods 42, that is, at the corners of the annular frame 73. The three wheels 72 on each side are rotatably fixed to both ends of each connecting rod 43 penetrating each corner of the annular frame 73.

As shown in FIG. 7, the annular frame 73 having a regular triangular shape has a size inscribed in a circle 24 accommodating the flying machine main body 20 in a side view of the frame 70, and the flying machine main body 20 has a size inscribed in the circle 24. It is located inside the annular frame 73 in a side view of the frame 70.

The frame 70 having the above pair of annular frames 73, the central support rod 41, the plurality of side support rods 42, and the plurality of connecting rods 43 is a schematic cylinder whose axial direction is the lateral width direction of the flying machine 120. It is formed in the shape of a basket. Further, the flying machine main body 20 is arranged between the pair of annular frames 73 when viewed from the front of the frame 70, and is arranged inside the annular frame 73 when viewed from the side of the frame 70. As a result, the flying machine main body 20 is surrounded by a frame main body 71 and a frame 70 having a pair of annular frames 73.

The above-mentioned annular frame 73 having a regular triangular shape has three side portions 74, and the frame main body 71 has a connecting fixing rod 81 extending in the lateral width direction of the frame main body 71. The connecting fixing rod 81 connects one side portion 74 of the three side portions 74 on one side and one side portion 74 of the three side portions 74 on the other side.

The camera 50 is fixed to the above-mentioned connecting fixing rod 81 of the frame 70 via the legs 85. The leg portion 85 is an example of a “fixed portion”. The camera 50 is arranged above the connecting fixing rod 81. Further, the camera 50 is arranged between the pair of annular frames 73 in the front view of the frame 70 and inside the annular frame 73 in the side view of the frame 70, similarly to the above-mentioned flying machine main body 20. ing. As a result, the camera 50 is also surrounded by the frame 70.

As shown in FIG. 7, in a side view of the frame 70, the camera 50 is oriented so that its optical axis 51 is orthogonal to one of the three sides 74 formed on the annular frame 73. Is set. Of the three side portions 74 formed on the annular frame 73, a pair of wheels 72 provided at both ends of one side portion 74 orthogonal to the optical axis 51 of the camera 50 are objects as described later. It functions as a pressing portion 75 to be pressed.

The pressing portion 75 is pressed against the object so that the pair of wheels 72 come into contact with the object. Each pressing portion 75 is formed on a pair of annular frames 73 on both sides, so that the pressing portions 75 are provided at both ends in the lateral width direction of the frame main body 71. One side portion 74 connecting the pair of wheels 72 functioning as the pressing portion 75 extends along a direction orthogonal to the width direction of the frame main body 71. The pair of wheels 72 that function as the pressing portion 75 is an example of "two locations that come into contact with an object in the pressing portion", and is along a direction (arrow A direction) orthogonal to the width direction of the frame body 71. It is separated.

Further, as described above, the orientation of the camera 50 is set so that the optical axis 51 of the camera 50 is orthogonal to the one side portion 74 in the side view of the frame 70. As a result, the optical axis direction of the camera 50, that is, the shooting direction of the camera 50 is set to the pressing direction of the pressing portion 75 against the object. Specifically, the shooting direction of the camera 50 is set to be orthogonal to the direction of connecting the pair of wheels 72 functioning as the pressing portion 75 (the length direction of one side portion 74) and to face the object. There is. The shooting direction of the camera 50 is an example of the “detection direction of the detector”.

Next, an example of how to use the above-mentioned flying machine 120 will be described.

FIG. 10 shows an example of how to use the flying machine 120. The object 60 shown in FIG. 10 is, for example, a structure such as a bridge or a building. The object 60 has a vertical plane 65.

Then, in this example, first, as shown in the state (1), the flying machine 120 flies, and a pair of wheels 72 provided at both ends of one side portion 74 of the annular frame 73 in the length direction are provided. It is pressed against the vertical surface 65 of the object 60 as the pressing portion 75.

Then, as shown in the state (2), the flying machine 120 rises along the vertical surface 65 with the rotation of the pair of wheels 72 that function as the pressing portion 75.

Further, as described above, the camera 50 is oriented so that its optical axis 51 is orthogonal to one side portion 74 connecting the pair of wheels 72 that function as the pressing portion 75. Then, the camera 50 shoots the vertical surface 65 with the pressing direction of the pressing portion 75 against the vertical surface 65 as the photographing direction.

As shown in the state (2), in order to press the pressing portion 75 against the vertical surface 65, the flying machine main body 20 is tilted so that thrust acts on the side of the vertical surface 65 with respect to the flying machine 120. It will be in a state of being.

However, in the present embodiment, the camera 50 is fixed to the frame 70, and the camera 50 is fixed to the frame 70 with the pressing direction of the pressing portion 75 against the vertical surface 65 as the photographing direction. Therefore, even if the flying machine main body 20 is tilted, the camera 50 is maintained in a state of facing the vertical surface 65.

In this example, an example in which the flying machine 120 moves along a flat vertical surface 65 is shown, but the flying machine 120 according to the second embodiment has irregularities as in the example of the first embodiment described above. Of course, you may move according to.

Next, the operation and effect of the second embodiment will be described.

In the flying machine 120 according to the second embodiment, the camera 50 is fixed to the frame 70, and the camera 50 is fixed to the frame 70 with the pressing direction of the pressing portion 75 against the object as the shooting direction. ing. Therefore, as shown in the state (2) of FIG. 10, even if the flying machine main body 20 is tilted, the camera 50 is made to face the object in the state where the pressing portion 75 is pressed against the object. Can be maintained in a state. This makes it possible to improve the shooting accuracy of the object.

Further, in the flying machine 120 according to the second embodiment, the frame 70 is rotatable with respect to the flying machine main body 20, and moreover, a pair of annular rings forming a triangular shape are formed at both ends of the frame main body 71 in the lateral width direction. A frame 73 is provided. Therefore, even if the object has a step, the flying machine 120 can overcome the step by rotating the frame 70 to change the contact surface of the annular frame 73 with the object. .. As a result, it is possible to move in accordance with the unevenness of the object, so that the running performance against the unevenness can be improved.

