JP6931857B2 - Aircraft and control method of air vehicle - Google Patents

Description

The present invention relates to an air vehicle and a method for controlling the air vehicle.

In recent years, attempts have been made to deliver cargo L using an air vehicle (hereinafter collectively referred to as an "air vehicle") such as a drone (Drone) or an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle).

For example, in various events such as sports and concerts, or in surveys of building equipment such as buildings and condominiums, aerial photography using a rotary wing aircraft called a drone or a multicopter may be performed. This type of rotary wing aircraft is being applied not only to aerial photography but also to fields such as carrying luggage L.

Patent Document 1 describes a rotary wing machine having a plurality of rotary wings, a support portion installed vertically below the center of the rotary wing machine, and a mounting portion installed at the vertically downward end of the support portion. An aerial rotorcraft system consisting of a mooring rope connected to the bottom of the mount, with one end of the mooring rope connected to the vertically lower end of the mounting and the other end of the mooring rope locked to the ground. It is disclosed.

Patent Document 1 discloses a delivery system using a rotary wing aircraft (for example, Patent Document 1). In the above delivery system, the rotary wing aircraft (drone) autonomously forms a shipping list for delivering the package L to be delivered to the delivery destination.

Japanese Unexamined Patent Publication No. 2013-79043 US Patent Publication 2015-01200 94 A1

One object of the present invention is to provide a new technique different from Patent Document 1 and Patent Document 2.

According to the present invention, a new technique relating to an air vehicle and a method for controlling the air vehicle can be obtained.

According to the present invention, it is possible to provide a new technique relating to an air vehicle and a method for controlling the air vehicle.

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<Details of the embodiment>
Hereinafter, a flying object and a method for controlling the flying object according to the embodiment of the present invention will be described with reference to the drawings.

In the following explanation, terms may be used properly according to the following definitions.
Front-back direction: + X direction and X direction Vertical direction (or vertical direction): + Z direction and Z direction Left-right direction (or horizontal direction): + Y direction and Y direction Travel direction (forward): + X direction Backward direction (rear): -X Direction Ascending direction (upward): + Z direction Downward direction (downward): -Z direction

<Composition of the flying object>
The flying object to be described generally has the following configuration.

<Control unit>
Equipped with a flight controller and sensors, it observes and estimates the flight status and calculates commands to be sent to the power unit to achieve the desired operation.

The flight controller may have a programmable processor (eg, a central processing unit (CPU)), etc., and may also have memory for storing logic code and program instructions that the flight controller can execute. good.

The memory may include, for example, a separable medium such as an SD card or an external storage device. The data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in a built-in storage device or an external storage device.

Sensors in the control unit may include inertial sensors (accelerometers, gyro sensors, etc.), GPS sensors, proximity sensors (eg, lidar), or vision sensors (eg, cameras).

<Power unit>
It is equipped with a thrust generator and thrust control device such as a motor, ESC (Electronic Speed Controller), and propeller, and realizes a desired flight by receiving signals from a flight controller and a transmitter / receiver. As the thrust generator, a gasoline engine or the like may be used in addition to the electric motor.

In the propeller of the present invention, the blades have an elongated shape. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof.

The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces).

The blades can be formed into an air foil, a wing, or a geometry suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.

The motor causes the rotation of the propeller, for example, the drive unit can include an electric motor, an engine, or the like. The vanes are driveable by the motor and rotate clockwise and / or counterclockwise around the axis of rotation of the motor (eg, the major axis of the motor).

The blades can all rotate in the same direction or can rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction. The blades can all rotate at the same rotation speed, and can also rotate at different rotation speeds. The number of rotations can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.

The air vehicle has an arm (frame) that supports the corresponding motor and propeller. The arm may be provided with a color-developing body such as an LED to indicate the flight state, flight direction, etc. of the flying object. The arm according to the present embodiment can be formed of a material appropriately selected from carbon, stainless steel, aluminum, magnesium and the like, alloys thereof, combinations and the like.

The air vehicle may be provided with a mounting portion, if necessary. The mounting unit is a mechanism for mounting and holding an object to be mounted (camera, luggage L holding portion, work tool, etc.). The mounting portion may be configured to always hold the mounting portion in a predetermined direction (for example, in the horizontal direction (vertically downward)) so that the position and orientation of the mounting object can be maintained.

The mounting portion may be connected to the arm via a connecting portion (gimbal: a connecting portion that can be displaced within a predetermined range). In this case, the object to be mounted is configured to bend according to the inclination of the flying object with the connecting portion as a fulcrum. According to such a configuration, the arm portion and the mounting portion of the flying object are connected to each other via the connecting portion so as to be independently displaceable. The angle of displacement is not particularly limited. For example, even when the flying object flies in a forward leaning posture, it is sufficient that the position and direction of the mounted object can be kept horizontal. As a result, the mounted object is always held in a vertically downward suspended state, and can be delivered to the destination while maintaining the position and state at the starting point.

The connecting portion according to the present embodiment is movable only in the front-rear direction, which is the same direction as the traveling direction (uniaxial gimbal). However, it may be movable in the left-right direction (biaxial gimbal).

The connection portion may be controlled by a motor or the like. As a result, wobbling (natural vibration, etc.) of the mounted object is further prevented during flight.

The shape and mechanism of the mounting portion are not particularly limited as long as the mounting object can be stored and held, and any mounting object can be tilted or held in its position. It may be anything. In addition, there are sensors for obtaining visual information such as cameras, various sensors for detecting standby states such as wind power, information transmission devices such as speakers and monitors, and some work such as grasping and cutting objects. A working unit may be provided for performing the above.

<Transmission / reception unit>
It has arbitrary communication means such as wired communication or wireless communication with other aircraft and operators, and can send and receive arbitrary information to the control unit, power unit, and the like.

<Power source>
Equipped with an energy source such as a battery. Not limited to electric energy, chemical energy such as gasoline and an energy conversion module may be provided. Further, for example, a power storage module by non-contact power supply such as wireless power transmission may be provided.

<Other sensors / moving parts>
It may have sensors and operating mechanisms provided for purposes that are not directly involved in achieving flight, such as aerial photography and radio relay. For example, a camera sensor, a temperature sensor, a gimbal mechanism, a property dropping mechanism, etc. are mentioned, and are not limited to these depending on the mission of the flying object.

The configuration described above can be adopted in all or part of the embodiments described below. Further, since the present application includes a large number of embodiments, the same reference numerals may be assigned to different configurations in different embodiments. In this case, please refer to each embodiment and each figure referred to in the embodiment. In addition, each embodiment can be appropriately combined with some elements as long as its purposes do not contradict each other.

(First Embodiment)
As shown in FIGS. 2 to 4, the arm portion and the loading portion of the flying object according to the present embodiment are configured to be independently displaceable at least in the horizontal direction and the vertical direction. More specifically, as shown in FIG. 4, the flying object includes a flight unit including a plurality of (for example, four) rotor blades, a motor for rotating the rotor blades, and a frame for supporting the motor, and the flight. It has a mounting part located in the center of the part. The frame has a rectangular shape in the center and a portion having an enclosed space inside. The mounting portion exists at least partially in the enclosed space. The frame and the mounting portion are connected by gimbals and gimbals that are displaceable (more precisely, partial rotational displacement) in the pitch direction and the roll direction, respectively. The mounting portion has a rail portion capable of moving the mounted object.

As shown in FIG. 2, the method of moving the luggage L mounted on the mounting portion between the first air vehicle (lower air vehicle) and the second air vehicle (upper air vehicle) is as follows. Will be done. First, the 1st Air Division is located below the 2nd Air Division.

At this time, the relative positions (velocities) of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions. In the figure, since the luggage L is delivered while traveling to the left, the flight portion is tilted and shown, but in the stationary state, the flight portion is parallel to the horizontal direction.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled up to the loading portion of the second aircraft (see FIG. 2). As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

(Other moving methods of this embodiment)
Another moving method according to the present embodiment is performed as follows. First, the 1st Air Division is located above the 2nd Air Division (not shown).

At this time, the relative positions (velocities) of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled down to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

(Second Embodiment)
The load-replacement method according to the present embodiment is to deliver the load of the first aircraft to the second aircraft. Since the configuration of each flying object has the same configuration as that of the first embodiment, the description thereof will be omitted.

The moving method is performed as follows, as in the first embodiment. First, the 1st Air Division is located below the 2nd Air Division.

At this time, the relative positions of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions.

As shown in FIGS. 6 to 8, in the locked state, each of the rotation ranges of the propeller (element that generates the wake) of the 1st Air Division is at least partially the propeller of the 2nd Air Division. It is maintained in a non-overlapping state. As a result, at least the wake region B2 of the upper second aircraft does not overlap with the wake region B1 of the lower aircraft.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled up to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

In the present embodiment, when the positions of the 1st Air Division and the 2nd Air Division are relatively locked, their horizontal orientations are shifted by approximately 45 degrees. This makes it possible to minimize the turbulence of the wake of the propeller.

(Third Embodiment)
As shown in FIG. 5, at the time of takeoff (initial state), the air vehicle takes off in a state in which the first air vehicle (master unit) and the second air vehicle (slave unit) are stacked (stacked state). ..

Since the aircraft are connected to each other, the shape can be regarded as a pseudo octocopter in the stacked state.

During flight, the battery of the master unit may be prioritized for power consumption. As a result, the slave unit can start operation with a full charge when it is disconnected.

The slave unit can be separated (disengaged) from the master unit and combined (docked) with another master unit (second master unit).

