JP6928684B1 - Moving body and control method of moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body having an improved degree of freedom of movement as compared with the prior art and a method for controlling the moving body. A moving body 1 includes a floating body 2 that can float, and a plurality of propellers 3 that are mounted on the floating body 2 and move the floating body 2 along at least two directions orthogonal to each other in the horizontal direction. The plurality of propellers 3 include a first propeller 11 facing forward and left, a second propeller 12 facing backward and left, a third propeller 13 facing forward and right, and a fourth propeller facing backward and right. It has a propeller 14, and the first propeller 11, the second propeller 12, the third propeller 13 and the fourth propeller 14 are arranged at equal intervals along the center of gravity G of the moving body. [Selection diagram] Fig. 2

Description

The present invention relates to a moving body and a method for controlling the moving body.

Conventionally, there is known a configuration of a moving body that floats on the surface of the water and can move on the surface of the water by remote control. In these moving bodies, various techniques have been proposed as propulsive force generating parts for propelling the floating body.

For example, Patent Document 1 discloses a configuration of a floating body propulsion device including a floating body and a propulsion engine connected to the floating body and provided in water. According to the technique described in Patent Document 1, a propulsive force can be generated in a floating body by driving a propeller connected to a propulsion engine.

Japanese Unexamined Patent Publication No. 62-214095

By the way, as an application of such a moving body, for example, in order to acquire information on a narrow space or a dangerous place where a person cannot enter, there is a case where an unmanned moving body equipped with a measuring device such as a camera is remotely controlled. In order to acquire information on these locations, it is necessary to maneuver while finely adjusting the position of the moving body, and therefore a high degree of freedom of movement has been desired for the moving body.
However, in the conventional technique of generating propulsive force by using a drive source such as an engine like the technique described in Patent Document 1, parallel movement in the lateral direction and rotation on the spot cannot be performed. .. Therefore, in the prior art, for example, when moving to the right, it is necessary to turn the moving body, which causes a problem that the moving distance increases. As described above, in the prior art, it is difficult to make a small turn, so that the degree of freedom of movement cannot be ensured, and there is a possibility that the end portion cannot be sufficiently inspected especially in a narrow place. In addition, for example, when a camera is mounted, the direction of the camera changes due to turning, so it is necessary to place a gimbal or the like on the camera to control the direction according to the moving direction, which makes it complicated to grasp the current position and direction. There was a risk of becoming.

Therefore, an object of the present invention is to provide a moving body having an improved degree of freedom of movement as compared with the prior art and a method for controlling the moving body.

One aspect of the present invention includes a plurality of floating bodies and a plurality of propulsive force generating units mounted on the floating body and moving the floating body along at least two directions orthogonal to each other in the horizontal direction. The center of gravity is located in the region surrounded by the propulsion force generating portion, the propulsion force generating portion has a propeller that rotates about a rotation axis, and the rotation shafts of the plurality of propulsion force generating portions are It is a directional moving body having at least four directional components along the front, rear, left and right, left rotation and right rotation of the floating body.

One aspect of the present invention is the moving body, wherein the propeller is placed on top of the floating body.

One aspect of the present invention is the moving body, wherein the plurality of propellers face forward and right, a first propeller facing forward and left, a second propeller facing backward and left, and so on. A third propeller arranged at a position symmetrical with the second propeller with the center of gravity in between, and a fourth propeller arranged at a position symmetrical with the first propeller with the center of gravity in between, facing backward and to the right. It has a propeller, and the first propeller, the second propeller, the third propeller, and the fourth propeller are arranged at equal intervals along the center of gravity.

One aspect of the present invention is the moving body, in which the first propeller, the second propeller, the third propeller and the rotation axis of the fourth propeller are oriented in the front-rear direction and the left-right direction of the floating body. On the other hand, it follows the direction of 45 °.

One aspect of the present invention is the moving body, wherein the propeller is rotatably attached to the floating body along the horizontal direction.

One aspect of the present invention is the moving body, in which the rotation axis of the propeller is inclined so as to be located upward from the upstream side to the downstream side in the flow direction of the fluid generated by the propeller. There is.