Further, by making the pair of wheels 72 provided at both ends of one side portion 74 in the length direction function as the pressing portion 75, the flying machine 120 is stably pressed against the object, so that the flying machine 120 is stably pressed against the object. The flying machine 120 can be moved stably. As a result, the shooting accuracy of the object can be further improved.

Further, when the flying machine 120 moves along the object while the pair of wheels 72 functioning as the pressing portion 75 is in contact with the object, the pair of wheels 72 rotate, so that the flying machine 120 is used as the object. It can be moved smoothly along.

Further, each of the plurality of wheels 72 provided at one end in the width direction of the frame body 71 and each of the plurality of wheels 72 provided at the other end in the width direction of the frame body 71 are formed by a plurality of connecting rods 43. It is connected. Therefore, since the rattling of the plurality of wheels 72 can be suppressed, the plurality of wheels 72 can be smoothly rotated. Thereby, the traveling performance of the flying machine 120 can be improved.

Further, the flying machine main body 20 is arranged between the pair of annular frames 73 when viewed from the front of the frame 70, and is arranged inside the annular frame 73 when viewed from the side of the frame 70. As a result, the flying machine main body 20 is surrounded by a frame main body 71 and a frame 70 having a pair of annular frames 73. Therefore, since the flying machine main body 20 can be protected by the frame 70, it is possible to prevent the flying machine main body 20 from coming into contact with an external object, an obstacle, or the like. As a result, it is possible to prevent the rotation of the rotor blades from being hindered and the flying machine main body 20 from being damaged.

Further, the camera 50 is also arranged between the pair of annular frames 73 when viewed from the front of the frame 70, and is also arranged inside the annular frame 73 when viewed from the side of the frame 70. As a result, the camera 50 is also surrounded by the frame 70. Therefore, since the camera 50 can be protected by the frame 70, it is possible to prevent the camera 50 from coming into contact with an external object, an obstacle, or the like. As a result, it is possible to prevent the camera 50 from being impacted to change the angle of the camera 50 or damage the camera 50.

In addition, in the said 2nd Embodiment, about the same structure as the 1st Embodiment, the same operation and effect as the 1st Embodiment are exhibited. Further, in the second embodiment, it is possible to adopt the same modification as in the first embodiment.

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

The flying machine 130 according to the third embodiment shown in FIG. 11 has a structure different from that of the flying machine 10 (see FIG. 1) according to the first embodiment described above as follows.

That is, each of the plurality of side portions 34 of the annular belt 33 functions as a pressing portion 35, and a plurality of cameras 50 are fixed to the frame main body 31 corresponding to the plurality of pressing portions 35. The orientation of each camera 50 is set so that its optical axis 51 is orthogonal to each pressing portion 35 (each side portion 34). As a result, the optical axis direction of the camera 50, that is, the shooting direction of the camera 50 is set to the pressing direction of the pressing portion 35 against the object.

Further, the plurality of cameras 50 are fixed at appropriate positions on the frame 30. The plurality of cameras 50 are all arranged between the pair of annular belts 33, and are arranged inside the annular belts 33 in a side view of the frame 30. As a result, the plurality of cameras 50 are surrounded by the frame body 31 and the frame 30 having the pair of annular belts 33.

Next, the operation and effect of the third embodiment will be described.

In the flying machine 130 according to the third embodiment, each of the plurality of side portions 34 of the annular belt 33 is a pressing portion 35, and the frame main body 31 has a plurality of cameras corresponding to the plurality of pressing portions 35. 50 is fixed. Therefore, for example, as shown in FIG. 12, when the flying machine 130 moves following the unevenness of the object, even if the frame 30 rotates, each of the uneven wall surfaces is photographed by any of the plurality of cameras 50. it can. As a result, the shooting range can be expanded for an object having irregularities.

In addition, in the said 3rd Embodiment, about the same structure as the 1st Embodiment, the same operation and effect as the 1st Embodiment are exhibited. Further, in the third embodiment, it is possible to adopt the same modification as in the first embodiment. Further, the third embodiment may be combined with the second embodiment in addition to being combined with the first embodiment.

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

The flying machine 140 according to the fourth embodiment shown in FIG. 13 has a structure different from that of the flying machine 10 (see FIG. 1) according to the first embodiment described above as follows.

That is, in the flying machine 140 according to the fourth embodiment, the number of side support rods 42 provided on one side of the central support rod 41 is set to four as an example. Further, the number of the plurality of connecting rods 43 is four, and the number of the plurality of pulleys 32 is four, corresponding to the four side support rods 42 on one side. Further, by arranging four pulleys 32 on each side at equal intervals around the width direction of the frame body 31, the annular belt 33 has a square shape around the width direction of the frame body 31 as an example of the "polygonal shape". It is made up.

The square-shaped annular belt 33 has a size inscribed in the circle 24 accommodating the flying machine main body 20 when viewed from the side of the frame 30, and the flying machine main body 20 has an annular belt when viewed from the side of the frame 30. It is located inside 33.

The frame 30 having the above pair of annular belts 33, the above-mentioned central support rod 41, the plurality of side support rods 42, and the plurality of connecting rods 43 has the lateral width direction of the flying machine 140 as the axial direction. It is formed in a roughly tubular cage shape. Further, the flying machine main body 20 is arranged between the pair of annular belts 33 when viewed from the front of the frame 30, and is arranged inside the annular belts 33 when viewed from the side of the frame 30. As a result, the flying machine main body 20 is surrounded by a frame main body 31 and a frame 30 having a pair of annular belts 33.

The camera 50 is fixed to the central support rod 41 of the frame 30 via the legs 45. The camera 50 is arranged above the central support rod 41. Further, the camera 50 is arranged between the pair of annular belts 33 in the front view of the frame 30 and inside the annular belt 33 in the side view of the frame 30, similarly to the above-mentioned flying machine main body 20. ing. As a result, the camera 50 is also surrounded by the frame 30.

In the side view of the frame 30, the camera 50 is oriented so that its optical axis 51 is orthogonal to one of the four side portions 34 formed on the annular belt 33. Of the four side portions 34 formed on the annular belt 33, one side portion 34 orthogonal to the optical axis 51 of the camera 50 functions as a pressing portion 35 pressed against the object. The pressing portion 35 is formed in a linear shape by being formed by one side portion 34.