Hereinafter, the state at the time of takeoff and the state at the time of flight will be described separately in two patterns.
A: Master unit (stacking slave units), B: Slave unit (carrying luggage L). Hereinafter, "A" represents a master unit, "B" represents a slave unit, and the numbers in the subscripts are individual.
<Pattern 1>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
At the time of takeoff, the master aircraft A1 and the slave aircraft B1 fly in a combined state. In the sky, the slave unit B1 is separated from the master unit A1 (see FIG. 5B).
<Pattern 2>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
Distance extension 1 B1 + A2 (combined with other master unit A2)
Master unit 2 separation B1 (separated from A2)
Distance extension 2 B1 + A3 (combined with another master unit A3)
Master unit 2 separation B1 (separated from A3)
As shown in FIG. 5 (c), at the time of takeoff, the master aircraft A1 and the slave aircraft B1 fly in a combined state (takeoff 1). After flying for a predetermined time in the sky, the slave unit B1 is separated from the master unit A1 (separation 2). The slave unit B1 is coupled to another master unit A2 (coupling 3). Up to this point, the pattern 2 is the same as that shown in FIG. (B). When the flight distance is further extended with the master unit A2 and the slave unit B1 coupled, the slave unit B1 is separated from the master unit A2 (separation 5). In the coupled state, the propeller of only the master unit (or the propeller of the slave unit) may be rotated only by the power supply (battery) of the master unit. Further, the state of the battery of the slave unit may be detected, and the battery of the slave unit may be charged accordingly.

By mounting the luggage L on the slave unit and guiding a new master unit when the battery level is low, it is possible to deliver to a long distance, which is impossible by itself.

<Structure according to this embodiment>
An air vehicle including a first air vehicle and a second air vehicle that can be connected to and detached from the first air vehicle.
An air vehicle configured to be able to leave the second air vehicle in the air.

(Fourth Embodiment)

In the fourth embodiment, the power of the flying object in the third embodiment is changed from a power source derived from electric power such as a motor to an internal combustion engine. At the time of takeoff (initial state), the aircraft takes off in a state in which the first aircraft (master unit) and the second aircraft (slave unit) are stacked (stacked state) (aircraft structure example: FIGS. 6 to 6 to 6). (Shown in FIG. 8).

The power source of the master unit is an internal combustion engine.

In the stacked state, the shape is a pseudo octocopter.

During flight, priority is given to the battery of the master unit to consume power. As a result, the slave unit can start operation with a full charge when it is disconnected.

The slave unit can be separated from the master unit and docked with another master unit (second master unit).

The states at the time of takeoff and flight will be described below.
A: Master unit (stacking slave units), B: Slave unit (carrying luggage L).
<Pattern 1>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
<Pattern 2>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
Distance extension 1 B1 + A2
Master unit 2 separation B1 (separated from A2)
Distance extension 2 B1 + A3
Master unit 2 separation B1 (separated from A3)

By mounting the luggage L on the slave unit and guiding a new master unit when the battery level is low, it is possible to deliver to a long distance, which is impossible by itself.

<Structure according to this embodiment>
An air vehicle including a first air vehicle powered by an internal combustion engine and a second air vehicle that can be connected to and detached from the first air vehicle.
An air vehicle configured to be able to leave the second air vehicle in the air.

(Fifth Embodiment)

The fifth embodiment is a modification of the flying object in the third embodiment from a rotary wing aircraft to a fixed wing aircraft. At the time of takeoff (initial state), the aircraft takes off in a state in which the first aircraft (master unit) and the second aircraft (slave unit) are stacked (stacked state).

The master unit is a fixed-wing aircraft. That is, the main wing is fixed to the airframe, and the airframe moves forward to generate lift and fly.

In the stacked state, the shape is a pseudo octocopter.

During flight, priority is given to the battery of the master unit to consume power. As a result, the slave unit can start operation with a full charge when it is disconnected.

The slave unit can be separated from the master unit and docked with another master unit (second master unit).

The states at the time of takeoff and flight will be described below.
A: Master unit (stacking slave units), B: Slave unit (carrying luggage L).
<Pattern 1>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
<Pattern 2>
At takeoff A1 + B1 (stacked)
In flight B1 (separated from A1)
Distance extension 1 B1 + A2
Master unit 2 separation B1 (separated from A2)
Distance extension 2 B1 + A3
Master unit 2 separation B1 (separated from A3)

By mounting the luggage L on the slave unit and guiding a new master unit when the battery level is low, it is possible to deliver to a long distance, which is impossible by itself. Further, since the master unit has fixed wings, it is possible to deliver the package L to a farther distance.

<Structure according to this embodiment>
An air vehicle including a first air vehicle having fixed wings and a second air vehicle that can be connected to and detached from the first air vehicle.
An air vehicle configured to be able to leave the second air vehicle in the air.

(Sixth Embodiment)

As shown in FIGS. 9 and 10, in the flying object according to the present embodiment, the arm portion and the loading portion are configured to be displaceable independently at least in the horizontal direction and the vertical direction.

The movement method is as follows. First, the 1st Air Division is located below the 2nd Air Division.

At this time, the relative positions of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled up to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

As shown in FIGS. 9 and 10, the 1st Air Division can change the distance between motors (motor span) in the sky. That is, the length of the motor arm (from the center) is variable (or, from the beginning, the lengths of the first and second aircraft are different). As a result, when viewed from the vertical direction, the propellers of the 1st and 2nd aircraft do not overlap, so that the flight efficiency can be improved.

The motor span may be variable for the first air division only, the second air vehicle only, and both the first air division and the second air vehicle.

(Modification example)
The moving method according to the modified example of the present invention is performed as follows. First, the 1st Air Division is located above the 2nd Air Division.

At this time, the relative positions of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled down to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

<Structure according to this embodiment>
It is a method of moving luggage L between aircraft using the 1st and 2nd aircraft in the air.
Each of the first flying object and the second flying object is loaded with a plurality of rotor blades, a power unit for rotating each of the rotor blades, an arm unit for supporting the power unit, and the luggage L. Has a part and
A standby step in which the 1st Air Division is located below the 2nd Air Division,
A fixed step that locks the relative positions of the 1st Air Division and the 2nd Air Division,
Including a replacement step of pulling up the luggage L of the loading portion of the first aircraft to the loading portion of the second aircraft.
At least one of the first air vehicle or the second air vehicle is said to have the first air vehicle when viewed from the vertical direction at least in the fixing step by displacing the distances of the plurality of power units from each other. It is configured so that the rotor and the rotor of the second flying object do not overlap.
How to move luggage L between aircraft.

(7th Embodiment)

As shown in FIGS. 11 to 13, the air vehicle according to the present embodiment is configured such that the arm portion and the loading portion can be independently displaced (bent) automatically or manually at least in the horizontal direction and the vertical direction. Has been done.

The movement method is as follows. First, the 1st Air Division 1 is located below the 2nd Air Division'.

At this time, the relative positions of the 1st Air Division 1 and the 2nd Air Division'are locked (locked state). The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled up to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

As shown in FIG. 11, the upper second flying object changes the wake generation direction of the rotary wing by deforming the angle of the arm in the sky. Specifically, each arm is displaced so as to form a predetermined angle with respect to the horizontal plane.

As a result, at least in the locked state, the rotor blades of the first aircraft body do not overlap with the region where the wake generated from the rotor blades of the second aircraft body acts.

As described above, according to the present invention, when viewed from the vertical direction, the wake region of the second air vehicle does not overlap with the propeller of the first air vehicle, so that the flight efficiency can be improved.

The bending angle may be such that only the first air vehicle, only the second air vehicle, and both the first air vehicle and the second air vehicle are displaced.
(Modification example)
The moving method according to the modified example of the present invention is performed as follows. First, the 1st Air Division is located above the 2nd Air Division.

At this time, the relative positions of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled down to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

<Structure according to this embodiment>
It is a method of moving luggage L between aircraft using the 1st and 2nd aircraft in the air.
Each of the first flying object and the second flying object is loaded with a plurality of rotor blades, a power unit for rotating each of the rotor blades, an arm unit for supporting the power unit, and the luggage L. Has a part and
A standby step in which the 1st Air Division is located below the 2nd Air Division,
A fixed step that locks the relative positions of the 1st Air Division and the 2nd Air Division,
Including a replacement step of pulling up the luggage L of the loading portion of the first aircraft to the loading portion of the second aircraft.
At least one of the first air vehicle or the second air vehicle is generated from the rotor blade of the first aircraft at least in the fixing step by changing the wake generation direction of the rotor blade. The rotor blades of the second aircraft are configured so as not to overlap in the area where the flow acts.
How to move luggage L between aircraft.

(8th Embodiment)
As shown in FIGS. 14 to 16, the arm portion of the flying object according to the present embodiment is configured to be independently displaceable at least in the horizontal direction and the vertical direction. In addition, the length of the motor arm of the flying object is variable.

The movement method is as follows. First, the 1st Air Division is located below the 2nd Air Division.

At this time, the relative positions of the 1st and 2nd aircraft are locked (locked state). The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled up to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

As shown in FIG. 2, the 1st Air Division can change the distance between motors (motor span: length of motor arm) in the sky. As a result, when viewed from the vertical direction, the propellers of the 1st and 2nd aircraft do not overlap, so that the flight efficiency can be improved.

Further, the 1st Air Division changes the wake generation direction of the rotor by changing the angle of the arm in the sky.

As a result, at least in the locked state, the rotor blades of the second aircraft body do not overlap with the region where the wake generated from the rotor blades of the first aircraft body acts.

