JP7001878B1 - Aircraft, suction system and suction method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying object, a suction system and a suction method capable of efficiently collecting an object existing on the ground without manual operation.
SOLUTION: A flying object 1 has a rotary wing 30 for generating an air flow A for flying by rotation, a collection container 50 capable of collecting an object 2, and a control device 60 for controlling the rotation direction of the rotary wing 30. The control device 60 generates a suction flow B toward the collection container 50 by rotating the rotary blade 30 in a direction opposite to the rotation direction during flight.
[Selection diagram] Fig. 2

Description

The present invention relates to an air vehicle, a suction system and a suction method.

Conventionally, a technique for collecting an object such as fine particles using a flying object for environmental survey or the like is known. Patent Document 1 describes this type of technique. Patent Document 1 describes a measuring system for measuring the distribution of physical quantities or chemical quantities such as wind velocity, pressure, temperature, and fine particle concentration using a drone equipped with a measuring instrument.

Japanese Unexamined Patent Publication No. 2019-90741

By using a flying object as in the technique described in Patent Document 1, it is possible to safely collect an object even in a place where it is difficult for a person to enter. However, the technique of Patent Document 1 is limited to the object that the flying object can collect in the air, and is not suitable for collecting the object existing on the ground.

The present invention has been made in view of such a situation, and an object of the present invention is to provide an air vehicle, a suction system, and a suction method capable of efficiently collecting an object existing on the ground without manual operation. do.

The flying object of one aspect of the present invention includes a rotary wing that generates an air flow for flying by rotation, a collection container that can collect an object, and a control unit that controls the rotation direction of the rotary wing. The control unit rotates the rotor blades in a direction opposite to the rotation direction during flight to generate a suction flow toward the collection container.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide an air vehicle, a suction system, and a suction method capable of efficiently collecting an object existing on the ground without manual operation.

It is a perspective view which shows the flying body which concerns on one Embodiment of this invention from diagonally below. It is a side view which shows typically how the flying object which concerns on one Embodiment of this invention collects an object in 1st control example. It is a block diagram which shows the electric structure about the control device of the flying object which concerns on one Embodiment of this invention. It is a perspective view which shows the flying body which concerns on one Embodiment of this invention from diagonally below. It is a side view which shows typically how the flying object which concerns on one Embodiment of this invention collects an object in 2nd control example. It is a side view which shows typically how the flying object which concerns on one Embodiment of this invention collects an object in 3rd control example.

Hereinafter, non-limiting exemplary embodiments of the present invention will be described with reference to the drawings.

The flying object 1 according to the first embodiment of the present invention will be described. FIG. 1 is a perspective view of the flying object 1 viewed from diagonally below, and FIG. 2 is a perspective view showing a state in which the object 2 is collected by the flying object 1. In FIG. 2, the description of the protection unit 44 is omitted.

The flying object 1 according to the present invention is a drone that can fly unmanned and can collect an object 2 existing on the ground 3. In addition, "unmanned flight possible" means that a person can fly without boarding the flying object, and includes not only the case where autonomous flight is possible but also the case where the flying object is remotely controlled by a person.

The type of the object 2 collected by the flying object 1 is not particularly limited. For example, particulate matter such as dust and dust, radioactive substances and the like can be mentioned.

The flying object 1 collects a main body portion 10, an arm portion 20 extending from the main body portion 10, a rotary wing 30 supported by the arm portion 20, a guard portion 40 for protecting the rotary wing 30, and an object 2. A possible collection container 50 is provided. Further, the flying object 1 has two modes, a flight mode for flying in the air and a collecting mode for collecting an object 2 existing on the ground 3.

The main body 10 is located at the center of the flying object 1 in a plan view. A leg portion 11 that touches the landing plane is arranged on the lower side of the main body portion 10. Further, the main body 10 includes a control device 60, a camera 74, and the like that perform various controls of the flying object 1 described later.