Further, as described above, the direction of the camera 50 is set so that the optical axis 51 of the camera 50 is orthogonal to the pressing portion 35, so that the optical axis direction of the camera 50, that is, the shooting direction of the camera 50 is pressed. The direction of pressing the unit 35 against the object is set.

Next, the operation and effect of the fourth embodiment will be described.

In the flying machine 140 according to the fourth embodiment shown in FIG. 13, the annular belt 33 has a square shape having four side portions 34. Therefore, for example, the rotation angle when the frame 30 rotates according to the unevenness of the object can be reduced as compared with the case where the annular belt 33 has a regular triangular shape. As a result, the movement of the flying machine 140 that follows the unevenness of the object can be made smoother, so that the running performance against the unevenness can be further improved.

In addition, in the said 4th Embodiment, about the same structure as the 1st Embodiment, the same action and effect as the 1st Embodiment are exhibited.

Next, a modified example of the fourth embodiment will be described.

In the fourth embodiment, the annular belt 33 has, for example, a square shape having four side portions 34. For example, as shown in FIG. 14, the annular belt 33 has five side portions 34. It may be a regular pentagonal shape having. That is, the annular belt 33 may have a polygonal shape having four or more side portions 34.

In the fourth embodiment, it is possible to adopt the same modification as in the first embodiment. Further, in the fourth embodiment, the flying machine 140 is combined with the second embodiment to have a polygonal annular frame 73 having four or more side portions 74 instead of the annular belt 33 (see FIG. 6). ) May have.

Further, in the fourth embodiment, by combining the flying machine 140 with the third embodiment, even if a plurality of cameras 50 are fixed to the frame main body 31 corresponding to the plurality of pressing portions 35. good.

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

The flying machine 150 according to the fifth embodiment shown in FIG. 15 has a structure different from that of the flying machine 120 (see FIG. 6) according to the second embodiment described above as follows.

That is, in the flying machine 150 according to the fifth embodiment, the annular frame 73 is provided with a plurality of wheels 72 on the side portions 74 between the plurality of corner portions in addition to the wheels 72 provided at each corner portion. ing. A plurality of wheels 72 are arranged on one side 74 of the plurality of side portions 74 formed on the annular frame 73 in the length direction of the one side portion 74. The plurality of wheels 72 function as a pressing portion 75. The pressing portion 75 is pressed against the object so that the plurality of wheels 72 come into contact with the object. The plurality of wheels 72 are an example of "a plurality of locations in contact with an object in the pressing portion", and are separated from each other along a direction (arrow A direction) orthogonal to the width direction of the frame main body 71.

Next, the operation and effect of the fifth embodiment will be described.

In the flying machine 150 according to the fifth embodiment shown in FIG. 15, the pressing portion 75 has a plurality of wheels 72 arranged in the length direction of one side portion 74. Therefore, when the flying machine 150 moves along the object with the plurality of wheels 72 in contact with the object, the plurality of wheels 72 rotate, so that the flying machine 150 can be smoothly moved along the object. Can be done.

In addition, in the said 5th Embodiment, about the same structure as the 2nd Embodiment, the same action and effect as the 2nd Embodiment are exhibited. Further, in the fifth embodiment, it is possible to adopt the same modification as in the first embodiment.

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

The flying machine 160 according to the sixth embodiment shown in FIGS. 16 and 17 has a structure different from that of the flying machine 10 (see FIG. 1) according to the first embodiment described above as follows.

That is, the flying machine 160 according to the sixth embodiment includes a flying machine main body 20, a frame 90, and a camera 50.

The flying machine main body 20 is a multicopter similar to the first embodiment, and has a base portion 21, a plurality of motors 22, and a plurality of rotor blades 23. In the present embodiment, the number of the plurality of motors 22 and the plurality of rotary blades 23 is four as an example.

The frame 90 has a frame body 91, a pair of wheels 92, a pair of arms 93, and a connecting rod 94. As an example, an axle extending in the lateral width direction of the flying machine main body 20 is applied to the frame main body 91. The flying machine main body 20 is fixed to the central portion in the horizontal width direction, which is the axial direction of the frame main body 91. The pair of wheels 92 are provided at both ends of the frame main body 91 in the lateral width direction, and are rotatably supported by the frame main body 91.

The pair of arms 93 are arranged between the pair of wheels 92 and the flying machine main body 20, respectively. The pair of arms 93 are supported by the frame body 91 and rotate around the width direction of the frame body 91. Each arm 93 is rotatably supported by a frame body 91 at a central portion in the length direction thereof.

One side of each arm 93 with respect to the rotation center is formed as a first arm portion 95, and the other side of each arm 93 with respect to the rotation center is formed as a second arm portion 96. The length dimension of the first arm portion 95 and the second arm portion 96 is set to be longer than the radial dimension of the wheel 92. As a result, both the tip end side 95A of the first arm portion 95 and the tip end side 96A of the second arm portion 96 project outward in the radial direction of the wheel 92 with respect to the wheel 92.

Both the tip end side 95A of the first arm portion 95 and the tip end side 96A of the second arm portion 96 are bent at an obtuse angle. In a side view of the frame 90, the tip end side 95A of the first arm portion 95 extends along a direction orthogonal to the direction in which the tip end side 96A of the second arm portion 96 extends.

A torsion spring 100 is provided at the center of rotation of the arm 93, which is arranged with the lateral width direction of the frame main body 91 as the axial direction. One end of the torsion spring 100 is fixed to the frame body 91, and the other end of the torsion spring 100 is fixed to the arm 93.

The torsion spring 100 is an example of a "rotation angle defining structure". That is, when the passive wheel 97 is not in contact with the object, the rotation angle of the arm 93 is defined by the torsion spring 100 so that the passive wheel 97 is located in front of the wheel 92 (object side). ..

Further, the torsion spring 100 is an example of a "rotational power imparting structure". That is, the torsion spring 100 applies rotational power to the arm 93 in the direction around the rotation center axis (arrow R direction) so that the passive wheel 97 is pressed against the object.

The connecting rod 94 extends in the lateral width direction of the frame main body 91, and connects the tip portions of the second arm portions 96 formed on the pair of arms 93. A passive wheel 97 is provided at the tip of each first arm portion 95, and a camera 50 is fixed to the central portion of the connecting rod 94 in the length direction. The connecting rod 94 to which the camera 50 is fixed is an example of a “fixed portion”.