As described above, according to the present invention, when viewed from the vertical direction, the propellers of the first and second aircraft do not overlap, so that the flight efficiency can be improved.

The motor span may be variable for the first air division only, the second air vehicle only, and both the first air division and the second air vehicle.

(Modification example)
The moving method according to the modified example of the present invention is performed as follows. First, the 1st Air Division is located above the 2nd Air Division.

At this time, the relative positions of the 1st Air Division and the 2nd Air Division are locked. The locking method may be a physical method or software may lock each other's positions.

Subsequently, the luggage L in the loading portion of the first aircraft is pulled down to the loading portion of the second aircraft. As a result, the luggage L is completely moved from the first aircraft to the second aircraft.

<Structure according to this embodiment>
It is a method of moving luggage L between aircraft using the 1st and 2nd aircraft in the air.
Each of the first flying object and the second flying object is loaded with a plurality of rotor blades, a power unit for rotating each of the rotor blades, an arm unit for supporting the power unit, and the luggage L. Has a part and
A standby step in which the 1st Air Division is located below the 2nd Air Division,
A fixed step that locks the relative positions of the 1st Air Division and the 2nd Air Division,
Including a replacement step of pulling up the luggage L of the loading portion of the first aircraft to the loading portion of the second aircraft.
At least one of the 1st Air Division or the 2nd Air Division:
At least one of the first air vehicle or the second air vehicle is said to have the first air vehicle when viewed from the vertical direction at least in the fixing step by displacing the distances of the plurality of power units from each other. The rotor blades and the rotor blades of the second flying object are configured so as not to overlap each other, and
By changing the wake generation direction of the rotor, at least in the fixing step, the rotor of the second aircraft does not overlap with the region where the wake generated from the rotor of the first aircraft acts. Is configured to
How to move luggage L between aircraft.

(9th embodiment)

The flying object according to the present embodiment is a multicopter composed of a master unit and a slave unit equipped with different pitches of propellers.

The aircraft is intended to reach the highest altitude with a fixed pitch propeller.

The propeller of the master unit (first rotorcraft) has a normal pitch. The slave unit (second rotorcraft) has a deep pitch for high places. That is, the inclination angle (rake angle) of the propeller of the slave unit is larger than that of the propeller of the parent unit.

At a certain height after takeoff, the rotors of both aircraft are used to climb. When the altitude is reached, the cordless handset is disconnected. The slave unit starts its activity in a fully charged state, and the propeller with a deeper pitch than usual raises the altitude further to an altitude that cannot be reached by a normal multicopter.

It can also be applied to industrial drones.

With a security multicopter, it is possible to obtain the effect of shortening the time to reach a certain altitude within a few seconds of takeoff and extending the operating time.

It can also be used for military purposes, and the master unit has a so-called mother ship function.

<Structure according to this embodiment>
A compound aircraft including a first rotorcraft and a second rotorcraft that can be connected to and detached from the first rotorcraft.
The tilt angle of the rotorcraft of the first rotorcraft with respect to the propeller of the rotorcraft and the tilt angle of the rotorcraft of the second rotorcraft with respect to the propeller are different from each other.
Compound aircraft.

(10th Embodiment)
The flying object according to the present embodiment is a multicopter composed of a master unit and a slave unit equipped with different pitches of propellers.

The aircraft is intended to reach the highest altitude with a fixed pitch propeller.

The propeller of the master unit (first rotorcraft) has a normal pitch. The slave unit (second rotorcraft) has a deep pitch for high places. That is, the inclination angle (rake angle) of the propeller of the slave unit is larger than that of the propeller of the parent unit.

Further, the propeller of the slave unit according to the present embodiment has a variable pitch, and the inclination angle can be changed.

Further, in order to further improve the flight efficiency, the propeller may be a counter-rotating rotor (twin rotor).

At a certain height after takeoff, the rotors of both aircraft are used to climb. When the altitude is reached, the cordless handset is disconnected. The slave unit starts its activity in a fully charged state, and the propeller with a deeper pitch than usual raises the altitude further to an altitude that cannot be reached by a normal multicopter.

It can also be applied to industrial drones.

With a security multicopter, it is possible to obtain the effect of shortening the time to reach a certain altitude within a few seconds of takeoff and extending the operating time.

It can also be used for military purposes, and the master unit has a so-called mother ship function.

<Structure according to this embodiment>
A compound aircraft including a first rotorcraft and a second rotorcraft that can be connected to and detached from the first rotorcraft.
The tilt angle of the rotorcraft of the first rotorcraft with respect to the propeller of the rotorcraft and the tilt angle of the rotorcraft of the second rotorcraft with respect to the propeller are different from each other.
The tilt angle of the second rotorcraft is variable.
Compound aircraft.

(11th Embodiment)
As shown in FIGS. 17 to 19, the arm portion according to the present embodiment has a water droplet-shaped cross section (sometimes referred to as a drop-shaped or tear-shaped). The rounded tip points upward (vertically) and the rear end, which is the edge, points downward.

The arm portion is often present in the wake region of the propeller, and when the cross section is quadrangular or circular, it hinders the wake. By making the cross-sectional shape of the arm portion the above-mentioned shape, the aerodynamic resistance can be reduced. According to the above, the aerodynamics can be optimized without hindering the wake flow generated by the motor, so that the flight efficiency is improved.

<Structure according to this embodiment>
A rotary wing aircraft having a power unit and an arm unit that supports the power unit.
The arm portion has a water droplet-shaped cross section.
The water drop-shaped rounded portion points upwards, and the water drop-shaped edge points downwards.
Rotorcraft.

(12th Embodiment)
As shown in FIGS. 20 to 22, the arm portion according to the present embodiment has a water droplet-shaped cross section (sometimes referred to as a drop-shaped or tear-shaped). The rounded tip faces forward and the rear edge, which is the edge, faces backward.

According to such a configuration, the arm portion can have less air resistance when tilted forward. An appropriate angle of attack θ is set for the shape of the arm portion according to the position of the arm portion, the forward tilt angle of the rotary wing aircraft when moving forward, and the like. A mechanism for rotating the arm portion around the axis may be provided. In this case, the angle of attack θ may be adjusted so that the virtual straight line connecting the front end portion and the rear end portion is in a predetermined direction according to the forward angle of the flying object (see FIG. 22).

According to such a configuration, the aerodynamic force in the forward leaning posture of the rotary wing aircraft can be optimized without hindering the wake flow generated by the motor, so that the flight efficiency is improved.

<Structure according to this embodiment>
A rotary wing aircraft having a power unit and an arm unit that supports the power unit.
The arm portion has a water droplet-shaped cross section.
The water droplet-shaped rounded portion faces forward, and the water-drop-shaped edge faces rearward.
Rotorcraft.

(13th Embodiment)
As shown in FIGS. 23 to 25, the arm portion according to the present embodiment has a water droplet-shaped cross section (sometimes referred to as a drop-shaped or tear-shaped). In the arm part, the water drop type rounded part faces upward and the water drop type edge faces downward, and the water drop type rounded part faces forward and is water drop type. The edge has a second portion facing backwards.

The first portion is located directly below the rotation range of the propeller (that is, the position where the wake of the propeller is generated) when viewed from above.

The second site is located outside the region where the wake of the propeller occurs. An appropriate angle of attack is set for the shape of the arm portion according to the position of the arm portion, the forward tilt angle of the rotary wing aircraft when moving forward, and the like. That is, when the flying object is moving horizontally (that is, when the flying object is tilted forward), the second portion is parallel to the horizontal direction. That is, in the initial state, the second portion has a positive angle of attack θ by a predetermined angle from the horizontal direction (see FIG. 23).

According to such a configuration, the arm portion can have less air resistance when tilted forward.

According to such a configuration, the aerodynamic force in the forward leaning posture of the rotary wing aircraft can be optimized without hindering the wake flow generated by the motor, so that the flight efficiency is improved.

<Structure according to this embodiment>
A rotary wing aircraft having a power unit and an arm unit that supports the power unit.
The cross section of the arm portion has a water droplet shape, and has a water droplet shape.
The arm portion has a first portion in which the water droplet-shaped rounded portion faces upward and the water droplet-shaped edge faces downward, and the water droplet-shaped rounded portion faces forward. The water-drop-shaped edge has a second portion facing backwards.
Rotorcraft.

(14th Embodiment)
As shown in FIGS. 26 to 28, the motor pipe according to the present embodiment is a motor pipe optimized for generating an updraft.

The upward projection area can be reduced and the updraft resistance can be improved. Seen from above, it is a Y-shaped pipe.

(Fifteenth Embodiment)
As shown in FIGS. 29 to 31, the motor pipe according to the present embodiment is a motor pipe that has both measures against updraft generation and improvement of fuel efficiency.

It is possible to reduce the upward projection area and improve the updraft resistance. A positive water drop type pipe can be applied to the position where the wake of the propeller is strongly generated. A reverse water drop type pipe can be applied to the part where the wake of the propeller does not occur.

(16th Embodiment)
As shown in FIGS. 32 to 35, the arm portion according to the present embodiment is provided with a space for attaching the arm in the center in the cross section, and the overall shape thereof is a water drop type (drop type, tear type, etc.). There is a name). The attachment is attached so as to sandwich the arm portion. The attachment and the arm together have a water droplet shape when attached (see FIG. 32). At this time, as a whole, the rounded portion of the water droplet type faces upward, and the edge of the water droplet type faces downward.

By attaching the attachment to the existing airframe in this way, the aerodynamics can be optimized ex post facto.