The arm portion 20 is a support portion in which one end thereof is connected to the main body portion 10 and the rotary blade 30 is arranged at the other end portion (hereinafter referred to as the tip portion). In the present embodiment, each of the six (plural) arm portions 20 extends radially (diameterally) from the main body portion 10 in a plan view. The distance between the six arm portions 20 is equal in the circumferential direction in a plan view. In FIG. 2, the two arm portions 20 located on the back side of the paper surface are hidden by the arm portions 20 located on the front side of the paper surface.

The rotor 30 generates an air flow A for flying by rotation. The rotor blade 30 is rotatably attached to the rotor blade drive portion 31 arranged on the upper surface of the tip portion of the arm portion 20. The rotary blade drive unit 31 rotates the rotary blade 30 by a built-in forward / reverse rotatable motor (not shown). When the rotary wing 30 rotates in a positive direction due to the drive of the rotary wing drive unit 31, a downward air flow A for the flying object 1 to fly is generated. On the other hand, when the rotary blade 30 rotates in the reverse direction due to the drive of the rotary blade drive unit 31, an upward suction flow B is generated.

As shown in FIG. 1, in the present embodiment, the rotor blade 30 and the rotor blade drive portion 31 are supported by each of the six arm portions 20. That is, the flying object 1 of the present embodiment includes the rotary blades 30a to 30f, which are the six rotary blades 30, and the six rotary blade drive units 31. In FIG. 2, the rotary blades 30a and 30f located on the back side of the paper surface and the rotary blade drive unit 31 to which the rotary blades 30a and 30f are attached are attached to the rotary blades 30b to 30e and the rotary blades 30b to 30e located on the front side of the paper surface. It is hidden by the rotor drive unit 31 connected.

The guard portion 40 is supported by a guard extending portion 41 connected to the tip of each arm portion 20, a guard supporting portion 42 extending upward from the tip of the guard extending portion 41, and a guard supporting portion 42. A protection unit 44 is provided.

The guard extending portion 41 further extends radially outward from the arm portion 20 in the horizontal direction. The "outside" as used herein is the side away from the main body 10 when the center of gravity or the center of the main body 10 of the flying object 1 is the starting point in a plan view, and the diameter is about the starting point as the center of the sphere. It can also be expressed as outside the direction.

The guard support portion 42 extends from the tip of the guard extension portion 41 substantially parallel to the rotation axis of the rotary blade 30. The guard support portion 42 and the rotary blade 30 are in a positional relationship in which the rotary blade 30 does not come into contact with the guard support portion 42 even if the rotary blade 30 rotates. A guard fixing portion 43 for fixing the protection portion 44 is arranged on the guard support portion 42.

The protective portion 44 is a strip-shaped member arranged in an annular shape that surrounds the main body portion 10 as a whole in a plan view. The protective portion 44 is flexible and is stretched so as to connect between the six guard support portions 42. That is, in a plan view, a hexagon (polygon) is formed by the six (plural) protective portions 44, and all of the plurality of rotary blades 30 are located inside the hexagon. Further, in the present embodiment, the height of the protective portion 44 is set to a position substantially the same as the rotary blade 30 in the vertical direction in order to protect the rotary blade 30 from other flying objects, buildings, and the like.

The collection container 50 is attached to the lower surface of the tip end portion of the arm portion 20. That is, the collection container 50 is located below the rotary blade 30. In the present embodiment, the collection container 50 is formed so as to be located inside the rotation trajectory in the rotation axis direction view of the rotary blade 30.

The collection container 50 has a main body portion 51 having an opening 53 at the lower portion, a lid portion 52 for opening and closing the opening 53, and an opening / closing drive portion 54. In the present embodiment, the collection container 50 has a box shape as a whole, but the shape thereof is not particularly limited. For example, the shape of the collection container 50 may be cylindrical.

The lid portion 52 is connected to the lower portion of the main body portion 51. The opening 53 of the collection container 50 is opened and closed by rotating the lid portion 52 around the connection point with the main body portion 51. The opening / closing drive unit 54 includes a motor, and the lid portion 52 is rotated by driving the motor. Note that the opening / closing drive unit 54 is not shown in FIGS. 1 and 2.