One aspect of the present invention is the above-mentioned method for controlling a moving body, in which the number of rotations of the propeller and the driving of the plurality of propellers are driven so as to cancel the propulsive force of a directional component different from the traveling direction of the floating body. It is a control method of a moving body which determines the propeller to be made.

According to the present invention, it is possible to provide a moving body having an improved degree of freedom of movement as compared with the prior art and a method for controlling the moving body.

The perspective view of the moving body which concerns on 1st Embodiment. Top view of the moving body according to the first embodiment. The side view of the moving body which concerns on 1st Embodiment. Top view of the moving body showing a method of controlling the moving body when propelling forward. Top view of the moving body showing a method of controlling the moving body when propelling to the right. The top view of the moving body which shows the control method of the moving body at the time of rotation. Top view of the moving body showing a method of controlling the moving body when propelling to the right front. The perspective view of the moving body which concerns on 2nd Embodiment.

Next, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of the moving body 1 according to the first embodiment.
As shown in FIG. 1, the moving body 1 floats on the water surface and moves on the water surface.
In the following description, the direction orthogonal to the water surface may be referred to as a vertical direction, and the direction orthogonal to the vertical direction may be referred to as a front-back direction and a left-right direction. In the figure, UP represents the upper side, FR represents the front side, and LH represents the left side.

(First Embodiment)
(Mobile)
FIG. 2 is a top view of the moving body 1 according to the first embodiment. FIG. 3 is a side view of the moving body 1 according to the first embodiment.
The moving body 1 includes a floating body 2, a propulsion force generating unit 3, a photographing device 4, and a control device 5.

The floating body 2 can float on the water surface. The floating body 2 is formed of, for example, a foam material, a low-density resin material, a metal material having a hollow structure, or the like. The floating body 2 is formed in a plate shape with the vertical direction as the thickness direction. The floating body 2 is formed in an elliptical shape having a long axis along one direction orthogonal to the vertical direction when viewed from the vertical direction. In the present embodiment, the direction along one direction is defined as the front-back direction. The direction orthogonal to the vertical direction and the front-back direction is defined as the left-right direction.

The propulsion force generating unit 3 is mounted on the floating body 2. The propulsion force generating unit 3 moves the floating body 2 along at least two directions (in the present embodiment, the front-rear direction and the left-right direction) that are orthogonal to each other in the horizontal direction. In the present embodiment, the propulsion force generating unit 3 is a propeller 3. A plurality of propellers 3 are provided on the floating body 2.

The propeller 3 includes a first propeller 11, a second propeller 12, a third propeller 13, and a fourth propeller 14. As shown in FIG. 2, the first propeller 11, the second propeller 12, the third propeller 13 and the fourth propeller 14 are arranged at equal intervals along the center of gravity G of the moving body 1. In other words, the center of gravity G of the moving body 1 is located in the region surrounded by the plurality of propellers 3. Here, the center of gravity G of the moving body 1 is the center of gravity G of the entire moving body 1 including the floating body 2, the plurality of propellers 3, the photographing device 4 and the control device 5 described later.

The first propeller 11 is arranged at positions separated from the center of gravity G of the moving body 1 to the left and rear. As shown in FIG. 1, the first propeller 11 has a first support 21, a first rotation axis C1, and a first wing 31.
The first support 21 is fixed to the upper surface of the floating body 2. The first support 21 is formed in a triangular plate shape (see also FIG. 3). One hypotenuse of the first support 21 is connected to the floating body 2.

As shown in FIG. 3, the first rotation shaft C1 is located at the upper end of the first support 21. The first rotation axis C1 is located at a portion of the first support 21 formed in the shape of a triangular plate, which corresponds to the diagonal of the hypotenuse connected to the floating body 2. As shown in FIG. 2, the first rotation axis C1 is inclined so as to face left as it goes from the rear to the front when viewed from the vertical direction. In the present embodiment, the inclination angle of the first rotation axis C1 when viewed from the vertical direction is 45 ° with respect to the front-rear direction and the left-right direction. Further, as shown in FIG. 3, the first rotation axis C1 is inclined so as to face upward from the rear to the front when viewed from the left-right direction.