It should be noted that it may be only partially attached to the portion where the wake of the propeller is strongly generated.

According to such a configuration, the aerodynamic force in the forward leaning posture of the rotary wing aircraft can be optimized without hindering the wake flow generated by the motor, so that the flight efficiency is improved.

<Structure according to this embodiment>
It is an attachment for the arm of a rotary wing aircraft.
An arm attachment having a water droplet shape in which the arm and the arm attachment are integrated when an arm of a rotary wing aircraft is sandwiched.

(17th Embodiment)
The rotary wing aircraft according to the present embodiment acquires the direction in which the camera is facing and the date and time by GPS.

When the retrograde processing unit determines that the camera unit is facing the direction of a light source such as the sun, the retrograde processing unit changes the shooting parameter of the camera unit to the retrograde mode.

<Structure according to this embodiment>
A rotary wing aircraft with a camera unit
A retrograde processing unit that changes the shooting parameter to the retrograde mode when the camera unit is facing the light source direction is further provided.
Rotorcraft.

(18th Embodiment)
The time measuring device according to the present embodiment includes a flying object and a detection unit that detects a shadow of the flying object.

The detection unit detects the directional information and the shadow of the flying object with respect to the sun, and calculates the current time.

(19th Embodiment)
The rotary wing aircraft according to the present embodiment is a flight method of a rotary wing aircraft having a plurality of rotors and a control unit for controlling the operation of the rotors.

The control unit executes a step of detecting that an abnormality has occurred in any of the rotors and a step of controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is directed in the traveling direction.

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is small, so that the risk of a crash can be prevented.

<Structure according to this embodiment>
It is a flight method of a rotary wing aircraft having a plurality of rotors and a control unit for controlling the operation of the rotors.
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is directed in the direction of travel, and
To execute,
How to fly a rotorcraft.

(20th Embodiment)
The rotary wing aircraft according to the present embodiment relates to a rotary wing aircraft that can be safely controlled even when one rotor system is down by making the center of gravity variable.

A rotary wing aircraft is a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, a main body portion displaceably connected to the arms, and a control unit for controlling the operation of the rotors. It is a flight method of.

The control unit executes a step of detecting that an abnormality has occurred in one of the rotors and a step of controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is located in front of the traveling direction. ..

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is small, so that the risk of a crash can be prevented.

In addition, by making the position of the rotor variable, it is possible to safely control even when the rotor system goes down.

A rotary wing aircraft is a flight method of a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a control unit that changes the position of the rotors on the arms.

The control unit executes a step of detecting that an abnormality has occurred in any of the rotors and controlling the attitude of the rotorcraft by adjusting the positions of rotors other than the rotor in which the abnormality has occurred.

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is light, so that the risk of a crash can be prevented.

<Structure 1 according to the present embodiment>
It is a flight method of a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, a main body unit displaceably connected to the arms, and a control unit for controlling the operation of the rotors. hand,
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is directed in the direction of travel, and
To execute,
How to fly a rotorcraft.

<Structure 2 according to the present embodiment>
A method of flying a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a control unit for changing the position of the rotors on the arms.
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of controlling the attitude of the rotorcraft by adjusting the positions of rotors other than the rotor in which the abnormality occurred, and
To execute,
How to fly a rotorcraft.

(21st Embodiment)
The rotary wing aircraft according to the present embodiment relates to a rotary wing aircraft that can be safely controlled even when one rotor system is down by making the center of gravity variable.

A rotary wing aircraft is a method of flying a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a flap portion. The flap portion may be movably attached to the propeller, or may be provided at a place other than the propeller.

The control unit executes a step of detecting that an abnormality has occurred in any of the rotors and a step of controlling the attitude of the rotorcraft by increasing the resistance by using the flap unit.

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is light, so that the risk of a crash can be prevented.

<Structure according to this embodiment>
A method of flying a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a flap portion.
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of controlling the attitude of the rotorcraft using the flap, and
To execute,
How to fly a rotorcraft.

(22nd Embodiment)
The rotary wing aircraft according to the present embodiment relates to a rotary wing aircraft that can be safely controlled even when one rotor system is down.

A rotary wing aircraft is a flight method of a rotary wing aircraft having a plurality of rotors, an arm portion provided with the rotors, and a tilt portion attached to the arm portions to tilt the rotors.

The control unit executes a step of detecting that an abnormality has occurred in any of the rotors and a step of controlling the attitude of the rotorcraft by tilting the rotor and changing the direction of thrust.

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is small, so that the risk of a crash can be prevented.

<Structure according to this embodiment>
A method of flying a rotary wing aircraft having a plurality of rotors, an arm portion provided with the rotor, and a tilt portion attached to the arm portion to tilt the rotor.
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of controlling the attitude of the rotary wing aircraft by tilting the rotor using the tilt unit, and
To execute,
How to fly a rotorcraft.

(23rd Embodiment)
The rotary wing aircraft according to the present embodiment relates to a rotary wing aircraft that can be safely controlled even when one rotor system is down by making the center of gravity variable.

A rotary wing aircraft is a flight method of a rotary wing aircraft having a plurality of rotors, an arm portion provided with the rotors, and a tilt portion for tilting the arm portions.

The control unit executes a step of detecting that an abnormality has occurred in any of the rotors and a step of controlling the attitude of the rotorcraft by tilting the rotor together with the arm using the tilt unit. ..

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is small, so that the risk of a crash can be prevented.

<Structure according to this embodiment>
It is a flight method of a rotary wing aircraft having a plurality of rotors, an arm portion provided with the rotor, and a tilt portion for tilting the arm portion.
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of controlling the attitude of the rotary wing aircraft by tilting the rotor together with the arm using the tilt unit, and
To execute,
How to fly a rotorcraft.

(24th Embodiment)
The rotary wing aircraft according to the present embodiment relates to a rotary wing aircraft that can be safely controlled even when one rotor system is down.

The rotorcraft is a flight method of a rotorcraft having a plurality of rotors having a variable pitch propeller portion, an arm provided with the rotors, and a control unit for controlling the operation of the rotors.

The control unit executes a step of detecting that an abnormality has occurred in any of the rotors and a step of controlling the rotation direction of at least a part of the rotors.

As a result, the rotor in which the abnormality has occurred is located in the direction in which the load is small, so that the risk of a crash can be prevented.

<Structure according to this embodiment>
A method of flying a rotary wing aircraft having a plurality of rotors having a variable pitch propeller section, an arm provided with the rotors, and a control section for controlling the operation of the rotors.
The control unit
A step to detect that an abnormality has occurred in any of the rotors, and
A step of maintaining the attitude of the rotorcraft by controlling the rotation direction of at least a part of the rotor, and
To execute,
How to fly a rotorcraft.

(25th Embodiment)
The rotary wing aircraft according to the present embodiment relates to a lens of a VR photographing material mounted on a multicopter.

When a plurality of cameras are mounted on a VR drone, lenses having the same angle of view are generally used.

However, when it is mounted on a drone, there may be a merit of utilizing the difference depending on the combination of different angles of view.

<Structure according to this embodiment>
An air vehicle having multiple camera units with different angles of view.

(26th Embodiment)
This is a method of stitching image data acquired from an air vehicle including a first camera unit, a second camera unit, and an arm unit that supports them.

The first camera unit is provided above the second camera unit in the vertical direction. The first image data and the second image data are concatenated so that the area of the first image data captured by the first camera unit is larger than the area of the second image data captured by the second camera unit. do.

In the existing software, there is no concept of setting the usage range for each material, but control is performed to effectively utilize the material range of the lower camera.

<Structure according to this embodiment>
It is an image processing method of image data acquired from an air vehicle including a first camera unit, a second camera unit, and an arm unit that supports them.
The first camera unit is provided above the second camera unit in the vertical direction.
The first image data and the second image data are set so that the area of the first image data photographed by the first camera unit is larger than the area of the second image data photographed by the second camera unit. Connect,
Image processing method.

(27th Embodiment)
As shown in FIGS. 36 to 39, the flying object includes a plurality of camera units and an arm unit that supports the camera units. The arm portion supports the plurality of camera portions so as to be located on a virtual spherical surface.

In a conventional multicopter, shooting is often performed by two sets of cameras divided into upper and lower parts.

In the case of this method, image quality deterioration occurs intensively on the horizon. The present invention disperses this image quality deterioration over the entire screen.

The cameras are arranged on a sphere, but do not have to be evenly spaced.

<Structure according to this embodiment>
An air vehicle having a plurality of camera units and an arm unit that supports the camera unit.
The arm portion is an air vehicle that supports the plurality of camera portions so as to be located on a virtual spherical surface.

(28th Embodiment)
As shown in FIG. 2, it is a flight method of an air vehicle including a motor unit. The method includes the step of acquiring a log containing information on the vibration of the flying object during hovering, and the step of prompting the user to replace the motor unit when the vibration exceeds a certain level.

<Structure according to this embodiment>
An air vehicle equipped with a motor unit
Steps to get a log containing information about the vibration of the aircraft during hovering,
When the vibration exceeds a certain level, the user is urged to replace the motor unit.
Warning method.

In the warning method described above, a warning method further comprising a step of forcibly stopping the flight when a certain period of time elapses or the vibration becomes stronger in a state where the vibration exceeds a certain level.

(29th Embodiment)
It is a warning method for users of rotary wing aircraft equipped with multiple flight controllers by comparing the log of the flight controller and the tachometer.
A warning method that compares each log and prompts you to replace the flight controller that seems to be defective.