The collection container 50 according to the present embodiment is attached to each of the six arm portions 20. That is, the flying object 1 of the present embodiment includes six collection containers 50, that is, collection containers 50a to 50f. As shown in FIG. 1, the collection container 50a is located below the rotor 30a, the collection container 50b is located below the rotor 30b, the collection container 50c is located below the rotor 30c, and the collection container 50d is. It is located below the rotor 30d, the collection container 50e is located below the rotor 30e, and the collection container 50f is located below the rotor 30f. In FIG. 2, the collection containers 50a and 50f located on the back side of the paper surface are hidden by the collection containers 50b to 50e located on the front side of the paper surface.

Next, the control device 60 will be described. FIG. 3 is a block diagram showing an electrical configuration of the control device 60 of the flying object 1. In FIG. 3, the rotary blade drive unit 31 and the open / close drive unit 54 are designated by alphabets in the order of clockwise rotation, and the rotary blade drive units 31a to 31f and the open / close drive units 54a to 54f will be described separately. The rotor drive unit 31a rotates the rotor blade 30a, the rotor blade drive unit 31b rotates the rotor blade 30b, the rotor blade drive unit 31c rotates the rotor blade 30c, and the rotor blade drive unit 31d rotates the rotor blade 30d. The rotor drive unit 31e rotates the rotor blade 30e, and the rotor blade drive unit 31f rotates the rotor blade 30f. Further, the opening / closing drive unit 54a rotates the lid portion 52 of the collection container 50a, the opening / closing drive unit 54b rotates the lid portion 52 of the collection container 50b, and the opening / closing drive unit 54c rotates the lid portion 52 of the collection container 50c. The opening / closing drive unit 54d rotates the lid portion 52 of the collection container 50d, the opening / closing drive unit 54e rotates the lid portion 52 of the collection container 50e, and the opening / closing drive unit 54f rotates the lid portion 52 of the collection container 50f.

The control device 60 is a computer that has, for example, a CPU, a memory, and the like and executes a control program, and executes control processing for the flight of the flying object 1 and the collection operation of the object 2 in the collection containers 50a to 50f. The control device 60 includes a power supply device such as a battery (not shown), a detection unit such as a camera 74, a communication device 75 for transmitting and receiving signals to and from an external device such as an operation controller and GPS, a gyro sensor 71, and an acceleration sensor 72. Various electronic devices such as the altitude sensor 73 are electrically connected.

As shown in FIG. 3, the control device 60 includes a mode selection unit 61, a flight control unit 62, and a collection control unit 63. The mode selection unit 61, the flight control unit 62, and the collection control unit 63 are composed of a part of the program stored in the control device 60.

The mode selection unit 61 has a flight mode for controlling the flight of the flying object 1 and a collection mode for controlling the object 2 to be collected in the collection container 50 by generating a suction flow B toward the collection container 50. Can be selected.

The mode selection unit 61 selects a flight mode and a collection mode by autonomous control or remote control based on a program stored in the control device 60 in advance.

An example of autonomous control and an example of remote control of the mode selection unit 61 will be described. In the autonomous control, for example, when the flying object 1 reaches a predetermined predetermined point, the mode selection unit 61 switches from the flight mode to the collecting mode based on the predetermined autonomous control program. Examples of the predetermined point include the ground 3 on which the object 2 is present, the sky above the ground 3, and the like. In remote control, for example, the mode selection unit 61 selects a flight mode and a collecting mode based on a signal received from the outside via a communication device 75 or the like. Examples of the signal from the outside include a signal transmitted by the user operating an external controller.

The operation of the flying object 1 is controlled by the flight control unit 62 when the flight mode is selected, and is controlled by the collection control unit 63 when the collection mode is selected.

In the flight mode, the flight control unit 62 controls the flight of the flight body 1 based on various information from the gyro sensor 71, the acceleration sensor 72, the altitude sensor 73, the camera 74, the communication device 75, etc. and a predetermined program. .. The flight control unit 62 adjusts the rotation speed and the like of the rotary blades 30a to 30f by controlling the drive of the rotary blade drive units 31a to 31f.