The first wing body 31 is rotatably attached around the front end portion of the first rotation shaft C1. By rotating, the first wing body 31 generates wind toward the front and the left along the axial direction of the first rotation axis C1. Due to the reaction force of the wind, the first propeller 11 and the floating body 2 to which the first propeller 11 is attached obtain a propulsive force having a directional component in the direction opposite to the direction in which the wind is blown out. That is, in the horizontal direction, the first wing 31 blows wind in the diagonal direction (45 ° direction) between the front and the left, thereby exerting a propulsive force in the diagonal direction between the rear and the right. generate.

The second propeller 12 is arranged at positions separated from the center of gravity G of the moving body 1 to the left and forward. The configuration of the second propeller 12 other than the direction of the rotation axis is the same as the configuration of the first propeller 11. That is, the second propeller 12 has a second support 22, a second rotation axis C2, and a second wing body 32. In the following description, the description of the configuration equivalent to that of the first propeller 11 may be omitted.
As shown in FIG. 1, the second support 22 is fixed to the upper surface of the floating body 2. The second support 22 is formed in a triangular plate shape.

The second rotation shaft C2 is located at the upper end of the second support 22. As shown in FIG. 2, the second rotation axis C2 is inclined so as to face right from the rear to the front when viewed from the vertical direction. In the present embodiment, the inclination angle of the second rotation axis C2 when viewed from the vertical direction is 45 ° with respect to the front-rear direction and the left-right direction. As shown in FIG. 3, the second rotation axis C2 is inclined so as to face upward from the front to the rear when viewed from the left-right direction.

The second wing body 32 is rotatably attached around the rear end portion of the second rotation shaft C2. The second wing body 32 rotates to generate wind along the axial direction of the second rotation axis C2. That is, the second wing body 32 exerts a propulsive force in the diagonal direction between the front and the right by blowing wind in the diagonal direction (45 ° direction) between the rear and the left in the horizontal direction. generate.

As shown in FIG. 2, the third propeller 13 is arranged at positions separated to the right and rear of the center of gravity G of the moving body 1. The third propeller 13 is arranged at a position symmetrical with the second propeller 12 with the center of gravity G of the moving body 1 interposed therebetween. The configuration of the third propeller 13 other than the direction of the rotation axis is the same as the configuration of the first propeller 11. That is, the third propeller 13 has a third support 23, a third rotation shaft C3, and a third wing body 33. In the following description, the description of the configuration equivalent to that of the first propeller 11 may be omitted.
As shown in FIG. 1, the third support 23 is fixed to the upper surface of the floating body 2. The third support 23 is formed in a triangular plate shape.

The third rotation shaft C3 is located at the upper end of the third support 23. As shown in FIG. 2, the third rotation axis C3 is inclined so as to face right from the rear to the front when viewed from the vertical direction. In the present embodiment, the inclination angle of the second rotation axis C2 when viewed from the vertical direction is 45 ° with respect to the front-rear direction and the left-right direction. The third rotation axis C3 is inclined so as to face upward from the rear to the front when viewed from the left-right direction.

As shown in FIG. 1, the third wing body 33 is rotatably attached around the front end portion of the third rotation shaft C3. By rotating the third wing body 33, wind is generated along the axial direction of the third rotation axis C3. That is, the third wing 33 exerts a propulsive force in the diagonal direction between the rear and the left by blowing wind in the diagonal direction (45 ° direction) between the front and the right in the horizontal direction. generate.

The fourth propeller 14 is arranged at positions separated to the right and forward with respect to the center of gravity G of the moving body 1. The fourth propeller 14 is arranged at a position symmetrical with the first propeller 11 with the center of gravity G of the moving body 1 interposed therebetween. The configuration of the fourth propeller 14 other than the direction of the rotation axis is the same as the configuration of the first propeller 11. That is, the fourth propeller 14 has a fourth support 24, a fourth rotation axis C4, and a fourth wing body 34. In the following description, the description of the configuration equivalent to that of the first propeller 11 may be omitted.
The fourth support 24 is fixed to the upper surface of the floating body 2. The fourth support 24 is formed in a triangular plate shape.