<Structure according to this embodiment>
It is a warning method for users of rotary wing aircraft equipped with multiple flight controllers by comparing the log of the flight controller and the tachometer.
A warning method that compares each log and prompts you to replace the flight controller that seems to be defective.

(30th Embodiment)
This is a warning method that compares the logs of the flight controller and tachometer and prompts ESC replacement that seems to be defective.

<Structure according to this embodiment>
A warning method that compares the logs of the flight controller and tachometer and prompts ESC replacement that seems to be defective.

(31st Embodiment)
If the straight-ahead posture is used frequently, the load will be concentrated on a specific motor. During the operation period, consumption will be concentrated on a specific motor / motor controller.
From the viewpoint of dispersing here, the concept of "front" position is replaced regularly.
Basically, it is premised on independent flight.

<Structure according to this embodiment>
A propeller, a motor for rotating the propeller, an arm portion for supporting the motor, and at least a detection unit for detecting the state of the motor are provided, and the rotary wing machine is first horizontal in response to a forward operation from the operator. It is a control method of a rotary wing machine that moves in a direction.
Based on the state detected by the detection unit, the rotary wing aircraft changes the moving direction of the rotary wing aircraft in response to a forward operation from the operator to a second horizontal direction different from the first horizontal direction. Control method.

(32nd Embodiment)
If the straight-ahead posture is used frequently, the load will be concentrated on a specific motor. During the operation period, consumption will be concentrated on a specific motor / motor controller. From the viewpoint of dispersing here, the concept of "front" position is replaced regularly. Basically, it is premised on independent flight.

The rotary wing aircraft includes a propeller, a motor for rotating the propeller, an arm portion for supporting the motor, and at least a detection unit for detecting the state of the motor. In response to the forward operation from the operator, the direction instruction display at least forward or backward in the first horizontal direction of the rotary wing aircraft is displayed in the first pattern.

When the addition is concentrated on the motor by the detection unit, the load balancing operation is activated. At this time, the moving direction of the rotorcraft in response to the forward operation from the operator is changed to the second horizontal direction different from the first horizontal direction, and at least the front or rear direction instruction display in the second horizontal direction is displayed. Display in 2 patterns.

Specifically, the traveling direction display LED of the aircraft is automatically switched. When the load balancing operation occurs, it flies while changing the color of the LED.

<Structure according to this embodiment>
It is provided with a propeller, a motor for rotating the propeller, an arm portion for supporting the motor, and at least a detection unit for detecting the state of the motor, and the first horizontal of the rotary wing machine in response to a forward operation from the operator. It is a control method of a rotary wing machine that displays a direction instruction display at least forward or backward in a first pattern.
Based on the state detected by the detection unit, the movement direction of the rotorcraft in response to the forward operation from the operator is changed to a second horizontal direction different from the first horizontal direction, and the first horizontal direction is changed. (Ii) A method for controlling a rotorcraft, which displays the direction instruction display at least forward or backward in the horizontal direction in a second pattern.

(Thirty-third embodiment)
If the straight-ahead posture is used frequently, the load will be concentrated on a specific motor. During the operation period, consumption will be concentrated on a specific motor / motor controller. From the viewpoint of dispersing here, the concept of "front" position is replaced regularly. Basically, it is premised on independent flight.

The rotary wing aircraft includes a propeller, a motor for rotating the propeller, an arm portion for supporting the motor, and at least a detection unit for detecting the state of the motor. In response to the forward operation from the operator, the direction instruction display at least forward or backward in the first horizontal direction of the rotary wing aircraft is displayed in the first pattern.

When the addition is concentrated on the motor by the detection unit, the load balancing operation is activated. At this time, the moving direction of the rotorcraft in response to the forward operation from the operator is changed to the second horizontal direction different from the first horizontal direction, and at least the front or rear direction instruction display in the second horizontal direction is displayed. Display in 2 patterns.

Specifically, the traveling direction display LED of the aircraft is automatically switched. When the load balancing operation occurs, it flies while changing the color of the LED. It also changes the color of the LED and rotates the equipment mounting part, including the skid.

<Structure according to this embodiment>
It is provided with a propeller, a motor for rotating the propeller, an arm portion for supporting the motor, and at least a detection unit for detecting the state of the motor, and the first horizontal of the rotary wing machine in response to a forward operation from the operator. It is a control method of a rotary wing machine that displays a direction instruction display at least forward or backward in a first pattern.
Based on the state detected by the detection unit, the movement direction of the rotorcraft in response to the forward operation from the operator is changed to a second horizontal direction different from the first horizontal direction, and the first horizontal direction is changed. (Ii) A method for controlling a rotorcraft, which displays the direction instruction display at least forward or backward in the horizontal direction in a second pattern.

(Third 34th Embodiment)
As shown in FIGS. 40 to 42, the rotary wing aircraft includes a connecting portion that connects the mounting portion to the arm portion in a state in which the mounting portion can be moved within a predetermined range. The position of the connecting portion is above the center of gravity of the arm portion, but may be below the center of gravity, or may be substantially coincident with or coincident with the center of gravity, depending on the application. Further, when the connecting portion coincides with the center of gravity of the mounting portion, it becomes difficult to transmit the shaking of the arm portion to the mounting portion. However, it may be above or below the center of gravity of the mounting portion, depending on the application. Ideally, the connecting portion is provided at a position that coincides with or substantially coincides with both the center of gravity of the entire arm portion and the center of gravity of the mounting portion.

The rotary wing aircraft is further provided with a hook portion that is connected to the mounting portion and for hanging the rotary wing aircraft.

With a conventional suspended rotary wing aircraft, it was difficult to suspend it from an overhead wire depending on the direction of the wind. That is, the wind becomes strong and takeoff becomes impossible. In the present invention, for example, the corresponding arm portion and the mounting portion can be independently displaced by displacement with respect to a crosswind or the like, so that the hook portion of the mounting portion can always be maintained in the vertical direction.

<Structure according to this embodiment>
With multiple rotors,
An arm portion that supports the plurality of rotor blades and
The mounting part for mounting the object and
The mounting portion is provided with a connecting portion for connecting the mounting portion to the arm portion in a state where the mounting portion can be moved within a predetermined range.
The position of the connecting portion substantially coincides with the center of gravity of the arm portion and the center of gravity of the mounting portion.
It ’s a rotary wing aircraft,
The mounting portion further includes a hook portion.
Rotorcraft.

(35th Embodiment)
As shown in FIGS. 43 to 45, the rotary wing aircraft according to the present embodiment has a plurality of rotary blades, an arm portion that supports the plurality of rotary blades, and a hook portion, and is a detachable observation device ( It is equipped with a mounting part).

It is not a rotary wing machine that "hangs the drone on the electric wire", but "only the observation equipment is hung on the electric wire, and the drone (flying part) becomes a transport aircraft" (see FIG. 43).

It is possible to hang an I-type device consisting of a hook, a battery, an observation device, etc. on an electric wire or the like. It can also be applied as a temporary surveillance camera at an event.

In addition, it is assumed that innumerable observation cameras will be installed immediately after the tsunami occurs. When a large-scale tsunami damage occurs,
Pre-prepared data often does not work because the terrain changes significantly.
The purpose is to collect information in such an environment. It is also possible to use the observation equipment as a temporary mobile base station.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight unit and an observation unit.
The observation unit is configured to be detachable from the rotorcraft and has a hook portion for suspending the observation unit.
Rotorcraft.

(36th Embodiment)
As shown in FIGS. 46 to 48, the rotary wing aircraft according to the present embodiment includes a flight unit and an observation unit. The observation unit is configured to be detachable from the rotary wing aircraft, and has a self-supporting unit for making the observation unit self-supporting.

It is not a rotary wing machine that "hangs the drone on an electric wire", but "only the observation equipment is made to stand on the ground, etc., and the drone (flying part) becomes a transport aircraft" (see FIG. 46).

A type I device consisting of self-supporting members such as legs, a battery, an observation device, etc. is made self-supporting at the destination. Assuming a temporary surveillance camera at an event.

In addition, it is assumed that innumerable observation cameras will be installed immediately after the tsunami occurs. When a large-scale tsunami damage occurs, the terrain changes drastically, so the data prepared in advance often does not work.
The purpose is to collect information in such an environment. It is also possible to use the observation equipment as a temporary mobile base station.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight unit and an observation unit.
The observation unit is configured to be detachable from the rotorcraft and has a self-supporting unit for making the observation unit self-supporting.
Rotorcraft.

(37th Embodiment)
As shown in FIGS. 49 to 51, the rotary wing aircraft according to the present embodiment includes a flight portion and a pile driving portion. The pile driving portion is configured to be removable from the rotary wing aircraft, and the pile driving portion has a pile.

The drone (flying unit) also functions as a moving pile driving device.

The pile is an I-type device consisting of a battery, an observation device, and the like, and exhibits a desired function at the destination.

In addition, it is assumed that innumerable observation cameras will be installed immediately after the tsunami occurs. When a large-scale tsunami damage occurs, the terrain changes drastically, so the data prepared in advance often does not work.
The purpose is to collect information in such an environment. It is also possible to use the observation equipment as a temporary mobile base station.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight section and a pile driving section.
The pile driving portion has a pile configured to be detachable from the rotary wing aircraft.
Rotorcraft.

(38th Embodiment)
As shown in FIGS. 52 to 54, the rotary wing aircraft includes a flight unit and an observation unit. The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit is provided with an observation device and a magnet unit for fixing the observation device to the ceiling or wall.

When the rotorcraft arrives at the destination, the magnet portion is attracted to the ceiling, wall, or the like to fix the position (hang).