When the passive wheel 97 is not in contact with the object, the passive wheel 97 is arranged on the front lower side of the wheel 92, and the camera 50 is arranged on the rear upper side of the wheel 92. The orientation of the camera 50 is set so that the optical axis 51 of the camera 50 is orthogonal to the tangent line 101 in contact with the wheels 92 and the passive wheels 97 when viewed from the side of the frame 90.

The wheel 92 and the passive wheel 97 provided at the tip of the first arm portion 95 function as a pressing portion 105 that is pressed against the object as described later. The pressing portion 105 is pressed against the object so that the wheel 92 and the passive wheel 97 come into contact with the object. Each pressing portion 105 is formed by a pair of wheels 92 on both sides and a passive wheel 97, and is provided at both ends in the lateral width direction of the frame main body 91. The passive ring 97 provided at the tip of the first arm 95 is an example of the “tip of the arm”.

Next, an example of how to use the above-mentioned flying machine 160 will be described.

FIG. 18 shows an example of how to use the flying machine 160. The object 60 shown in FIG. 18 is, for example, a structure such as a bridge or a building. The object 60 has a vertical plane 65.

When the flying aircraft 160 is flying, the passive wheels 97 are arranged in front of the wheels 92. Therefore, when the flying machine 160 flies toward the vertical surface 65, the passive wheel 97 first comes into contact with the vertical surface 65. Further, when the flying machine 160 further moves to the vertical surface 65 side, the arm 93 rotates in the direction opposite to the arrow R direction against the elastic force of the torsion spring 100 until the wheels 92 come into contact with the vertical surface 65. Then, the wheels 92 and the passive wheels 97 are pressed against the vertical surface 65.

The contact portion between the wheel 92 and the passive wheel 97 with the vertical surface 65 is an example of "two locations in contact with the object in the pressing portion", and is a direction orthogonal to the width direction of the frame body 91 (arrow A direction). Are separated along.

Further, as described above, the orientation of the camera 50 is set so that the optical axis 51 of the camera 50 is orthogonal to the tangent line 101 in contact with the wheels 92 and the passive wheels 97 in the side view of the frame 90. Therefore, when the wheel 92 and the passive wheel 97 (pressing portion 105) are pressed against the vertical surface 65, the target is orthogonal to the direction connecting the two contact portions of the wheel 92 and the passive wheel 97 with the vertical surface 65. The direction facing the object (direction of arrow B) is taken as the shooting direction of the camera 50. The shooting direction of the camera 50 is an example of the “detection direction of the detector”.

Then, for example, the flying machine 160 rises along the vertical surface 65 with the rotation of the wheels 92 and the passive wheels 97 in a state where the wheels 92 and the passive wheels 97 are pressed against the vertical surface 65 of the object 60. .. Further, the camera 50 photographs the vertical surface 65 with the pressing direction of the wheels 92 and the passive wheels 97 against the vertical surface 65 as the photographing direction.

In order to press the wheels 92 and the passive wheels 97 against the vertical surface 65, the flying machine main body 20 is tilted so that thrust acts on the vertical surface 65 with respect to the flying machine 160.

However, in this embodiment, the camera 50 is fixed to the arm 93. Moreover, when the wheel 92 and the passive wheel 97 (pressing portion 105) are pressed against the vertical surface 65, they are orthogonal to the direction connecting the two contact portions of the wheel 92 and the passive wheel 97 with the vertical surface 65 and are vertical. The direction facing the surface 65 side (direction of arrow B) is taken as the shooting direction of the camera 50. Therefore, even if the flying machine main body 20 is tilted, the camera 50 is maintained in a state of facing the vertical surface 65.

Next, the operation and effect of the sixth embodiment will be described.

As described in detail above, in the flying machine 160 according to the sixth embodiment, the camera 50 is fixed to the arm 93. Moreover, when the wheel 92 and the passive wheel 97 (pressing portion 105) are pressed against the object, the object is orthogonal to the direction connecting the two contact portions of the wheel 92 and the passive wheel 97 with the object. The facing direction (direction of arrow B) is taken as the shooting direction of the camera 50. Therefore, as shown in FIG. 18, even if the flying machine main body 20 is tilted, the camera 50 is maintained in a state of facing the object in the state where the wheels 92 and the passive wheels 97 are pressed against the object. it can. This makes it possible to improve the shooting accuracy of the object.

Further, in the flying machine 160 according to the sixth embodiment, when the passive wheel 97 is not in contact with the object, the rotation angle of the arm 93 is defined by the torsion spring 100, and the passive wheel 97 is ahead of the wheel 92. Located in. Therefore, when the flying aircraft 160 moves forward toward the object, the passive wheel 97 can be reliably brought into contact with the object. As a result, the arm 93 can be rotated in the direction opposite to the arrow R direction until the wheel 92 comes into contact with the object, and by extension, the camera 50 can be surely faced with the object.

Further, in a state where the wheel 92 and the passive wheel 97 (pressing portion 105) are pressed against the object, the torsion spring 100 rotates the arm 93 in the direction around the rotation center axis (arrow R direction). Is given. Therefore, since the passive wheel 97 can be stably pressed against the object, the camera 50 can be stably faced with the object.

Further, when the flying machine 160 moves along the object while the wheel 92 and the passive wheel 97 functioning as the pressing portion 105 are in contact with the object, the wheel 92 and the passive wheel 97 rotate. Therefore, the flying machine 160 can be smoothly moved along the object.

Next, a modified example of the sixth embodiment will be described.

(First modification)
In the first modification shown in FIG. 19, the tip end side 95A of the first arm portion 95 is located on the front upper side of the wheel 92. The passive wheel 97 is arranged on the front upper side of the wheel 92. Further, instead of the camera 50 (see FIG. 16), a laser ranging sensor 110 is used. Further, since the tip end side 96A of the second arm portion 96 is located on the front lower side of the wheel 92, the laser ranging sensor 110 is arranged on the front lower side of the wheel 92.

