JP7123457B1 - flight device - Google Patents

Abstract

An object of the present invention is to provide a flight device capable of stably performing rotation work during flight. A flight device (10) includes a fuselage base portion (11), a rotor (12) that generates a thrust for floating the fuselage base portion (11), and a rotation processing portion (13) that is rotatably attached to the fuselage base portion (11). , and an arithmetic control unit 14 that controls the rotational speed of the rotor 12 . According to the flight device 10, the transmission of torque to the body base portion 11 is suppressed by the power adjustment mechanism 16, and the attitude during flight can be stabilized. [Selection drawing] Fig. 3

Description

The present invention relates to flight devices.

2. Description of the Related Art Conventionally, flying devices capable of unmanned flight have been known. Such a flight device is capable of flying in the air with the thrust of a rotor rotationally driven around a vertical axis.

Application fields of the flying device include, for example, the transportation field, the surveying field, and the photography field. When the flying device is applied to such a field, the flying device is equipped with surveying equipment and photographing equipment. By applying the flying device to such fields, it is possible to fly the flying device to an area inaccessible to humans, and to carry out transportation, photographing, and surveying of such an area. An invention relating to such a flight device is described in Patent Document 1, for example.

Referring to Patent Literature 1, a plurality of arms are provided on the fuselage, and a motor and a rotor are installed at the outer end of each arm. Further, such a flight device has a fuselage base arranged in the center, an arm extending around from the fuselage base, and a motor and a rotor arranged at the tip of the arm.

Further, Patent Document 2 describes an invention that applies such a flight device to various fields.

JP 2018-122674 A JP 2020-069833 A

However, the flight device described in Patent Literature 1 described above has room for improvement from the viewpoint of efficiently performing work using the flight device.

Specifically, as one of the application fields of the flight device, it is conceivable to use the flight device to perform high-place work, for example, work to rotate a jig. However, when the flight device is used to rotate without taking any countermeasures, the anti-torque caused by the rotation acts on the flight device, and the stability of the flight operation of the flight device is hindered. .

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a flight device capable of stably performing rotation operations during flight.

A flight device according to the present invention includes a fuselage base, a rotor for generating thrust for floating the fuselage base, a rotation processing unit rotatably attached to the fuselage base, and rotation of the rotor. A calculation control unit that controls the speed, a motor that rotates the rotary processing unit, and a torque that acts on the fuselage base portion in a state of being in the air by limiting the torque transmitted from the motor to the rotary processing unit. and a power adjustment mechanism that suppresses the transmission of the power, wherein the rotary processing unit is a substantially rod-shaped member extending upward and forward from the machine base, and the power is transmitted to the rotary processing unit by the power adjustment mechanism. The target object is destroyed and removed by rotating the rotary processing unit while pressing the tip side portion of the rotary processing unit against the target object while limiting the torque applied to the target object .

Also, in the flight device of the present invention, the rotary processing portion is a drill.

Further, in the flight device of the present invention, the arithmetic control unit operates the rotation processing unit with respect to the target object while remaining at one point in the air.

According to the flight device of the present invention, since it is provided with the rotary processing section, it is possible to carry out rotary processing while floating in the air, thereby promoting efficiency and safety in various operations. Furthermore, according to the flight device of the present invention, the transmission of torque to the body base portion is suppressed by the power adjustment mechanism, and the attitude during flight can be stabilized. Furthermore, according to the flight device of the present invention, the drill as the rotary processing part can, for example, break down the honeycomb and safely destroy and remove the honeycomb. Furthermore, according to the flight device of the present invention, for example, a honeycomb, which is a target object, can be destroyed without the operator approaching it.

It is a side view showing a flight device concerning an embodiment of the present invention. It is a block diagram showing a connection configuration of the flight device according to the embodiment of the present invention. It is a side view which shows the use condition of the flight device which concerns on embodiment of this invention. It is a rear view which shows the use condition of the flight device which concerns on embodiment of this invention.

A flight device 10 according to the present embodiment will be described below with reference to the drawings. In the following description, the same reference numerals are given to the same members in principle, and repeated descriptions will be omitted.

FIG. 1 is a diagram showing a flight device 10. FIG.

Referring to FIG. 1, a flight device 10 mainly includes a fuselage base portion 11, a rotor 12, a rotation processing portion 13, and an arithmetic control portion 14 (see FIG. 2) that controls the rotational speed of the rotor 12. equip. The flight device 10 is not simply a device that only flies, but performs a predetermined work by rotating the rotary processing unit 13 while flying. Such work includes, for example, removal of a honeycomb, which will be described later.

The flight device 10 may be an electric drone in which the rotor motor 18 is rotated by a battery, a series hybrid drone in which the rotor motor 18 is rotated by a battery charged by an engine, or a parallel hybrid drone in which the rotor motor 18 is rotated separately by the battery and the engine. Drones can be employed.