A biaxial gimbal is provided on the magnet portion. This allows the rotorcraft to be fixed on the ceiling at any angle.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight unit and an observation unit.
The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit detachably.
The observation unit includes an observation device and a magnet unit for fixing the observation device to the ceiling or a wall.
Rotorcraft.

(39th Embodiment)
As shown in FIGS. 55 to 57, the rotary wing aircraft includes a flight unit and an observation unit. The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit is detachably attached to the rotary wing aircraft. It is equipped with an observation device and a magnet unit for fixing the observation device to the ceiling or wall.

When the rotorcraft arrives at the destination, the magnet portion is attracted to the ceiling, wall, or the like to fix the position (hang).

A biaxial gimbal is provided on the magnet portion. This allows the rotorcraft to be fixed on the ceiling at any angle.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight unit and an observation unit.
The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit detachably.
The observation unit is detachably attached to the rotorcraft and includes an observation device and a magnet unit for fixing the observation device to the ceiling or wall.
Rotorcraft.

(40th Embodiment)
As shown in FIGS. 58 to 60, the rotary wing aircraft includes a flight unit and an observation unit. The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit is provided with an observation device and a suction cup (sucker) for fixing the observation device to the ceiling or wall.

When the rotorcraft arrives at the destination, the suction portion (sucker) is attracted to the ceiling, wall, or the like to fix the position (hang).

A biaxial gimbal is provided on the suction part (sucker). This allows the rotorcraft to be fixed on the ceiling at any angle.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight unit and an observation unit.
The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit detachably.
The observation unit includes an observation device and a suction unit for fixing the observation device to the ceiling or a wall.
Rotorcraft.

(41st Embodiment)
As shown in FIGS. 61 to 63, the rotary wing aircraft includes a flight unit and an observation unit. The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit. The observation unit is detachably attached to the rotary wing aircraft. It is provided with an observation device and a suction part (sucker) for fixing the observation device to the ceiling or wall.

When the rotorcraft arrives at the destination, the suction portion (sucker) is attracted to the ceiling, wall, or the like to fix the position (hang).

A biaxial gimbal is provided in the suction part (sucker) part. This allows the rotorcraft to be fixed on the ceiling at any angle.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a rotary wing aircraft equipped with a flight unit and an observation unit.
The flight unit includes a plurality of rotor blades, an arm unit that supports the plurality of rotor blades, and a holding unit that holds the observation unit detachably.
The observation unit is detachably attached to the rotorcraft and includes an observation device and a suction unit for fixing the observation device to the ceiling or wall.
Rotorcraft.

(42nd Embodiment)
As shown in FIGS. 64 to 67, the rotary wing aircraft includes a flight unit and a suction unit. The flight unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades. The suction portion is displaceably connected to the arm portion within a predetermined range.

The suction part fixes the rotorcraft to the ceiling or wall. The suction part in the present embodiment is a suction cup, but the suction cup is not limited to this.

When the rotorcraft arrives at the destination, the suction portion (sucker) is attracted to the ceiling, wall, or the like to fix the position (hang).

By moving multiple suction cups, it is possible to park the machine by suction under the conditions from directly above to directly below, including right beside.

This locks the position of the rotorcraft in at least either the vertical or horizontal direction.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a method of parking a rotary wing aircraft having a power unit and a suction unit.
By fixing the suction portion to the ceiling or wall, the position of the rotorcraft with respect to at least the vertical method or the horizontal direction is fixed.
How to park.

(43rd Embodiment)
As shown in FIGS. 68 to 71, the rotary wing aircraft includes a power unit and an observation unit.

The observation unit has a suction unit that fixes the position of the rotorcraft in at least the vertical direction or in the horizontal direction by fixing it to the ceiling or the wall. Further, the observation unit is detachably attached to the rotary wing aircraft.

The parking method includes a step of moving the rotorcraft to the destination, a step of attracting the suction portion to the surface to be fixed at the destination, and a step of separating the rotorcraft.

The suction part fixes the observation part to the ceiling or wall. The suction part in the present embodiment is a suction cup, but the suction cup is not limited to this.

This fixes the position of the observer in either at least the vertical way or in the horizontal direction.

It can be used as a temporary observation device in the event of an earthquake. For example, in areas where tsunami damage has occurred, it is more likely that the glass surface of a house or vehicle can be used as an anchor rather than an electric wire.

Since this glass is horizontal, it is not possible to use hanging equipment, so this idea is effective.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a method of parking the observation unit by a rotary wing aircraft including a power unit and an observation unit.
The observation unit has a suction unit that fixes the position of the rotorcraft with respect to at least a vertical method or a horizontal direction by fixing it to the ceiling or a wall, and the rotorcraft has a suction unit. It is detachably attached and
The step of moving the rotorcraft to the destination,
The step of adsorbing the suction portion to the surface to be fixed at the destination,
Including a step of disconnecting the rotorcraft.
How to park.

(44th Embodiment)
The rotorcraft has a power unit and an observation unit.

The observation unit has a suction unit that fixes the position of the rotorcraft in at least the vertical direction or in the horizontal direction by fixing it to the ceiling or the wall. Further, the observation unit is detachably attached to the rotary wing aircraft.

The parking method includes a step of cleaning the suction part, a step of moving the rotorcraft to the destination, a step of sucking the suction part on the surface to be fixed at the destination, and a step of separating the rotorcraft. Includes.

The suction part fixes the observation part to the ceiling or wall. The suction part in the present embodiment is a suction cup, but the suction cup is not limited to this.

This fixes the position of the observer in either at least the vertical way or in the horizontal direction.

It can be used as a temporary observation device in the event of an earthquake. For example, in areas where tsunami damage has occurred, it is more likely that the glass surface of a house or vehicle can be used as an anchor rather than an electric wire.

Since this glass is horizontal, it is not possible to use hanging equipment, so this idea is effective.

The intended use of the present invention is a building having a metal structure, and specific examples thereof include, but are not limited to, a building of a nuclear power plant.

<Structure according to this embodiment>
It is a method of parking the observation unit by a rotary wing aircraft including a power unit and an observation unit.
The observation unit has a suction unit that fixes the position of the rotorcraft with respect to at least a vertical method or a horizontal direction by fixing it to the ceiling or a wall, and the rotorcraft has a suction unit. It is detachably attached and
The step of cleaning the suction part and
The step of moving the rotorcraft to the destination,
The step of adsorbing the suction portion to the surface to be fixed at the destination,
Including a step of disconnecting the rotorcraft.
How to park.

(45th Embodiment)
As shown in FIGS. 72 to 74, the rotary wing aircraft has a power feeding cable.

The method according to the present embodiment is intended to take measures against the updraft of the multicopter used for the bridge inspection.

It controls the motor threshold, over-engineered motor, and tension meter. Actively use ground power cables for "ground restraint".

Theoretically, the balance is not lost because the motor does not fall below the minimum rotation speed even when an updraft occurs.

<Structure according to this embodiment>
It is a method of parking a rotary wing aircraft with a power supply cable.
By applying a predetermined tension to the power supply cable, the rotorcraft is kept in place.
How to park.

(46th Embodiment)
This is a countermeasure for updrafts of multicopters for bridge inspection. Motor threshold setting, ・ Equipped with an upper monitoring sensor, use an aircraft that does not use strings or power supply cables.

When performing stick operations (including self-sustaining navigation) below hovering, the rotation does not drop below the motor threshold at any time.

Only when the value of the upper monitoring sensor is less than or equal to the set value, control below the threshold value is permitted.

(47th Embodiment)
Provided is a multicopter updraft countermeasure method by changing the dihedral angle of the motor. As shown in FIGS. 75 to 77, the generation of an updraft is supported by changing the motor mounting angle of the multicopter.

Normally, it should be horizontal, and the motor mounting angle should be moved in an environment where updrafts are expected to occur.

(48th Embodiment)
As shown in FIGS. 78 to 80, heliports for taking off and landing of a general multicopter are provided from heavy machinery, trailers, and vehicles.

Calculate the relative wind speed and the inclination of the instrument base, and calculate the inclination of the helipad.

Achieves smooth takeoff and landing from vehicles that are inclined on slopes and heavy machinery that is running.

(49th Embodiment)
81 and 82 Provide a mechanism that is premised on mounting on a general-shaped home delivery drone.

A reverse bud-shaped luggage L guard is attached to the loading section.

It deploys at the time of landing and measures against updrafts by blocking the wake of the propeller.

This guard also functions as a landing gear.

In the case of a reverse bud shape, the vortex of the wake of the propeller is optimized, so fuel efficiency can be expected to improve.

(Fifth Embodiment)
Provide an emergency detachment skid. It is especially suitable for use in disaster-stricken areas where tsunami damage occurs and water does not drain.

Under the conditions immediately after the tsunami damage, it is assumed that the place where the drone will land cannot be secured.

It can also be assumed that people will be left behind in houses that have been washed away by the sea. In such an environment where landing is difficult, the cargo L can be delivered in an emergency avoidance manner.

As shown in FIG. 83, the luggage L is only separated under the landable condition, but the skid and the luggage L are separated at the same time under the condition where the takeoff is impossible. At this time, assuming that the luggage L is dropped on the water, the skid is provided with a function of generating buoyancy. (For example, the tip of the skid may be provided with a portion on the balloon that is opened by compressed air.

(51st Embodiment)
Provide a simple anemometer.

A simple wind speed and direction in the sky can be calculated from the tilt of the aircraft and the absolute speed based on GPS signals.