Even with this configuration, when the flying machine 160 moves toward the vertical surface 65 while the passive wheels 97 are in contact with the vertical surface 65, the arm 93 rotates until the wheels 92 come into contact with the vertical surface 65. .. As a result, the laser ranging sensor 110 can be made to face the vertical surface 65.

(Second modification)
In the second modification shown in FIG. 20, the weight balance structure 170 is applied to the arm 93 instead of defining the rotation angle of the arm 93 by the torsion spring 100 (see FIG. 16). That is, the weight balance between the first arm portion 95 and the passive wheel 97, the second arm portion 96, and the camera 50 is adjusted by the weight balance structure 170. Then, the rotation angle of the arm 93 is defined so that the passive wheel 97 is arranged in front of the wheel 92 by balancing the moments acting on the first arm portion 95 and the second arm portion 96.

When the rotation angle of the arm 93 is defined in this way and the passive wheel 97 is arranged in front of the wheel 92, for example, as shown in FIG. 20, even when the flying machine 160 moves on the horizontal plane 66. , The interference between the passive wheel 97 and the horizontal plane 66 is suppressed.

Further, as shown in FIG. 20, when the passive wheel 97 comes into contact with the vertical surface 65, the arm 93 rotates with the contact of the passive wheel 97 with the vertical surface 65. Then, in a state where the wheels 92 and the passive wheels 97 are pressed against the vertical surface 65, a moment acts on the arm 93 by the weight balance structure 170. As a result, rotational power in the direction of arrow R is applied to the arm 93, and the state in which the passive wheel 97 is pressed against the vertical surface 65 is maintained. This weight balance structure 170 is an example of a "rotation angle defining structure" and a "rotation power applying structure".

When the weight balance structure 170 is applied in this way, the rotation angle of the arm 93 can be defined and the rotational power can be applied to the arm 93 without using the torsion spring 100 (see FIG. 16). As a result, the number of parts can be reduced, so that the weight and cost of the flying machine 160 can be reduced.

(Third modification example)
In the third modification shown in FIG. 21, a convex stopper 180 is provided on the flying machine main body 20. When the stopper 180 interferes with the arm 93, the rotation of the arm 93 in the arrow R direction is restricted. The rotation angle of the arm 93 in this state is defined by the angle at which the passive wheel 97 is located in front of the wheel 92. This stopper 180 is an example of a "rotation angle defining structure".

Further, in this third modification, the weight balance structure 170 is applied to the arm 93. The weight balance of the arm 93 is adjusted by the weight balance structure 170 so that the rotational power in the direction of the arrow R is applied to the arm 93. This weight balance structure 170 is an example of a "turning power imparting structure".

Then, as shown in FIG. 21, when the flying machine 160 moves toward the vertical surface 65, the rotation angle of the arm 93 is defined by the stopper 180, and the passive wheel 97 is positioned in front of the wheel 92. .. Therefore, the passive wheel 97 can be reliably brought into contact with the vertical surface 65.

On the other hand, when the passive wheel 97 comes into contact with the vertical surface 65, the arm 93 rotates in the direction opposite to the arrow R direction as the passive wheel 97 comes into contact with the vertical surface 65. Then, in a state where the wheels 92 and the passive wheels 97 are pressed against the vertical surface 65, a moment acts on the arm 93 by the weight balance structure 170. As a result, rotational power in the direction of arrow R is applied to the arm 93, and the state in which the passive wheel 97 is pressed against the vertical surface 65 is maintained.

When the stopper 180 and the weight balance structure 170 are applied in this way, the rotation angle of the arm 93 can be defined and the rotational power can be applied to the arm 93 by a simple structure.

(Fourth modification)
In the fourth modification shown in FIG. 22, a stopper mechanism 190 is provided on the arm 93. The stopper mechanism 190 has an arm portion 191 extending downward from the tip end portion of the second arm portion 96, and a support ring 192 provided at the lower end portion of the arm portion 191. The stopper mechanism 190 has a predetermined weight, and a moment acts on the arm 93 due to the weight of the stopper 180 to apply rotational power to the arm 93 in the direction of the arrow R.

Then, when the flying machine 160 moves on the horizontal plane 66, the support wheels 192 come into contact with the horizontal plane 66, and the rotation of the arm 93 is restricted by the arm portion 191. The rotation angle of the arm 93 in this state is defined by the angle at which the passive wheel 97 is located in front of the wheel 92.

On the other hand, when the passive wheel 97 comes into contact with the vertical surface 65, the arm 93 rotates in the direction opposite to the arrow R direction as the passive wheel 97 comes into contact with the vertical surface 65. At this time, since the stopper 180 moves in the direction away from the horizontal plane 66, the rotation of the arm 93 is allowed.

Further, in a state where the wheel 92 and the passive wheel 97 are pressed against the vertical surface 65, a moment acts on the arm 93 due to the weight of the stopper mechanism 190, so that rotational power in the arrow R direction is applied to the arm 93. The wheel. Then, the state in which the passive wheel 97 is pressed against the vertical surface 65 is maintained. This stopper mechanism 190 is an example of a "rotation angle defining structure" and a "rotation power applying structure".

When the stopper mechanism 190 is applied in this way, the rotation angle of the arm 93 can be defined and the rotational power can be applied to the arm 93 by a simple structure.

(Fifth variant)
In the fifth modification shown in FIG. 23, the flying machine main body 20 is provided with the switching mechanism 200. The switching mechanism 200 includes a convex stopper 201 and an actuator 202 that switches the stopper 201 between a protruding position and a retracted position.

In this switching mechanism 200, when the stopper 201 is in the protruding position, the stopper 201 interferes with the arm 93 and the rotation of the arm 93 in the arrow R direction is restricted. The rotation angle of the arm 93 in this state is defined by the angle at which the passive wheel 97 is located in front of the wheel 92. On the other hand, when the stopper 201 is in the retracted position, the arm 93 is allowed to rotate in the direction of the arrow R. This switching mechanism 200 is an example of a "rotation angle defining structure".

Further, in the fifth modification, the weight balance structure 170 is applied to the arm 93 as in the third modification described above. The weight balance of the arm 93 is adjusted by the weight balance structure 170 so that the rotational power in the direction of the arrow R is applied to the arm 93.