The flight control by the flight control unit 62 is executed by autonomous control or remote control. In the autonomous control, for example, the flight control unit 62 controls to fly to a predetermined point such as above the ground 3 where the object 2 exists along a preset route. In remote control, for example, the flight control unit 62 controls flight based on a signal received from the outside via a communication device 75 or the like. Specifically, when the communication device 75 receives a signal transmitted from an external controller by the user's operation, the flight control unit 62 controls the drive of the rotary wing drive unit 31 based on the signal, and the flight body 1 Control flight.

In the collection mode, the collection control unit 63 is an object existing on the ground 3 based on various information from the gyro sensor 71, the acceleration sensor 72, the altitude sensor 73, the camera 74, the communication device 75, etc. and a predetermined program. It controls the operation of the flying object 1 for collecting 2. For example, the collection control unit 63 controls the rotation direction and rotation speed of the rotary blades 30a to 30f, controls the opening and closing of the lid portion 52 of the collection containers 50a to 50f, and the like. The collection control unit 63 generates an air flow A toward the ground 3 by rotating the rotary blades 30a to 30f in the rotation direction during flight. Further, the collection control unit 63 generates a suction flow B from the ground 3 toward the collection container 50a to 50f by rotating the rotary blades 30a to 30f in a direction opposite to the rotation direction during flight. That is, when the rotary blades 30a to 30f are rotated forward, an air flow A toward the ground 3 is generated, and when the rotary blades 30a to 30f are rotated in the reverse direction, a suction flow B is generated from the ground 3 toward the collection containers 50a to 50f. Further, the collection control unit 63 adjusts the rotation speeds of the rotary blades 30a to 30f to adjust the strength of the air flow A and the suction flow B. Further, in the present embodiment, the collection control unit 63 generates a suction flow B in a state where the flying object 1 lands on the ground 3.

The control by the collection control unit 63 is executed by autonomous control or remote control. In the autonomous control, for example, the collection control unit 63 operates to collect the object 2 such as an opening / closing operation of the collection container 50 and an operation of switching the rotation direction of the rotary blade based on a predetermined autonomous control program. To control. In the remote control, for example, the collection control unit 63 controls the opening / closing operation of the collection container 50 and the rotation direction switching operation of the rotary blades based on the signal received from the outside via the communication device 75 or the like. Examples of the signal from the outside include a signal transmitted by the user operating an external controller.

Next, the first control example to the third control example, which are three control examples by the collection control unit 63 in the collection mode, will be described.

First, a first control example will be described with reference to FIGS. 1 to 3. 1 and 2 show how the flying object 1 collects the object 2 in the first control example.

When the flight object 1 reaches the point where the object 2 exists by the flight control unit 62, the mode selection unit 61 switches from the flight mode to the collection mode. At this time, the openings 53 of the collection containers 50a to 50f are closed by the lid portion 52.

When the mode is switched to the collecting mode, the collecting control unit 63 controls to open any one of the opening / closing driving units 54a to 54f to open the corresponding collecting container 50. For example, as shown in FIG. 1, the collection control unit 63 controls the opening / closing drive unit 54c of the opening / closing drive units 54a to 54f to rotate the lid portion 52 to open the opening 53 of the collection container 50c. ..

When the opening 53 of the collecting container 50c is opened, the collecting control unit 63 drives the rotary blade drive units 31a to 31f and controls to rotate the rotary blades 30a to 30f. In the first control example, the collection control unit 63 reversely rotates the rotary blade 30c located above the collection container 50c having the opening 53 to generate a suction flow B toward the collection container 50c, while generating the rotary blade 30c. At least one of the rotor blades 30 other than the above is rotated in the forward direction. For example, the collection control unit 63 controls the drive of the rotary blade drive unit 31c so that the rotary blade 30c rotates in the reverse direction, and the rotary blade drive units 31a, 31b, so that the rotary blades 30a, 30b, 30d to 30f rotate in the forward direction. The drive of 31d to 31f is controlled. As a result, as shown in FIGS. 1 and 2, the rotation of the rotary blades 30a, 30b, 30d to 30f generates an air flow A toward the ground 3, and the rotation of the rotary blade 30c causes the opening 53 to open the collection container 50c. A suction flow B is generated toward. As a result, as shown in FIG. 2, the object 2 existing on the ground 3 is soared upward by the air flow A, and the object 2 existing on the ground 3 and the object 2 soaring from the ground 3 are caused by the suction flow B. It can be sucked into the collection container 50c.