(52nd Embodiment)
A small multicopter intended for use in the field of surveying is provided with reference to FIGS. 84 and 85.

As a landing form, a "one-handed landing form" is possible, in which the arm at A2 is lowered directly below.

If the road surface is good, the arm can be moved forward for normal landing.

In the case of surveying applications, it is possible for one person to operate the site. Also, in the case of aerial photography work, it is possible to collect the aircraft even if there is no landing place at the site.

(Fifth Embodiment)
In the present embodiment, the purpose is to ensure the position accuracy of the shooting / observation data from the drone.

At this time, the observation method aims to objectively supplement the observation data of the drone.
Steps to shoot from the ground with an automatic tracking video camera,
Step to measure the position of the drone from the ground in real time Step to add the position information of the drone from the ground to the video Step to add the position information from the drone to the video Step It has a step to warn if there is a difference in the position information ..

(54th Embodiment)
It enables monitoring from the sky in the observation method according to the 53rd embodiment. Use a correction means that corrects the relative position of the observation drone.

(Fifth Embodiment)
A method for spraying pesticides for paddy fields by a self-propelled drone and a multicopter is provided with reference to FIGS. 86 and 87.

A pesticide spraying drone used in paddy fields. It is possible to solve safety, labor saving, and speed with a realistic method.

As one of the existing pesticide spraying methods, there is a method of "passing a chemical spray hose at one end of a paddy field and spraying while holding the hose by two people". Replace this method with a parent unit on the ground and a multicopter in the sky.

The method includes a ground parent unit (which allows the ridges to run) and a multicopter child unit (which is ground-powered and holds the end of the hose). At least the parent unit or the child flight unit has a hose winding function.

The configuration of the ground parent unit is as follows. The movement is done by the engine or the motor. If it is an engine type, it will be equipped with a generator. Supply medicine and power to the child flight unit. The drug is sprayed through a spraying hole in the hose between the parent and child units. It is also possible to contract the hose according to the distance of the child units.

The configuration of the child flight unit is as follows. The child flight unit receives power from the parent unit and flies. Since the chemical spray hose is maintained without bending and flies, the child flight unit is heavily loaded toward the parent unit. The child flight unit moves directly above the ridge while monitoring directly below.

(56th Embodiment)
As another example of the method according to the 55th embodiment described above, it is also possible to configure two sets of parent units as shown in FIGS. 88 and 89.

The drug is sprayed through a spraying hole in the hose between the parent and child units. It is also possible to contract the hose according to the distance of the child units.

(57th Embodiment)
A difference observation method is provided. It can be used for road / overhead line maintenance.

In peacetime, shooting is performed according to the determined route and angle, and position and angle information is added to the data.

Immediately after the disaster, the inspection flight will be photographed in the same way.

At this time, the normal time image corresponding to the position angle information of the real-time shooting data is displayed at the same time.

As a result, it is possible to immediately grasp what kind of change has occurred due to the disaster.

In addition, it is possible to grasp information even when it is difficult for people to distinguish the road surface at an event. (You can see the position of manholes and sidewalks)

Since it is possible to grasp the position of the gutter during snowfall, it is also possible to identify vehicles that have fallen into the gutter due to heavy snow.

(Fifth Embodiment)
Provide a rescue request and self-position marking system by drone. It is used for earthquake disaster countermeasures (other uses can also be used).

When the user launches from the smartphone app, the disaster marking drone enters the area and fires marking bullets at the user's smartphone (near the entrance of the building left behind).

Type of notification A: Buried in rubble (marking target)
B: I can't move (arrangement of observation drone)
C: Flowing (arrangement of observation drone)

The following examples can be used as the reporting conditions.
・ Earthquake disaster ・ User requests rescue from smartphone

Regarding marking, the following examples are possible.
・ Marking near the entrance for non-collapsed buildings ・ Marking for collapsed buildings from a 45-degree perspective from the south ・ Marking bullets are the exclusive color for “Urgent Rescue”

The following examples are possible for the database.
・ Registration trigger is issued ・ Disclosed location information to a third party ・ Personal information of rescue completed person is disclosed when rescue is completed

By marking on-site, it becomes possible for a third party to notice the discovery of the victims left behind in the disaster area. Since the error is smaller than the position information between the smartphone and the base station, more efficient rescue is possible. Since it is activated by the user's intention, the survival of the user at the stage of issuing a report can be confirmed. This system can also be used for avalanche distress.

(59th Embodiment)
Provide an unknown person search system. It can be used for earthquake disaster countermeasures and location identification of missing persons. The 58th embodiment was operated by one's own will, but this embodiment is automatically performed.

Basically, the purpose is to quickly search for missing persons. Moreover, the purpose is to rank the rescue by interlocking with the 58th embodiment.

Notification conditions / Triggers have moved within the past few days (about 3 days) from the time of the earthquake / trigger (to exclude unused smartphones).
-No movement has occurred within a certain period of time (about 4 hours) from the trigger occurrence time (you cannot move by your own will)
・ The smartphone is not operated for a certain period of time from the trigger occurrence time. * Conditions from past movement and occurrence time can be changed by administrator authority.

-Marking the smartphone to which the marking drone corresponds-Marking with a different identification color from the 58th embodiment

By combining with the 58th embodiment, two types of markings will be made on the debris in the disaster area.

The 58th embodiment is marked by one's own will. Is marked regardless of one's will. That is, it can be visually determined that the priority of rescue is low, and rescue by the 58th embodiment, which is considered to have a high life-saving effect, can be prioritized.

(60th Embodiment)
Provide an automatic marking system for any person linked to the occurrence of an earthquake. This is an earthquake disaster countermeasure, and is a different form from the 58th embodiment.

The user 1 calls the disaster marking drone and marks the position of the user 2's smartphone or dedicated terminal.

Since the 59th embodiment is an automatic process, it takes a certain amount of time to mark.

Notification conditions ・ Earthquake disaster occurred ・ User 1 requests rescue from user 2

In this case, the immediate marking of another user enables the prompt rescue of a well-known user at that position.
It is intended for infants and bedridden elderly people who cannot use the 58th embodiment.

(61st Embodiment)
Provide a system for locating victims by AR. It is used for earthquake disaster countermeasures.
In the 58th embodiment, the approximate position is specified by the position data of the smartphone, and the drone enters the site.

The drone performs highly accurate positioning using a beacon or the like and registers the position in the database.
Based on this location information, the location of the victim is provided by AR.

(62nd Embodiment)
A notation of an identification number according to the LED lighting timing and an identification method using the notation are provided.

How to identify a drone flying over.
-Individual numbers are assigned to autonomous flight drones-Individual numbers are expressed by the LED lighting timing-People can distinguish about major categories (for home delivery, surveying, hobby)

(63rd Embodiment)
The aircraft identified by the identification of the autonomous drone by AR is displayed on the terminal.

・ Displays the routes up to this point and future routes ・ Displays up to future routes ・ Whether or not a camera is installed ・ Purpose of use ・ Danger level (aircraft class)

(64th Embodiment)
Provided is a jig (maintenance tool) for acquiring the Z-axis center of gravity of a multicopter.

Jig for determining the position of the center of gravity of the multicopter in the Z-axis direction ・ Install two sets of jigs A between the motors in the horizontal position ・ By changing the mounting position, it is possible to determine the X-axis and Y-axis.

(65th Embodiment)
We provide drones equipped with optical camouflage. It is used as a research drone, but it may also be used as a drama prop.

The shield part is "always horizontal" or "confronts the target"

Function of shield ・ Optical camouflage (including infrared rays)
・ Sound absorbing material ・ Stealth (absorption of radar waves)

(66th Embodiment)
As shown in FIGS. 90 to 92, a cover-shaped sound absorbing material for suppressing the generated sound of the drone is provided.

The target is an object that exists in the direction of flight of the drone. When viewed from the side, a cover with a sound absorbing material is attached to the L shape (front and top). The bottom, side, and back are omitted from the viewpoint of propeller wake and weight.

(67th Embodiment)
Provide a cover to reduce the sound emitted in a specific direction from the planned flight location. Similar to the 66th embodiment, the cover and the flight portion are connected to each other via the connecting portion so as to be independently displaceable.

Soundproofing is achieved by rotating and displacing the shield in the direction in which it is desired to be soundproofed.

(68th Embodiment)
As shown in FIGS. 93 to 95, a suspension control mechanism (anchor) such as a winch is provided above the center of buoyancy of the flight unit. In the present embodiment, the anchor position of the luggage L is located above the center of the lift generated by the rotor blades. The position of the anchor may coincide with the center of lift.

Further, the anchor may be provided at a position that substantially coincides with or coincides with the center of gravity of the entire flight unit.

According to such a configuration, the gain change after the luggage L is separated becomes gentle. Also, even if the luggage L shakes during unloading, there is little effect on the flight section.

(69th Embodiment)
In the 68th embodiment described above, a means for cutting the wire for holding the load may be further provided.

When it becomes necessary to quickly separate the aircraft and the luggage L for some reason, the wire can be cut by the cutting mechanism provided in the flight unit.

(70th Embodiment)
Further, the air vehicle may be provided with a fuse function. When tension is applied while the luggage L is being unwound more than a certain amount, the luggage L can be separated.

The fuse function is stopped when it is in the winding state (moving). That is, it is controlled so that the fuse does not work due to the load at the time of winding. On the other hand, when it is detected that a predetermined load is applied to the winch portion during the feeding operation of the load L, the wire is released or cut.

(71st Embodiment)
A variable landing gear is provided, as shown in FIGS. 96-98.