Then, as shown in FIG. 23, when the flying machine 160 moves toward the vertical surface 65, the rotation angle of the arm 93 is defined by the stopper 201, and the passive wheel 97 is positioned in front of the wheel 92. .. Therefore, the passive wheel 97 can be reliably brought into contact with the vertical surface 65.

On the other hand, when the passive wheel 97 comes into contact with the vertical surface 65, the arm 93 rotates in the direction opposite to the arrow R direction as the passive wheel 97 comes into contact with the vertical surface 65. Then, in a state where the wheels 92 and the passive wheels 97 are pressed against the vertical surface 65, a moment acts on the arm 93 by the weight balance structure 170, so that rotational power in the arrow R direction is applied to the arm 93. .. Then, the state in which the passive wheel 97 is pressed against the vertical surface 65 is maintained.

Further, when the flying machine 160 shifts from the state of rising along the vertical plane 65 to the state of moving horizontally along the horizontal plane 67, the actuator 202 operates to move the stopper 201 to the retracted position, and the arrow R of the arm 93 Directional rotation is allowed.

Then, when the flying machine 160 moves horizontally along the horizontal plane 66, the arm 93 rotates in the direction of the arrow R, and the wheels 92 and the passive wheels 97 are pressed against the horizontal plane 67. Further, at this time, a moment acts on the arm 93 by the weight balance structure 170, so that a rotational force in the direction of the arrow R is applied to the arm 93. Then, the state in which the passive wheel 97 is pressed against the horizontal plane 67 is maintained.

When the switching mechanism 200 and the weight balance structure 170 are applied in this way, the camera 50 can be made to face any object of the vertical plane 65 and the horizontal plane 67.

In this fifth modification, the actuator 202 may be omitted from the switching mechanism 200, and the stopper 201 may be manually switched between the protruding position and the retracted position.

(Sixth variant)
In the sixth modification shown in FIGS. 24 and 25, the expansion / contraction mechanism 210 is applied to the second arm portion 96. That is, by applying the expansion / contraction mechanism 210 to the second arm portion 96, the second arm portion 96 has an arm main body 211, a slide arm 212, and an actuator 213.

The slide arm 212 is provided on the tip end side of the arm body 211 and slides in the length direction of the arm body 211. A camera 50 is fixed to the slide arm 212. The actuator 213 operates so as to slide the slide arm 212. The second arm portion 96 is expanded and contracted by sliding the slide arm 212.

In this expansion / contraction mechanism 210, when the second arm portion 96 contracts, the moments acting on the first arm portion 95 and the second arm portion 96 are balanced, and the passive wheel 97 is positioned in front of the wheel 92. The rotation angle is specified. On the other hand, when the second arm portion 96 is extended, the moment acting on the second arm portion 96 is increased, and a rotational force in the direction of the arrow R is applied to the arm 93. The expansion / contraction mechanism 210 is an example of a “rotation angle defining structure” and a “rotational power applying structure”.

Then, as shown in FIG. 24, when the flying machine 160 moves toward the vertical surface 65, the expansion / contraction mechanism 210 causes the second arm portion 96 to contract, and the passive wheel 97 moves forward of the wheel 92. Be positioned. Therefore, the passive wheel 97 can be reliably brought into contact with the vertical surface 65.

On the other hand, when the passive wheel 97 comes into contact with the vertical surface 65, the arm 93 rotates in the direction opposite to the arrow R direction as the passive wheel 97 comes into contact with the vertical surface 65. Then, in a state where the wheel 92 and the passive wheel 97 are pressed against the vertical surface 65, the moment acting on the second arm portion 96 applies rotational power in the arrow R direction to the arm 93, and the passive wheel 97 is generated. The state of being pressed against the vertical surface 65 is maintained.

Further, when the flying machine 160 moves horizontally along the horizontal plane 67, the actuator 213 is activated and the second arm portion 96 is in an extended state. As a result, the moment acting on the second arm portion 96 increases, and rotational power in the arrow R direction is applied to the arm 93. Then, the arm 93 rotates in the direction of the arrow R, and the wheel 92 and the passive wheel 97 are pressed against the horizontal plane 67. Further, at this time, the moment acting on the second arm portion 96 applies a rotational force in the direction of the arrow R to the arm 93, and the state in which the passive wheel 97 is pressed against the horizontal plane 67 is maintained.

When the telescopic mechanism 210 is applied in this way, the camera 50 can be made to face any object of the vertical plane 65 and the horizontal plane 67.

In this sixth modification, the second arm portion 96 may be configured as follows instead of being divided into the arm main body 211 and the slide arm 212. That is, as shown in FIG. 26, the slide arm 212 may be additionally provided on the tip end side 96A of the second arm portion 96. Further, as shown in FIG. 27, the tip side 96A of the second arm portion 96 is formed by bending at an acute angle, and the slide arm 212 is additionally provided on the tip side 96A of the second arm portion 96. You may be.

Further, in this sixth modification, the actuator 213 may be omitted from the expansion / contraction mechanism 210, and the slide arm 212 may be manually slid.

(7th variant)
In the seventh modification shown in FIGS. 28 and 29, the weight mechanism 220 is applied to the second arm portion 96. The weight mechanism 220 has a weight 221 and an actuator 222. The weight 221 is attached to the second arm portion 96 and is slidable in the length direction of the second arm portion 96. The actuator 222 operates so as to slide the weight 221.

In this weight mechanism 220, when the weight 221 is located on the base end side 96B of the second arm portion 96, the moments acting on the first arm portion 95 and the second arm portion 96 are balanced, and the passive wheel 97 is in front of the wheel 92. The rotation angle of the arm 93 is defined so as to be located at. On the other hand, when the weight 221 moves to the tip end side 96A of the second arm portion 96, the moment acting on the second arm portion 96 increases, and rotational power in the arrow R direction is applied to the arm 93. The expansion / contraction mechanism 210 is an example of a “rotation angle defining structure” and a “rotational power applying structure”.

Then, as shown in FIG. 28, when the flying machine 160 moves toward the vertical surface 65, the weight 221 is positioned on the proximal end side of the second arm portion 96, and the passive wheel 97 is in front of the wheel 92. Be positioned. Therefore, the passive wheel 97 can be reliably brought into contact with the vertical surface 65.