When a predetermined time has elapsed from the generation of the suction flow B, the collection control unit 63 controls the drive of the opening / closing drive unit 54c to rotate the lid portion 52 to close the opening 53 of the collection container 50c. As a result, the object 2 is collected in the collection container 50c.

When the opening 53 of the collecting container 50c is closed, the collecting control unit 63 stops driving the rotary blade driving units 31a to 31f. After the collection of the object 2 in the collection container 50c is completed, the control device 60 may repeat the control of the first control example described above to collect the object 2 in the collection container 50 other than the collection container 50c. good.

Next, a second control example will be described with reference to FIGS. 3 to 5. FIG. 4 is a perspective view of the flying object 1 collecting the object 2 in the second control example from diagonally below, and FIG. 5 is a side view showing how the flying object 1 collects the object 2 in the second control example. It is a figure. In FIG. 5, the description of the protection unit 44 is omitted. Further, in FIG. 5, the rotary blades 30a and 30f located on the back side of the paper surface and the collection containers 50a and 50f are hidden by the rotary blades 30b to 30e and the collection containers 50a and 50f located on the front side of the paper surface.

When the flight object 1 reaches the point where the object 2 exists by the flight control unit 62, the mode selection unit 61 switches from the flight mode to the collection mode. At this time, the openings 53 of the collection containers 50a to 50f are closed by the lid portion 52.

When the mode is switched to the collecting mode, the collecting control unit 63 controls the driving of the opening / closing driving units 54a to 54f so that the opening 53 of the collecting container 50 opens every other in the circumferential direction in the plan view. For example, the collection control unit 63 controls to rotate the lid portion 52 by driving the open / close drive units 54a, 54c, 54e among the open / close drive units 54a to 54f to open the openings 53 of the collection containers 50a, 50c, 50e. conduct.

When the openings 53 of the collection containers 50a, 50c, and 50e are opened, the collection control unit 63 drives the rotary blade drive units 31a to 31f and controls the rotary blades 30a to 30f to rotate. In the second control example, the collection control unit 63 controls the drive of the rotary blade drive units 31a, 31c, 31e so that the rotary blades 30a, 30c, 30e rotate in the reverse direction, and the rotary blades 30b, 30d, 30f rotate in the forward direction. In this way, the drive of the rotary blade drive units 31b, 31d, 31f is controlled. As a result, as shown in FIGS. 4 and 5, the rotation of the rotary blades 30b, 30d, and 30f generates an air flow A toward the ground 3, and the rotation of the rotary blades 30a, 30c, and 30e causes the opening 53 to open. A suction flow B toward the containers 50a, 50c, 50e is generated. As a result, as shown in FIG. 5, the object 2 existing on the ground 3 is soared upward by the air flow A, and the object 2 existing on the ground 3 and the object 2 soaring from the ground 3 are caused by the suction flow B. It can be sucked into the collection containers 50a, 50c, 50e. Further, in the second control example, the rotary blades 30b, 30d, 30f that generate the upward air flow A and the rotary blades 30a, 30c, 30e that generate the upward suction flow B alternately alternate in the circumferential direction in the plan view. Since it is arranged, the object 2 can be collected while maintaining a stable posture.

After a predetermined time has elapsed from the generation of the suction flow B, the collection control unit 63 controls the drive of the open / close drive units 54a, 54c, 54e and rotates the lid portion 52 to open the collection containers 50a, 50c, 50e. Close 53. As a result, the object 2 is collected in the collection containers 50a, 50c, 50e.

When the openings 53 of the collection containers 50a, 50c, and 50e are closed, the collection control unit 63 stops driving the rotary blade drive units 31a to 31f. After the collection of the object 2 in the collection container 50c is completed, the control device 60 may repeat the control of the second control example described above to collect the object 2 in the collection containers 50b, 50d, 50f. ..