The fuselage base portion 11 is made of metal, synthetic resin, or the like, and constitutes the main body portion of the flight device 10 . A battery unit 22, an arithmetic control unit 14, and the like, which will be described later, are accommodated in the body base portion 11. As shown in FIG.

The rotor 12 is arranged around the fuselage base portion 11 and generates thrust for the fuselage base portion 11 to float. For example, four rotors 12 are arranged so as to surround the body base portion 11 . Here, a rotor motor 18 is arranged at the end of an arm extending outward from the body base portion 11 , and the rotor motor 18 rotates the rotor 12 .

The motor 15 is arranged on the upper part of the body base portion 11 and generates a rotational driving force for rotating the rotary processing portion 13 .

The rotary processing part 13 is rotatably attached to the body base part 11 and has a shape that allows a predetermined rotary operation to be performed. The rotary processing part 13 is a substantially bar-shaped member that is disposed on the upper part of the body base part 11 and extends forward. As an example, a drill 17 is provided at the front end of the rotary processing section 13 . By doing so, the drill 17 can remove or destroy a predetermined object. Metal such as iron, for example, is used as the material of the rotary processing portion 13 and the drill 17 .

The rotary processing part 13 is attached to the body base part 11 so as to be inclined with respect to the horizontal plane. Specifically, the rotary processing part 13 is attached to the upper surface of the body base part 11 so as to incline upward toward the front. By doing so, the thrust generated by the rotation of the rotor 12 can be used to effectively press the drill 17 attached to the tip of the rotary processing unit 13 against the target object 23, which will be described later. .

The power adjustment mechanism 16 is arranged between the motor 15 and the power adjustment mechanism 16 . The power adjustment mechanism 16 limits torque transmitted from the motor 15 to the rotary processing unit 13 . That is, if the torque acting on the rotary processing unit 13 is less than a constant value, the power adjustment mechanism 16 transmits the torque generated by the rotation of the motor 15 to the rotary processing unit 13 . On the other hand, if the torque acting on the rotary processing unit 13 is equal to or greater than a certain value, the power adjustment mechanism 16 does not transmit the torque generated by the rotation of the motor 15 to the rotary processing unit 13 . As the power adjusting mechanism 16, for example, a torque limiter that limits the magnitude of torque transmitted from the motor 15 to the rotary processing unit 13 to a certain level or less can be employed. By doing so, the power adjustment mechanism 16 suppresses transmission of torque as a reaction force to the airframe base portion 11, and the attitude during flight can be stabilized. This matter will be described later with reference to FIG.

FIG. 2 is a block diagram showing the connection configuration of the flight device 10. As shown in FIG. The flight device 10 mainly includes an arithmetic control unit 14, a sensor 19, a communication device 20, a battery unit 22, an output control device 21, a rotor motor 18, and the like. Further, the flight device 10 has a motor 15, a power adjustment mechanism 16, and a rotation processing section 13 as components for performing operations during flight.

Here, an electric flight device 10 in which each motor is rotated by electric power generated from the battery unit 22 is illustrated.

The sensor 19 senses the flight device 10 itself and its surroundings. Specifically, the sensors 19 include a gyro sensor that measures the tilt angle of the flight device 10, a compass that measures the orientation of the flight device 10, a GPS sensor (Global Positioning System) that measures the position of the flight device 10, One or more of an air pressure sensor that measures the altitude of the flight device 10 and an acceleration sensor that measures the movement speed and the like of the flight device 10 is employed. Information indicating each physical quantity measured by the sensor 19 is transmitted to the arithmetic control unit 14 .

The communication device 20 can transmit and receive information to and from a ground communication device (not shown) owned by an operator who operates the flight device 10 on the ground. By operating the ground communication device, the operator can operate the altitude, traveling direction, movement speed, and the like of the flight device 10 . Also, the motor 15 can be operated by the operation of the operator.

The arithmetic control unit 14 has an arithmetic device consisting of a CPU (Central Processing Unit) and a storage device consisting of a RAM (Random Access Memory) and a ROM (Read Only Memory), and controls the operation of the entire flight device 10. .

The output control device 21 has a power conversion circuit and the like, converts the power supplied from the battery unit 22 into power suitable for flying the flight device 10 , and then supplies the power to each rotor motor 18 . When changing the attitude of the flight device 10 in the air, the output control device 21 changes the electric power supplied to the rotor motor 18 and the like based on instructions from the arithmetic control unit 14 .

Based on the schematic diagram of FIG. 3 and further referring to the above-described figures, a situation in which work is performed while the flight device 10 is in flight will be described. Here, removal of the target object 23 is exemplified as an example of the work. The target object 23 is, for example, a honeycomb formed in the house 24, more specifically, a hornet's nest.

When the target object 23 is a hornet's nest, the target object 23 may be formed at a high place, and when the operator tries to remove the target object 23, there is a danger of falling. Moreover, the hornet wasp is extremely ferocious among bees and has highly toxic poison, so the operator who tries to remove the target object 23 is at a very high risk. In this embodiment, the target object 23 is removed using the flying device 10 in view of such danger. The operator wirelessly operates the flying device 10 from a location sufficiently distant from the target object 23 .