On the other hand, when the passive wheel 97 comes into contact with the vertical surface 65, the arm 93 rotates in the direction opposite to the arrow R direction as the passive wheel 97 comes into contact with the vertical surface 65. Then, in a state where the wheel 92 and the passive wheel 97 are pressed against the vertical surface 65, the moment acting on the second arm portion 96 applies rotational power in the arrow R direction to the arm 93, and the passive wheel 97 is generated. The state of being pressed against the vertical surface 65 is maintained.

Further, when the flying machine 160 moves horizontally along the horizontal plane 67, the actuator 222 (see FIG. 29) is activated and the weight 221 is moved to the tip side of the second arm portion 96. As a result, the moment acting on the second arm portion 96 increases, and rotational power in the arrow R direction is applied to the arm 93. Then, the arm 93 rotates in the direction of the arrow R, and the wheel 92 and the passive wheel 97 are pressed against the horizontal plane 67. Further, at this time, the moment acting on the second arm portion 96 applies a rotational force in the direction of the arrow R to the arm 93, and the state in which the passive wheel 97 is pressed against the horizontal plane 67 is maintained.

When the weight mechanism 220 is applied in this way, the camera 50 can face any object on the vertical plane 65 and the horizontal plane 67.

In this seventh modification, the actuator 222 may be omitted from the weight mechanism 220, and the weight 221 may be manually slid.

(Other variants)
In the sixth embodiment, the axle is applied to the frame main body 91 as an example, but as in the first to fifth embodiments described above, even if a basket-shaped one is applied to the frame main body 91. good.

Further, in the sixth embodiment, a pair of arms 93 is used, but the number of arms 93 may be one.

Further, in the sixth embodiment, the passive ring 97 is provided at the tip of the arm 93, but the passive ring 97 may be omitted and the tip of the arm 93 may be directly pressed against the object.

Further, in the sixth embodiment, the arm 93 rotates, but the arm 93 may be fixed at a preset angle so that the passive wheel 97 is pressed against the object at the same time as the wheel 92. ..

Further, in the sixth embodiment, the configurations that can be combined with the first to fifth embodiments described above may be appropriately combined.

The first to sixth 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 the first to sixth embodiments of the above-mentioned techniques disclosed in the present application.

(Appendix 1)
The main body of the aircraft with rotary wings and
A frame having a frame main body that supports the flying machine main body and a pressing portion that is pressed against an object at at least two positions that are separated from each other along a direction orthogonal to the width direction of the frame main body.
A detector fixed to the frame and orthogonal to the direction connecting the two points and having the direction facing the object as the detection direction.
A flying machine equipped with.
(Appendix 2)
The frame body rotatably supports the flying machine body around the width direction of the frame body.
A pair of annular members forming an annular polygonal shape around the width direction of the frame body are provided at both ends of the frame body in the width direction.
The pressing portion includes at least one of a plurality of side portions of the annular member.
The flying machine described in Appendix 1.
(Appendix 3)
A plurality of pulleys arranged at intervals around the width direction of the frame body are provided at both ends of the frame body in the width direction.
Each of the annular members is an annular belt wound around the plurality of pulleys.
The flying machine described in Appendix 2.
(Appendix 4)
The frame body is a plurality of pulleys that connect each of the plurality of pulleys provided at one end in the width direction of the frame body and each of the plurality of pulleys provided at the other end in the width direction of the frame body. Has a connecting rod,
The flying machine described in Appendix 3.
(Appendix 5)
The frame body
A central support rod that extends in the lateral width direction of the frame body and rotatably supports the flying machine body around the horizontal width direction of the frame body.
A plurality of side support rods extending from both ends of the central support rod in a direction orthogonal to the axial direction of the central support rod and supporting each of the plurality of connecting rods.
Have,
The flying machine described in Appendix 4.
(Appendix 6)
The detector is fixed to the central support rod,
The flying machine described in Appendix 5.
(Appendix 7)
Each of the plurality of side portions of the annular member is the pressing portion.
A plurality of the detectors are fixed to the frame body corresponding to the plurality of pressing portions.
The flying machine according to any one of Supplementary note 2 to Supplementary note 6.
(Appendix 8)
The frame body rotatably supports the flying machine body around the width direction of the frame body.
A plurality of wheels arranged at intervals around the width direction of the frame body are provided at both ends of the frame body in the width direction.
The pressing portion includes a pair of wheels among the plurality of wheels.
The flying machine described in Appendix 1.
(Appendix 9)
The frame body is a plurality of wheels that connect each of the plurality of wheels provided at one end in the width direction of the frame body and each of the plurality of wheels provided at the other end in the width direction of the frame body. Has a connecting rod,
The flying machine described in Appendix 8.
(Appendix 10)
The frame body
A central support rod that extends in the lateral width direction of the frame body and rotatably supports the flying machine body around the horizontal width direction of the frame body.
A plurality of side support rods extending from both ends of the central support rod in a direction orthogonal to the axial direction of the central support rod and supporting each of the plurality of connecting rods.
A pair of annular members provided at both ends in the width direction of the frame body, forming an annular polygonal shape around the width direction of the frame body, and connecting the tips of the plurality of side support rods.
Have,
The flying machine according to Appendix 8 or Appendix 9.
(Appendix 11)
The frame body has a connecting fixing rod for connecting the pair of annular members.
The detector is fixed to the connecting fixing rod,
The flying machine according to Appendix 10.
(Appendix 12)
The flying machine body is surrounded by the frame.
The flying machine according to any one of Supplementary note 1 to Supplementary note 11.
(Appendix 13)
The detector is surrounded by the frame.
The flying machine according to any one of Supplementary note 1 to Supplementary note 12.
(Appendix 14)
The frame body rotatably supports the flying machine body around the width direction of the frame body.
A pair of annular members forming an annular polygonal shape around the width direction of the frame body are provided at both ends of the frame body in the width direction.
Have,
The flying machine main body is located inside the annular member in a side view of the frame.
The flying machine according to any one of Supplementary note 1 to Supplementary note 13.
(Appendix 15)
The annular member has a polygonal shape having four or more sides.
The flying machine according to Appendix 14.
(Appendix 16)
A pair of wheels are provided at both ends of the frame body in the lateral width direction.
The frame body is supported by an arm that rotates around the width direction of the frame body.
The pressing portion includes the wheel and the tip end portion of the arm.
The detector is fixed to the arm,
The flying machine described in Appendix 1.
(Appendix 17)
Further provided with a rotation angle defining structure that defines the rotation angle of the arm.
The flying machine according to Appendix 16.
(Appendix 18)
The arm is further provided with a power applying structure that applies power to the arm so that the tip of the arm is pressed against the object.
The flying machine according to Appendix 16 or Appendix 17.
(Appendix 19)
At least one of a bridge, a building, a tunnel, a roof, a ladder, an electric pole, a chimney, a large passenger plane, other structures, the ground, and a water surface using the flying machine according to any one of Supplementary notes 1 to 18. Including having the aircraft perform at least one of imaging, observation, recording, inspection, inspection, transportation, painting, marking, and other tasks while moving the aircraft along an object.
How to use the flying machine.
(Appendix 20)
The frame body that supports the flying machine body with rotary wings, and the frame body
A pressing portion provided on the frame body and pressed against the object at at least two positions separated along a direction orthogonal to the width direction of the frame body.
A fixed portion provided on the frame body, in which the detector is fixed in a direction orthogonal to the direction connecting the two points and facing the object as a detection direction of the detector.
The frame of the flying machine equipped with.