Next, a third control example will be described with reference to FIG. FIG. 6 is a side view schematically showing how the flying object 1 collects the object 2 in the third control example. FIG. 6A is a diagram showing a state in which the collection control unit 63 controls the rotation direction of the rotary blade 30 to generate an air flow A, and FIG. 6B is a diagram in which the collection control unit 63 rotates the rotary blade 30. FIG. 6C is a diagram showing a state in which the direction is controlled to generate a suction flow B, and FIG. 6C is a diagram showing a state in which collection of the object 2 in the collection container 50 is completed. In FIG. 6, the description of the protection unit 44 is omitted. Further, in FIG. 6, the rotary blades 30a and 30f located on the back side of the paper surface and the collection containers 50a and 50f are hidden by the rotary blades 30b to 30e and the collection containers 50a and 50f located on the front side of the paper surface.

When the flight object 1 reaches the point where the object 2 exists by the flight control unit 62, the mode selection unit 61 switches from the flight mode to the collection mode. At this time, the openings 53 of the collection containers 50a to 50f are closed by the lid portion 52.

When the mode is switched to the collecting mode, the collecting control unit 63 drives the opening / closing driving units 54a to 54f to control the opening 53 of the collecting containers 50a to 50f. In the third control example, unlike the first control example and the second control example, the collection control unit 63 controls to open the openings 53 of all the collection containers 50.

When the openings 53 of the collection containers 50a to 50f are opened, the collection control unit 63 drives the rotary blade drive units 31a to 31f and controls the rotation of the rotary blades 30a to 30f. In the third control example, the collection control unit 63 controls the drive of the rotary blade drive units 31a to 31f so that the rotary blades 30a to 30f rotate in the forward direction. As a result, as shown in FIG. 6A, the rotation of the rotary blades 30a to 30f generates an air flow A toward the ground 3, and the air flow A causes the object 2 existing on the ground 3 to fly upward.

After a predetermined time has elapsed from the generation of the air flow A, the collection control unit 63 controls the drive of the rotary blade drive units 31a to 31f so that the rotary blades 30a to 30f rotate in the reverse direction. As a result, as shown in FIG. 6B, the suction flow B toward the collection container 50a to 50f in which the opening 53 is opened is generated by the rotation of the rotary blades 30a to 30f. As a result, the object 2 that has risen upward from the ground 3 due to the air flow A can be sucked into the collection containers 50a to 50f. In the third control example, unlike the first control example and the second control example, control is performed in which all the rotary blades 30 rotate in the reverse direction after all the rotary blades 30 rotate in the forward direction.

After a predetermined time has elapsed from the generation of the suction flow B, the collection control unit 63 controls the drive of the open / close drive units 54a to 54f, rotates the lid portion 52, and closes the openings 53 of the collection containers 50a to 50f. As a result, as shown in FIG. 6C, the object 2 is collected in the collection containers 50a to 50f. As a result, the object 2 can be collected in all the collection containers 50 at one time.

When the openings 53 of the collecting containers 50a to 50f are closed, the collecting control unit 63 stops driving the rotary blade driving units 31a to 31f.

As shown in FIG. 3, the above embodiment is also a suction system 100 including a flying object 1 and a control device 60 for controlling the flying object 1 so that a suction flow B toward the collecting container 50 is generated. In the suction system 100 of the present embodiment, the control device 60 is arranged in the main body 10 of the flying object 1, but the present invention is not limited to this configuration. For example, the suction system may be configured such that the control device 60 is arranged outside the flying object 1 and the flying object 1 is remotely controlled based on a signal received from the external control device 60.

As is clear from the above description, the embodiment of the present invention has an advantageous effect by each of the following configurations.

The flying object (1) according to the embodiment of the present invention includes a rotary wing (30) that generates an air flow (A) for flying by rotation, and a collection container (50) capable of collecting an object (2). A control device (60) for controlling the rotation direction of the rotary blade (30) is provided, and the control device (60) rotates the rotary blade (30) in a direction opposite to the rotation direction during flight. A suction stream (B) towards the collection vessel (50) is generated. As a result, the object (2) existing on the ground (3) can be sucked toward the collection container (50) by generating a suction flow (B) by utilizing the rotation of the rotary blade (30). Therefore, the object (2) existing on the ground (3) can be efficiently collected without manual work.