The fourth rotation shaft C4 is located at the upper end of the fourth support 24. As shown in FIG. 2, the fourth rotation axis C4 is inclined so as to face left from the rear to the front when viewed from the vertical direction. In the present embodiment, the inclination angle of the fourth rotation axis C4 when viewed from the vertical direction is 45 ° with respect to the front-rear direction and the left-right direction. The fourth rotation axis C4 is inclined so as to face upward from the front to the rear when viewed from the left-right direction.

The fourth wing body 34 is rotatably attached around the rear end portion of the fourth rotation shaft C4. By rotating the fourth wing body 34, wind is generated along the axial direction of the fourth rotation axis C4. That is, the fourth wing body 34 exerts a propulsive force in the diagonal direction between the front and the left by blowing wind in the diagonal direction (45 ° direction) between the rear and the right in the horizontal direction. generate.

The directions of the rotation axes of the plurality of propellers 3 thus formed have, in total, directional components along the front, rear, left and right sides of the floating body 2. Specifically, in the present embodiment, the second propeller 12 and the fourth propeller 14 have a directional component along the front. The first propeller 11 and the third propeller 13 have a directional component along the rear. The first propeller 11 and the second propeller 12 have a directional component along the right side. The third propeller 13 and the fourth propeller 14 have a directional component along the left side.

In addition, the first propeller 11, the second propeller 12, the third propeller 13 and the fourth propeller 14 blow upward wind in the vertical direction to push the floating body 2 against the water surface. To generate. As a result, the floating body 2 is suppressed from being lifted when the propeller 3 is rotated.

The photographing device 4 is arranged in front of each propeller 3 and in the central portion in the left-right direction. The photographing device 4 is, for example, a camera or the like that photographs the surroundings of the moving body 1. The photographing device 4 is fixed to the upper surface of the floating body 2. In addition to the camera, the photographing device 4 may include, for example, a camera stand for adjusting the direction and angle of the camera.

The control device 5 is built in the floating body 2. In the present embodiment, the control device 5 is arranged behind the plurality of propellers 3 and at the center in the left-right direction. By arranging the photographing device 4 and the control device 5 in this way, the center of gravity G of the moving body 1 is located at the center of the floating body 2.
The control device 5 controls the type of the propeller 3 to be driven and the rotation speed of the propeller 3 among the plurality of propellers 3. The timing at which each propeller 3 is driven by a signal from the control device 5 and the number of rotations during rotation are determined. The control device 5 has a receiving unit (not shown) that receives a signal of a controller (not shown) operated at a remote position. The operator of the mobile body 1 controls the operation of the mobile body 1 by operating the controller.

(Mobile control method)
Next, a method of controlling the moving body for controlling the above-mentioned moving body 1 will be described.
The method of controlling the moving body determines the rotation speed of the propeller 3 and the propeller 3 to be driven among the plurality of propellers 3 so as to cancel the propulsive force of the directional component different from the traveling direction of the floating body 2. Thereby, the traveling direction of the moving body 1 and the rotation of the entire moving body 1 are controlled. Specifically, in the method of controlling a moving body, a propeller 3 capable of generating a propulsive force in a direction to be moved is selected and driven, and when a propulsive force of a directional component different from the direction to be moved is generated, a different directional component is generated. The propeller 3 and the number of revolutions (output) are controlled so as to cancel the propulsive force.

FIG. 4 is a top view of the moving body 1 showing a method of controlling the moving body when propelling it forward.
As shown in FIG. 4, for example, when the moving body 1 is propelled forward, the propeller 3 having a forward-facing directional component is driven. Specifically, it drives the second propeller 12 and the fourth propeller 14 that blow out the wind toward the rear. At this time, the output W1 of the second propeller 12 and the output W2 of the fourth propeller 14 are set to be equivalent (W1 = W2). As a result, the propulsive force of the rightward directional component of the second propeller 12 and the propulsion of the leftward directional component of the fourth propeller 14 are offset. Therefore, as the propeller 3 as a whole, only the forward propulsive force remains, and the moving body 1 propels the propeller 1 forward.