When the target object 23 is released by the flying device 10, first, the operator operates a controller (not shown) to cause the flying device 10 to fly. At this time, the operator operates the flying device 10 from a position sufficiently distant from the target object 23 in order to ensure safety.

After that, the flying device 10 approaches the target object 23 according to the operation instruction of the operator. When the drill 17 of the flight device 10 approaches the target object 23 , the operator causes the motor 15 to rotate the rotary processing unit 13 .

By doing so, the portion of the drill 17 that is in contact with the target object 23 rotates, thereby destroying and removing the target object 23 . At this time, the rotation processing unit 13 may be operated with respect to the target object 23 while the flying device 10 is hovering at one point in the air. Also, in order to properly press the drill 17 against the target object 23 , the rotor 12 can be rotated so that the flying device 10 moves closer to the target object 23 . Furthermore, while the removal work is continuing, the arithmetic control unit 14 controls each rotor 12 based on the input information from the sensor 19 so that the flying device 10 has a predetermined position and orientation in the air. Adjust the rotation speed.

Torque is generated in the rotary processing unit 13 by rotating the drill 17 of the rotary processing unit 13 while being in contact with the target object 23 . If this torque is too large, a large reaction force is generated to rotate the flight device 10 itself, which may prevent the position and attitude of the flight device 10 in the air from being properly controlled.

Therefore, in this embodiment, a power adjustment mechanism 16 is arranged between the motor 15 and the rotary processing section 13 . The power adjustment mechanism 16 does not transmit the rotational force from the motor 15 to the rotary processing unit 13 when a certain torque or more acts on the rotary processing unit 13 . By doing so, the magnitude of the reaction applied to the main body of the flying device 10 is limited, and the position and attitude of the flying device 10 are stabilized during the work of destroying and removing the target object 23 .

Therefore, in the present embodiment, the drill 17 as the rotary processing unit 13 can, for example, break down the honeycomb and safely destroy the honeycomb. Furthermore, the honeycomb, which is the target object 23, can be destroyed without the operator approaching it.

FIG. 4 is a rear view showing the state of the flight device 10 during the work described above. Here, the rotor 12 on the left side is referred to as rotor 121 and the rotor 12 on the right side is referred to as rotor 122 .

When the work is performed by rotating the rotary processing unit 13 and the drill 17, a reaction force is generated to rotate the body base unit 11 in a direction opposite to the direction of rotation. In this embodiment, the power adjusting mechanism 16 is interposed between the rotary processing unit 13 and the motor 15, but even in such a case, the reaction force is generated. Here, the direction in which the reaction force acts is indicated by a dotted arrow.

In such a case, the arithmetic control unit 14 described above executes control for canceling out the reaction force based on the output from the sensor 19 . That is, the arithmetic control unit 14 rotates the rotor 122 faster than the rotor 121 . As a result, the thrust generated from the rotor 122 becomes greater than the thrust generated from the rotor 121, thereby reducing the aforementioned reaction force. Therefore, even when the work is performed by rotating the drill 17, the position and orientation of the flying device 10 in the air can be accurately controlled.

Although the embodiments of the present invention have been described above, the present invention is not limited to these, and modifications can be made without departing from the gist of the present invention. Moreover, each form described above can be combined with each other.

In the above-described embodiment, the work performed by the rotary processing unit 13 is destruction and removal of the target object 23, but other work can be performed. For example, screwing, threading, fastening, rotation of an object, and the like can be employed as the work performed by the rotary processing unit 13 .

10 Flight Device 11 Airframe Base 12 Rotor 13 Rotation Processing Unit 14 Calculation Control Unit 15 Motor 16 Power Adjustment Mechanism 17 Drill 18 Rotor Motor 19 Sensor 20 Communication Device 21 Output Control Device 22 Battery Unit 23 Target Object 24 House

Claims (3)

a fuselage base; and
a rotor that generates thrust for floating the airframe base;
a rotary processing unit rotatably attached to the fuselage base;
an arithmetic control unit that controls the rotation speed of the rotor;
a motor that rotates the rotary processing unit;
a power adjustment mechanism that suppresses transmission of torque acting on the airframe base portion in a state of staying in the air by limiting the torque transmitted from the motor to the rotary processing portion;
The rotary processing part is a substantially bar-shaped member extending upward and forward from the body base part,
While limiting the torque transmitted to the rotary processing unit by the power adjustment mechanism, the target object is destroyed by rotating the rotary processing unit while pressing the tip side portion of the rotary processing unit against the target object. A flying device characterized in that it is removed by 2. The flight device according to claim 1 , wherein the rotary working portion is a drill. 3. The flight device according to claim 1 , wherein the arithmetic control unit operates the rotation processing unit with respect to the target object while remaining at one point in the air.

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