(First Embodiment)
10 Flyer 20 Flyer body 23 Rotorcraft 30 Frame 31 Frame body 32 Pulley 33 Ring belt (an example of ring member)
34 Side 35 Pushing part 41 Central support rod 42 Side support rod 43 Connecting rod 45 Leg part (example of fixed part)
50 camera (example of detector)
51 Optical axis 60 Object (second embodiment)
120 Flyer 70 Frame 71 Frame body 72 Wheels 73 Ring frame (an example of ring member)
74 Side part 75 Pressing part 81 Connecting fixing rod 85 Leg part (Example of fixing part)
(Third Embodiment)
130 Flyer (Fourth Embodiment)
140 Flyer (Fifth Embodiment)
150 Flyer (Sixth Embodiment)
160 Flyer 90 Frame 91 Frame body 92 Wheel 93 Arm 94 Connecting rod (example of fixed part)
95 First arm part 96 Second arm part 97 Passive wheel (an example of the tip of the arm)
100 Torsion spring 105 Pressing part 110 Laser ranging sensor (example of detector)
170 Weight balance structure (example of rotation angle regulation structure and rotation power application structure)
180 Stopper (Example of rotation angle specified structure)
190 Stopper mechanism (an example of rotation angle regulation structure and rotation power application structure)
200 switching mechanism (an example of a structure that regulates the rotation angle)
210 Telescopic mechanism (an example of rotation angle defining structure and rotation power applying structure)
220 Weight mechanism (an example of rotation angle regulation structure and rotation power application structure)

Claims (13)

The main body of the aircraft with rotary wings and
Wherein the frame body for supporting the flying machine body, wherein each provided on both sides of the width direction of the frame body, a pair pressed against the object at least two positions spaced apart along a direction perpendicular to the width direction of the frame body With a frame having a pressing part of
A detector fixed to the frame and orthogonal to the direction connecting the two points and having the direction facing the object as the detection direction.
A flying machine equipped with. The frame body rotatably supports the flying machine body around the width direction of the frame body.
A pair of annular members forming an annular polygonal shape around the width direction of the frame body are provided at both ends of the frame body in the width direction.
The pressing portion includes at least one of a plurality of side portions of the annular member.
The flying machine according to claim 1. A plurality of pulleys arranged at intervals around the width direction of the frame body are provided at both ends of the frame body in the width direction.
Each of the annular members is an annular belt wound around the plurality of pulleys.
The flying machine according to claim 2. The frame body is a plurality of pulleys that connect each of the plurality of pulleys provided at one end in the width direction of the frame body and each of the plurality of pulleys provided at the other end in the width direction of the frame body. Has a connecting rod,
The flying machine according to claim 3. The frame body
A central support rod that extends in the lateral width direction of the frame body and rotatably supports the flying machine body around the horizontal width direction of the frame body.
A plurality of side support rods extending from both ends of the central support rod in a direction orthogonal to the axial direction of the central support rod and supporting each of the plurality of connecting rods.
Have,
The flying machine according to claim 4. The frame body rotatably supports the flying machine body around the width direction of the frame body.
A plurality of wheels arranged at intervals around the width direction of the frame body are provided at both ends of the frame body in the width direction.
The pressing portion includes a pair of wheels among the plurality of wheels.
The flying machine according to claim 1. The frame body is a plurality of wheels that connect each of the plurality of wheels provided at one end in the width direction of the frame body and each of the plurality of wheels provided at the other end in the width direction of the frame body. Has a connecting rod,
The flying machine according to claim 6. The flying machine body is surrounded by the frame.
The flying machine according to any one of claims 1 to 7. The detector is surrounded by the frame.
The flying machine according to any one of claims 1 to 8. The frame body rotatably supports the flying machine body around the width direction of the frame body.
A pair of annular members forming an annular polygonal shape around the width direction of the frame body are provided at both ends of the frame body in the width direction.
Have,
The flying machine main body is located inside the annular member in a side view of the frame.
The flying machine according to any one of claims 1 to 9. A pair of wheels are provided at both ends of the frame body in the lateral width direction.
The frame body is supported by an arm that rotates around the width direction of the frame body.
The pressing portion includes the wheel and the tip end portion of the arm.
The detector is fixed to the arm,
The flying machine according to claim 1. At least one of a bridge, a building, a tunnel, a roof, a ladder, an electric pole, a chimney, a large passenger plane, other structures, the ground, and a water surface using the flying machine according to any one of claims 1 to 11. This includes having the aircraft perform at least one of photography, observation, recording, inspection, inspection, transportation, painting, marking, and other tasks while moving the aircraft along the object. ,
How to use the flying machine. The frame body that supports the flying machine body with rotary wings, and the frame body
A pair of pressing portions provided on both sides of the frame body in the width direction and pressed against the object at at least two positions separated along a direction orthogonal to the width direction of the frame body.
A fixed portion provided on the frame body, in which the detector is fixed in a direction orthogonal to the direction connecting the two points and facing the object as a detection direction of the detector.
The frame of the flying machine equipped with.