FIG. 5 is a top view of the moving body 1 showing a method of controlling the moving body when propelling it to the right.
As shown in FIG. 5, for example, when the moving body 1 is propelled to the right, the propeller 3 having a directional component facing to the right is driven. Specifically, it drives the first propeller 11 and the second propeller 12 that blow out the wind toward the left. At this time, the output W3 of the first propeller 11 and the output W4 of the second propeller 12 are set to be equivalent (W3 = W4). As a result, the propulsive force of the backward directional component of the first propeller 11 and the propulsive force of the forward directional component of the second propeller 12 cancel each other out. Therefore, as the propeller 3 as a whole, only the propulsive force to the right remains, and the moving body 1 is propelled to the right (translation).

FIG. 6 is a top view of the moving body 1 showing a method of controlling the moving body when rotating.
As shown in FIG. 6, for example, when the moving body 1 is rotated in one direction around the center of gravity G (clockwise in FIG. 6), the propeller 3 having a directional component in which a rotational moment acts on the center of gravity G is driven. Specifically, the second propeller 12 that blows the wind toward the left rear and the third propeller 13 that blows the wind toward the right front are driven. At this time, the output W5 of the second propeller 12 and the output W6 of the third propeller 13 are set to be equivalent (W5 = W6). As a result, as the propeller 3 as a whole, only the propulsive force of the directional component that can rotate in one direction around the center of gravity G remains, and the moving body 1 rotates in one direction.

FIG. 7 is a top view of the moving body 1 showing a method of controlling the moving body when propelling it forward to the right.
As shown in FIG. 7, for example, when the moving body 1 is propelled in an oblique direction of 45 ° with respect to the front and the right, the propeller 3 having a directional component facing the right front is driven. Specifically, it drives a first propeller 11 that blows wind toward the left, a fourth propeller 14 that blows wind toward the rear, and a second propeller 12 that blows wind toward the left and rear. do. At this time, the output W7 of the first propeller 11 and the output W8 of the fourth propeller 14 are set to be equivalent (W7 = W8). Further, the output W9 of the second propeller 12 is about twice the output W7 of the first propeller 11 (W9 = 2 × W7). As a result, the propulsive force of the rearward directional component of the first propeller 11 and the propulsive force of the leftward directional component of the fourth propeller 14 are offset by the output W9 of the second propeller 12. Therefore, as the propeller 3 as a whole, only the propulsive force to the right front remains, and the moving body 1 is propelled (translated) to the right front.

(Action, effect)
Next, the actions and effects of the above-mentioned moving body 1 and the method for controlling the moving body will be described.
According to the moving body 1 of the present embodiment, the propulsive force generating unit 3 (propeller 3) moves the floating body 2 along at least two directions orthogonal to each other in the horizontal direction. Therefore, the moving body 1 can be translated in the second direction along the left-right direction in addition to the first direction along the front-rear direction, for example. As a result, the degree of freedom of movement of the moving body 1 can be improved as compared with the conventional technique in which the moving body 1 can move only in the front-rear direction. Further, by combining the movement in the first direction and the movement in the second direction, it is possible to move in the diagonal direction corresponding to the first direction and the second direction. Therefore, the moving body 1 can be moved in an arbitrary direction according to the intention of the operator with a simple configuration. Further, when the camera is mounted on the floating body 2, the moving body 1 can be moved in parallel to take a picture in the same direction. Further, since the direction of the camera does not change due to the turning motion, the position can be easily grasped and the usability of the moving body 1 can be improved.
Since the plurality of propellers 3 are arranged so as to surround the center of gravity G of the moving body 1, the moving body 1 can be rotationally moved by generating a propulsive force along the rotation direction centered on the center of gravity G, for example. can. This makes it easier to move the moving body 1 in an arbitrary direction in addition to the above-mentioned parallel movement.
Therefore, it is possible to provide the moving body 1 having an improved degree of freedom of movement as compared with the prior art.

The moving body 1 has a propeller 3 as a propulsion force generating unit 3. Propulsion is generated by the propeller 3 rotating around the rotation shafts C1, C2, C3, and C4. The rotation axes C1, C2, C3, and C4 of the propeller 3 have directional components at least along the front, rear, left, and right sides of the floating body 2. Therefore, by driving a predetermined propeller 3 having a directional component in the direction to be moved among the plurality of propellers 3, a propulsive force can be generated in a predetermined direction. Therefore, the moving body 1 can be moved in a desired direction.