In the flying object (1) according to the embodiment of the present invention, the collection container (50) is arranged below the rotary wing (30). As a result, the collection container (50) is arranged below the rotary blade (30) that generates the suction flow (B), so that the suction flow (B) can flow more reliably toward the collection container (50). can.

In the flying object (1) according to the embodiment of the present invention, the control device (60) generates a suction flow (B) in a landed state. As a result, since the flying object (1) is landing on the ground (3), the object (2) can be sucked into the collecting container (50) in a stable attitude.

In the flying object (1) according to the embodiment of the present invention, a plurality of rotary wings (30) are arranged, and the control device (60) is among the plurality of rotary wings (30) while generating a suction flow (B). Rotate at least one in the direction of rotation during flight. As a result, an air flow (A) toward the ground (3) is generated to cause the object (2) to fly up from the ground (3), and the object (2) is collected by the suction flow (B) (50). Can be sucked into. Therefore, the object (2) existing on the ground (3) can be collected more efficiently.

In the flying object (1) according to the embodiment of the present invention, the control device (60) generates a flight mode for controlling flight and a suction flow (B) to collect an object (2) in a collection container (50). ) Has a mode selection unit (61) capable of selecting a collection mode for controlling collection, and when the collection mode is selected by the mode selection unit (61), the control device (60) rotates during flight. After rotating the rotary blade (30) in the direction, the rotation direction of the rotary blade (30) is switched to generate a suction flow (B). As a result, an air flow (A) toward the ground (3) is generated to cause the object (2) existing on the ground (3) to fly up, and then the object (2) soared from the ground (3). Can be sucked. Further, since the air flow A and the suction flow B are generated at different timings, the processing load of the control device 60 can be reduced and the processing efficiency can be improved.

In the flying object (1) according to the embodiment of the present invention, the control device (60) generates a flight mode for controlling flight and a suction flow (B) to collect an object (2) in a collection container (50). ) Has a mode selection unit (61) capable of selecting a collection mode that controls collection, controls flight to a predetermined point in the flight mode, and when the point is reached, the flight mode is changed to the collection mode. Switch. As a result, the flying object 1 automatically flies to a predetermined point and switches to the collecting mode. Therefore, the flying object 1 is made to fly to the point where the object (2) exists without maneuvering or instructing, and the object 2 is collected. can.

In the flying object (1) according to the embodiment of the present invention, the control device (60) generates a flight mode for controlling flight and a suction flow (B) to collect an object (2) in a collection container (50). ) Has a mode selection unit (61) capable of selecting a collection mode for controlling collection, and the mode selection unit (61) selects the flight mode and the collection mode based on an external signal. .. As a result, the collection mode can be switched based on the signal from the outside, so that the object (2) can be collected at any timing.

The suction system (100) according to the embodiment of the present invention includes a rotary wing (30) that generates an air flow (A) for flying by rotation and a collection container (50) capable of collecting an object (2). The collection container (50) is controlled by controlling the rotation direction of the flying object (1) and the rotor blade (30) of the flying object (1), and rotating the rotary blade (30) in the direction opposite to the rotation direction during flight. ) Is provided with a control device (60) for generating a suction flow (B) toward the). As a result, the rotation of the rotary blade (30) of the flying object (1) is used to generate a suction flow (B), and the object (2) existing on the ground (3) is directed toward the collection container (50). Can be aspirated. Therefore, the object (2) existing on the ground (3) can be efficiently collected without manual work.

The suction method according to the embodiment of the present invention is a flying object (50) including a rotary wing (30) for generating an air flow (A) for flying by rotation and a collecting container (50) capable of collecting an object (2). It is a suction method executed by the control device (60) that controls 1), and generates a suction flow toward the collection container by rotating the rotary blade of the flying object in a direction opposite to the rotation direction during flight. Let me. As a result, the rotation of the rotary blade (30) of the flying object (1) is used to generate a suction flow (B), and the object (2) existing on the ground (3) is directed toward the collection container (50). Can be aspirated. Therefore, the object (2) existing on the ground (3) can be efficiently collected without manual work.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like to the extent that the object of the present invention can be achieved are included in the present invention. be.