The landing gear can be retrofitted to conventional aircraft. In the retrofitted state, the landing gear is mounted so that it can be displaced independently of the main body. The landing gear according to this embodiment is suitable for landing in strong winds and rough terrain. The landing gear is fixed in a general position during level flight. When it enters the landing mode, it becomes displaceable, and when it touches down, it is fixed at the inclination at that time.

(72nd Embodiment)
As shown in FIGS. 99 to 101, takeoff using the landing gear according to the 71st embodiment can be performed. Suitable for takeoff in strong winds and rough terrain.

For example, when taking off from rough terrain, the attitude is maintained (locked) so that the flight portion is horizontal (see FIG. 99).

When taking off under strong wind, the attitude is maintained (locked) so that the flight part is in the horizontal direction in the initial state.
・ Free when a certain lift is generated after the motor is started.

(73rd Embodiment)
As shown in FIG. 102, the air vehicle has a winch 73c on which the wire 73b connected to the loading portion 73a on which the cargo L is placed can be wound down. The winch and the flight unit are connected by a biaxial gimbal 73d so as to be independently displaceable.

The position of the winch is above the center of lift generated by the propeller 73e.

(74th Embodiment)
As shown in FIGS. 103 and 104, a spray part-separated pesticide (water, fertilizer, seed) spray drone is provided.

The purpose of this embodiment is to reduce the influence of the wake of the propeller on agricultural products. Electric power and chemicals are provided from the master unit 1 to the slave unit 1'. The slave unit 1'according to the present embodiment includes only a minimum attitude control motor. As shown in FIG. 103, the master unit flies at an altitude that can maintain a sufficient distance from the relevant crop. As a result, pesticides and the like do not adhere to the expensive master unit, so that the maintenance frequency of the master unit 1 can be reduced.

(75th Embodiment)
As shown in FIGS. 105 and 106, pesticides and the like are sprayed indoors in a vinyl house or the like by using the master unit 1 and the slave unit 1'as in the 74th embodiment.

In the present embodiment, the master unit can move the rail 75a installed on the ceiling of the vinyl house. Electric power and chemicals are provided from the master unit 1 to the slave unit 1'. The slave unit 1'according to the present embodiment includes only a minimum attitude control motor. An arm (deployable) and hose are provided from the master unit 1. The slave unit 1'can also perform harvesting and the like.

(76th Embodiment)
It provides an arm that monitors the position of the drone and contracts and rotates. One of the mechanisms of the 75th embodiment

The slave unit will fly finely in the house. At this time, if only the hose is connected, it is expected that the hose will be entangled.

By extending the arm directly above the small drone, entanglement is prevented. Install one or more arms on the master unit on the ceiling of the vinyl house. The position of the drone in charge is monitored by the camera of the arm. The arm rotates and contracts to maintain the area directly above the drone.

(77th Embodiment)
Provided is a landing method of a VR photographing drone 1 equipped with two sets of camera sets V as shown in FIGS. 107 to 110.

The flying object is provided with a VR camera at the tip of an arm that extends vertically. The VR camera can be bent from the connection portion C of the vehicle body.

At the time of landing, it is transformed into a landing form as shown in FIG. 110. At this time, the VR camera V is bent and becomes parallel to the horizontal.

(78th Embodiment)
As shown in FIGS. 111 to 116, a method of landing a drone equipped with a camera set V is provided.

A multicopter landing deformation mechanism with an inexpensive VR camera mounted underneath. By adding a fixed camera on top, it is also possible to erase the aircraft. Similar to the 77th embodiment, at the time of landing, as shown in FIG. 111, the camera is deformed into the landing form by bending from the connection portion C.

(79th Embodiment)
As shown in FIGS. 117 to 121, a high-end VR camera V mounted on a conventional multicopter is mounted.

The lower camera set V1 is connected by a triaxial gimbal C1. The upper camera set V2 is also connected by a triaxial gimbal C2.

(80th Embodiment)
The simplest VR shooting dedicated drone will be described with reference to FIGS. 122 to 126. A VR camera V is mounted on the upper part of the airframe, and one camera C is mounted on the lower part of the airframe.

(81st Embodiment)
With reference to FIGS. 127 to 129, a simple VR drone having a photographing unit V in front of and behind the machine body is provided.

The flying object according to the present embodiment is particularly suitable for an extremely narrow flight environment or a case where the left and right image quality is not emphasized (drone race, etc.).

(82nd Embodiment)
As shown in FIGS. 130 to 132, the inversion mode of the VR camera-mounted machine is provided.

It is a part of the function of the onboard aircraft of the drone maneuvering method regardless of the actual flight attitude. When you press the "reverse button" on the radio side, the direction of travel is reversed by 180 °. It is suitable for applications such as moving back and forth inside a pipe.

(83rd Embodiment)
Provides a home position mode for VR camera-equipped machines.

When the "home position button" is pressed, the direction of travel is reversed by 180 °. It has an auxiliary function when the pilot's position (home position) is unclear. Press the home position switch and perform "forward" to return to the pilot.

(84th Embodiment)
Provide a GPS antenna to be mounted on a VR shooting drone.

The GPS antenna of the aircraft equipped with the 77th embodiment (landing method of a VR shooting drone equipped with two sets of cameras).

When transforming from flight mode to landing mode, the GPS antenna tilts. It functions as a mechanism to cancel this inclination.

(85th Embodiment)
It provides a 4-axis gimbal for a camera mounted at a position away from the center of gravity of the aircraft.

With the existing 3-axis gimbal, the position of the camera will move up and down if the aircraft tilts during hovering. This turbulence is noticeable in short-distance aerial photography.

To cancel this, add an axis that cancels the vertical movement of the camera.
This idea is very effective for short-range hovering photography using a quadcopter, a multicopter, or an octocopter with a camera mounted at a position away from the center of gravity of the aircraft.

It is preferable to use a 6-axis gimbal in order to achieve a complete effect.

(86th Embodiment)
As shown in FIGS. 133 to 135, a stabilizer optimized for short-range aerial photography using a multicopter is provided.

It is a stabilizer that assumes a small quadcopter.

A lens unit is mounted in the forward position at the bottom of the aircraft using a swastika-shaped arm.

The stabilizer motor is installed near the center of gravity to realize a multicopter in which the three-dimensional position of the camera does not move even if attitude control is applied during hovering. The tilt / roll axis exists near the center of gravity. The pan axis is near the camera.

(87th Embodiment)
Provides a ceiling charging drone. The mounting part and the flying part can be displaced independently.

As shown in FIGS. 136 to 138, it has the following configuration. A charging mechanism will be installed on the upper part of the machine. Restrain the aircraft from the charging port side. Restraint methods include, but are not limited to, magnetic attachment and mechanical type. Charging can be done in contact or non-contact.

(88th Embodiment)
As shown in FIGS. 139 to 141, a charger for the ceiling drone is provided. The aircraft is installed on the ceiling. Power is distributed from the existing crescent. By magnetizing the metal part of the ceiling, the flying object is fixed to the ceiling.

(89th Embodiment)
As shown in FIGS. 142 to 144, a drone is provided in which a bar that remains vertical is equipped with a visual light.

A plurality of LED identification lights are provided on the vertical bar portion.

In the conventional aircraft, there is a condition that all the nose lights and tail lights can be seen from the pilot position, and the direction of travel of the aircraft may be lost. In the case of the mounting position of this initiative, since it is possible to precisely adjust the irradiation range of the taillight, the pilot can operate the pan while maintaining the hovering attitude, and the direction of the aircraft even if it is far away from the aircraft. It becomes possible to grasp.

(90th Embodiment)
Provides a method of guiding intersections on the drone route.

Rules for drones not to touch at intersections on the route ・ In the vicinity of the intersection, priority is given to the intersection guidance system for Z-axis control ・ It is assumed that the aircraft on route A flies on the upper side and route B flies on the lower side ・ A The aircraft on the route can be operated only in the upward direction by the judgment of the aircraft. ・ The aircraft in the B route can be operated only in the downward direction by the judgment of the aircraft.

(91st Embodiment)
Provided is a mechanism for correcting the center of gravity of a load of a delivery drone using a biaxial gimbal mechanism. It is a modification of the 73rd embodiment.

In the balance adjustment mechanism using a brushless motor, the mechanism may not work if the center of gravity of the load deviates significantly from the design value.

In addition, when the balance is lost, power is consumed to maintain the posture more than necessary.

The purpose is to mount a balance adjustment mechanism on the airframe side and handle various loads.

When packing a load in a box, it is relatively easy to balance the X-axis and Y-axis by placing them near the center, but it is difficult to adjust the Z-axis. Put.

Add one or more balance correction mechanisms.

(92nd Embodiment)

Provided is a method for stabilizing a load of a delivery drone using a biaxial gimbal mechanism.

When the drone changes its attitude in the sky, G causes an unexpected load to be applied to the load.

Specifically, the contents of the delivery will be biased.

To counter this, the inclination of the luggage L changes in the direction of canceling the generation of G.

The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes an equivalent thereof.

Claims (4)

It ’s an air vehicle,
The flying object includes an arm extending downward via a main body and a connection portion, and a photographing device provided at the tip of the arm.
The connection portion is provided above the main body and is provided.
The arm is a flying object that can be bent and leveled. The flying object according to claim 1, wherein the photographing device is a VR camera. The flying object according to claim 2, wherein the flying object further includes a fixed camera on the upper portion. The method for landing an air vehicle according to any one of claims 1 to 3.
A method of landing an air vehicle in which the arm is bent from the connection portion to be horizontal at the time of landing.

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