The propeller 3 is arranged above the floating body 2. Therefore, the propulsive force can be generated by the propeller 3 arranged above the floating body 2. Therefore, the propulsive force generating unit 3 can have a simple structure, and the maintainability of the propeller 3 can be improved.

The plurality of propellers 3 include a first propeller 11, a second propeller 12, a third propeller 13, and a fourth propeller 14. In this way, the four propellers 3 provide propulsion for at least the front, rear, left and right directional components. As a result, the propulsive force can be generated in an arbitrary direction by driving the predetermined propeller 3 out of the four propellers 3 at a predetermined rotation speed. The four propellers 3 are arranged at equal intervals along the center of gravity G. As a result, the bias of the center of gravity G of the entire moving body 1 is suppressed. Further, by driving the predetermined propeller 3 so that the propulsive force is generated along the rotation direction around the center of gravity G, the moving body 1 can be rotated around the center of gravity G. Therefore, the moving body 1 can be efficiently moved in a desired direction with a small number of propellers 3.

The rotation axes C1, C2, C3, and C4 of each propeller 3 are arranged so as to be inclined by 45 ° with respect to the front-rear direction and the left-right direction. Thereby, the moving direction of the moving body 1 by the combination of the propellers 3 can be easily determined with respect to the direction in which the moving body 1 is desired to be moved. Therefore, the moving body 1 can be easily controlled in the moving direction.

The rotation shafts C1, C2, C3, and C4 of the propeller 3 face upward from the base end to the tip of the rotation shafts C1, C2, C3, and C4, that is, from the upstream side to the downstream side of the wind generated by the propeller 3. When the propeller 3 is driven, the propeller 3 and the floating body 2 are pressed downward by the reaction force. Therefore, especially when applied to the moving body 1 moving on the water surface, the floating body 2 can be suppressed from floating from the water surface by being pressed against the water surface. Therefore, the stability of the moving body 1 can be maintained high.

According to the method for controlling the moving body of the present embodiment, the number of rotations of the propeller 3 and the propeller 3 driven among the plurality of propellers 3 so as to cancel the propulsive force of the directional component different from the traveling direction of the floating body 2. To determine. Therefore, for example, when a propeller 3 having a propulsive force of a directional component along the traveling direction of the floating body 2 and a propulsive force of a directional component different from the traveling direction of the plurality of propellers 3 is driven, the different directions thereof. The number of revolutions of the other propellers 3 and the propellers 3 to be driven are determined so as to cancel the propulsive force of the components. In this way, when the plurality of propellers 3 are combined, the propulsive forces of the directional components different from the traveling direction cancel each other out, so that the resultant force of the propulsive forces of the plurality of propellers 3 can be set to the direction along the traveling direction. .. Therefore, for example, even when the direction of the propeller 3 is fixed with respect to the floating body 2, the moving body 1 can be moved in a desired direction by a combination of the propellers 3 to be driven or the like.
Therefore, it is possible to provide a method for controlling a moving body having an improved degree of freedom of movement as compared with the prior art.

(Second Embodiment)
Next, a second embodiment according to the present invention will be described. FIG. 8 is a perspective view of the moving body 1 according to the second embodiment. In the following description, the same components as those in the first embodiment described above will be designated by the same reference numerals, and the description thereof will be omitted as appropriate. The second embodiment is different from the first embodiment described above in that the propellers 3 are rotatably provided with respect to the floating body 2.

In the second embodiment, the propeller 3 is rotatably attached to the floating body 2 along the horizontal direction. Specifically, the first support 21 of the first propeller 11 is rotatably attached to the floating body 2 about the first horizontal rotation axis O1 along the vertical direction. The second support 22 of the second propeller 12 is rotatably attached to the floating body 2 about the second horizontal rotation axis O2 along the vertical direction. The third support 23 of the third propeller 13 is rotatably attached to the floating body 2 about the third horizontal rotation axis O3 along the vertical direction. The fourth support 24 of the fourth propeller 14 is rotatably attached to the floating body 2 about the fourth horizontal rotation axis O4 along the vertical direction.