In the above embodiment, the collection container 50 is located below the rotary blade 30, but the position of the collection container 50 is not particularly limited. For example, the collection container 50 may be configured to be located above the rotary blade 30.

In the above embodiment, the collection container 50 is formed so as to be located inside the rotary orbit in the rotational axis direction of the rotary blade 30, but at least a part of the rotary blade 30 is located outside the rotary orbit. It may be formed.

In the above embodiment, the opening 53 is formed in the lower part of the main body 51 of the collection container 50, but the position of the opening 53 formed in the main body 51 is not particularly limited. For example, the opening 53 may be formed in the upper part of the main body 51.

In the above embodiment, the opening 53 of the collection container 50 is opened and closed by rotating the lid portion 52, but the mechanism for opening and closing the opening 53 is not particularly limited. For example, it may be a mechanism for opening and closing the opening 53 by sliding the lid portion 52.

In the above embodiment, the control for generating the suction flow B is performed when the flying object 1 lands on the ground 3, but the control for generating the suction flow B is performed when the flying object 1 is floating in the air. May be.

In the above embodiment, the number of rotary blades 30 is 6, but the number of rotary blades 30 is not particularly limited. For example, the number of rotary blades 30 may be 5 or less, or 7 or more.

In the above embodiment, the number of collection containers 50 is 6, but the number of collection containers 50 is not particularly limited. For example, the number of collection containers 50 may be 5 or less, or 7 or more.

1 ... Flying object, 2 ... Object, 30, 30a, 30b, 30c, 30d, 30e, 30f ... Rotor blade, 50, 50a, 50b, 50c, 50d, 50e, 50f ... Collection Container, 60 ... Control device (control unit), A ... Air flow, B ... Suction flow

Claims (9)

Rotor blades that generate airflow to fly by rotation,
A collection container that can collect objects and
A control unit that controls the rotation direction of the rotary blade is provided.
The control unit is an air vehicle that generates a suction flow toward the collection container by rotating the rotor blades in a direction opposite to the rotation direction during flight. The flying object according to claim 1, wherein the collection container is arranged below the rotary wing. The flying object according to claim 1 or 2, wherein the control unit generates the suction flow in a landed state. Multiple rotor blades are arranged,
The flying object according to any one of claims 1 to 3, wherein the control unit rotates at least one of the plurality of rotary blades in a rotation direction during flight while generating the suction flow. The control unit has a mode selection unit capable of selecting a flight mode for controlling flight and a collection mode for generating the suction flow to control the object to be collected in the collection container.
When the collection mode is selected by the mode selection unit, the control unit rotates the rotary blade in the rotation direction during flight, and then switches the rotation direction of the rotary blade to generate the suction flow. The flying object according to any one of 1 to 3. The control unit has a mode selection unit capable of selecting a flight mode for controlling flight and a collection mode for generating the suction flow to control the object to be collected in the collection container.
The flying object according to any one of claims 1 to 5, wherein the flight is controlled to fly to a predetermined point in the flight mode, and when the flight reaches the point, the flight mode is switched to the collection mode. The control unit has a mode selection unit capable of selecting a flight mode for controlling flight and a collection mode for generating the suction flow to control the object to be collected in the collection container.
The flying object according to any one of claims 1 to 6, wherein the mode selection unit selects the flight mode and the collection mode in response to a signal from the outside. An air vehicle equipped with a rotor blade that generates an air flow to fly by rotation and a collection container that can collect objects,
A suction unit including a control unit that controls the rotation direction of the rotary blade of the flying object and generates a suction flow toward the collection container by rotating the rotary blade in a direction opposite to the rotation direction during flight. system. It is a suction method performed by a control device that controls an air vehicle equipped with a rotor blade that generates an air flow for flying by rotation and a collection container capable of collecting an object.
A suction method for generating a suction flow toward the collection container by rotating the rotary blade of the flying object in a direction opposite to the rotation direction during flight.

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