According to the second embodiment, since the propeller 3 rotates with respect to the floating body 2, the direction in which the propulsive force is generated for one propeller 3 can be arbitrarily set. In this way, since the propulsive force can be generated in an arbitrary direction by one propeller 3, it is not necessary to provide a plurality of propellers 3 for each directional component. Therefore, the number of propellers 3 to be mounted can be reduced, and the weight of the moving body 1 can be reduced. Further, by changing the direction of each propeller 3 according to the direction to be moved, the propulsive force of all the mounted propellers 3 can be used as the propulsive force of the moving body 1. Therefore, the efficiency of the propeller 3 can be improved.

In the above-described embodiment, the configuration in which the propeller 3 arranged above the floating body 2 is used as the propulsive force generating unit 3 has been described, but the present invention is not limited to this. As the propulsion force generating unit 3, for example, a blower having no rotating shaft, a screw provided below the water surface, or the like may be used.

The number of propellers 3 is not limited to the above-described embodiment. However, in order to enable parallel movement of the floating body 2 to the front, rear, left and right, and rotational movement around the center of gravity G by using the propeller 3 fixed to the floating body 2. It is desirable to have at least three or more propellers 3. Further, in terms of easy control of the moving body 1, the rotation axes C1, C2, C3, and C4 of the four propellers 3 face each direction at 45 ° and are arranged at equal intervals around the center of gravity G. The configuration of the present embodiment is advantageous.

Each of the wings 31, 32, 33, and 34 may be configured to be able to generate a propulsive force in the direction opposite to that during the forward rotation by rotating in the reverse direction.
The shape of the floating body 2 is not limited to the above-described embodiment.
The moving body 1 may be equipped with various sensors, other measuring devices, and the like, in addition to a photographing device such as a camera.

In addition, it is possible to replace the components in the above-described embodiments with well-known components as appropriate without departing from the spirit of the present invention, and the above-described embodiments may be combined as appropriate.

1 ... moving body, 2 ... floating body, 3 ... propeller (propulsive force generating part), 11 ... first propeller, 12 ... second propeller, 13 ... third propeller, 14 ... fourth propeller, C1 ... first rotation axis (Rotation axis), C2 ... Second rotation axis (rotation axis), C3 ... Third rotation axis (rotation axis), C4 ... Fourth rotation axis (rotation axis), G ... Center of gravity

Claims (7)

Floating bodies that can float and
A plurality of propulsive force generating portions mounted on the floating body and moving the floating body along at least two directions orthogonal to each other in the horizontal direction.
With
The center of gravity is located in the area surrounded by the plurality of propulsive force generating parts, and the center of gravity is located.
The propulsive force generating portion has a propeller that rotates about a rotation axis, and has a propeller.
The rotation axis of the plurality of propulsion force generating portions is a moving body that directs a direction having at least four directional components along the front, rear, left and right, left rotation and right rotation of the floating body. The moving body according to claim 1 , wherein the propeller is arranged on the upper part of the floating body. The plurality of propellers
The first propeller facing forward and left,
The second propeller facing backwards and to the left,
A third propeller that faces forward and to the right and is arranged at a position symmetrical with the second propeller across the center of gravity.
A fourth propeller that faces backward and to the right and is arranged at a position symmetrical to the first propeller with the center of gravity in between.
Have,
The moving body according to claim 2 , wherein the first propeller, the second propeller, the third propeller, and the fourth propeller are arranged at equal intervals along the center of gravity. Said first propeller, the second propeller, said axis of rotation of the third propeller and said fourth propeller is along the direction of 45 ° with respect to the longitudinal direction and the lateral direction of the floating body, according to claim 3 Moving body. The moving body according to any one of claims 2 to 4 , wherein the propeller is rotatably attached to the floating body along the horizontal direction. The rotation axis of the propeller is inclined so as to be positioned upward from the upstream side to the downstream side in the flow direction of the fluid generated by the propeller, according to any one of claims 2 to 5. The described moving body. The method for controlling a moving body according to any one of claims 2 to 6.
A method for controlling a moving body, which determines the number of rotations of the propeller and the propeller driven among the plurality of propellers so as to cancel the propulsive force of a directional component different from the traveling direction of the floating body.

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