JP7330450B2 - Flying object and control method for flying object - Google Patents

Description

The present invention relates to a flying object and a control method for the flying object.

In recent years, attempts have been made to deliver packages L using flying vehicles (hereinafter collectively referred to as “flying vehicles”) such as drones and unmanned aerial vehicles (UAVs).

2. Description of the Related Art In various events such as sports and concerts, or surveys of building facilities such as buildings and condominiums, for example, aerial photography using a rotary wing aircraft called a drone or multicopter is sometimes performed. This type of rotary wing aircraft is being applied not only for aerial photography but also in fields such as transportation of cargo L.

Patent Document 1 discloses a rotorcraft having a plurality of rotor blades, a support section installed vertically downward from the center of the rotorcraft, a mounting section installed at the end of the support section vertically downward, A rotorcraft system for aerial photography, which consists of a mooring rope connected to the bottom of the mounting part, one end of the mooring rope is connected to the vertically lower end of the mounting part, and the other end of the mooring rope is anchored on the ground. disclosed.

U.S. Pat. No. 6,200,000 discloses a rotorcraft delivery system. In the above delivery system, the rotorcraft (drone) autonomously forms a shipping list for delivering the package L to be delivered to the home delivery destination.

JP 2013-79043 A US Patent Publication 2015-0120094 A1

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

ADVANTAGE OF THE INVENTION According to this invention, the new technique regarding the control method of a flying object and a flying object is obtained.

ADVANTAGE OF THE INVENTION According to this invention, the new technique regarding the control method of a flying object and a flying object can be provided.

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

In the following description, terms may be used differently according to the following definitions.
Forward/backward 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 Forward direction (forward): +X direction Backward direction (backward): -X Direction Upward direction (upward): +Z direction Downward direction (downward): -Z direction

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

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

The flight controller may have a programmable processor (e.g., central processing unit (CPU)) or the like, and may also have memory for storing logic code and program instructions that the flight controller is executable by. good.

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

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

<Power part>
Equipped with thrust generators and thrust controllers such as motors, ESCs (Electronic Speed Controllers) and propellers, it receives signals from a flight controller and a transceiver to achieve desired flight. A gasoline engine or the like may be used as the thrust generator in addition to the electric motor.

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

It should be noted that the shape of the wing can be changed (for example, stretched, folded, bent, etc.). The vanes may be symmetrical (having identical upper and lower surfaces) or asymmetrical (having differently shaped upper and lower surfaces).

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

A motor is what causes the rotation of the propeller, for example the drive unit may include an electric motor or an engine or the like. The vanes are drivable by a motor and rotate clockwise and/or counterclockwise about an axis of rotation of the motor (eg, a longitudinal axis of the motor).

The vanes can all rotate in the same direction or can rotate independently. Some of the vanes rotate in one direction and others rotate in the other direction. The blades can all rotate at the same speed, or they can each rotate at different speeds. The number of rotations can be determined automatically or manually based on the dimensions (eg, size, weight) and control conditions (speed, direction of movement, etc.) of the moving body.

Air vehicles have arms (frames) that support corresponding motors and propellers. The arm may be provided with a colored body such as an LED to indicate the flight status, flight direction, etc. of the aircraft. The arm according to this embodiment can be made of a material appropriately selected from carbon, stainless steel, aluminum, magnesium, etc., or alloys or combinations thereof.

The aircraft may have a mounting portion if necessary. The mounting portion is a mechanism for mounting and holding objects to be mounted (camera, luggage L holding portion, work tool, etc.). The mounting portion may be configured to always maintain the state in a predetermined direction (for example, horizontal direction (vertically downward)) so that the position and orientation of the mounted object can be maintained.

The mounting portion may be connected to the arm via a connection portion (gimbal: a connection portion that can be displaced within a predetermined range). In this case, the mounting object is configured to bend in accordance with the inclination of the aircraft with the connection portion as a fulcrum. According to such a configuration, the arm portion and the mounting portion of the aircraft are connected via the connection portion so as to be independently displaceable. The displacement angle is not particularly limited. For example, it is sufficient if the position and direction of the mounted object can be kept horizontal even when the flying object flies in a forward tilting posture. As a result, the object to be mounted is always held in a vertically downwardly suspended state, and can be delivered to the destination while maintaining the position and state at the departure 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 (one-axis gimbal). However, it may also be movable in the horizontal direction (two-axis gimbal).

Note that the connecting portion may be controlled by a motor or the like. This further prevents the mounted object from wobbling (natural vibration, etc.) during flight.

The shape and mechanism of the mounting part are not particularly limited as long as they can accommodate and hold the object to be mounted. can be anything. In addition, the mounting part includes sensors for obtaining visual information such as a camera, various sensors for detecting the standby state such as wind power, information transmission devices such as speakers and monitors, and some kind of work such as grasping and cutting objects. A working unit may be provided for performing the

<Transmitting/receiving part>
It has arbitrary communication means such as wired communication or wireless communication with other flying objects or pilots, and can transmit and receive arbitrary information to the control unit, power unit, etc.

<Power source>
Equipped with an energy source such as a battery. Not limited to electrical energy, chemical energy such as gasoline and energy conversion modules may be provided. Further, for example, a power storage module based on contactless power supply such as wireless power transmission may be provided.

<Other sensors/operation parts>
They may have sensors and operating mechanisms provided for purposes not directly involved in realizing flight, such as aerial photography and radio relay. Examples include a camera sensor, a temperature sensor, a gimbal mechanism, and an object drop mechanism, but are not limited to these depending on the mission of the aircraft.

The configuration described above can be employed in all or part of the embodiments described below. Also, since the present application covers a number of embodiments, the same reference numerals may be used for different features in different embodiments. In this case, please refer to each embodiment and each figure referred to in this embodiment. In addition, each embodiment can appropriately combine a part of its elements as long as the purpose is not inconsistent.

(First embodiment)
As shown in FIGS. 2 to 4, the arm section and the loading section of the aircraft according to this embodiment are configured to be independently displaceable at least in the horizontal and vertical directions. More specifically, as shown in FIG. 4, the flying object includes a flying section including a plurality of (for example, four) rotor blades, a motor that rotates the rotor blades, and a frame that supports the motor. and a mounting portion located in the center of the portion. The frame has a central rectangular portion with an enclosed space inside. The mounting portion resides at least partially within 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 and roll directions, respectively. The mounting section has a rail section on which the mounted object can be moved.

As shown in FIG. 2, the method of moving the cargo L mounted on the loading section between the first flying body (lower flying body) and the second flying body (upper flying body) is as follows. done. First, the first flying object is positioned below the second flying object.

At this time, the relative positions (velocities) of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software. In the drawing, the flying part is shown tilted because the cargo L is delivered while moving leftward, but in the stationary state, the flying part is parallel to the horizontal direction.

Subsequently, the load L on the loading portion of the first flying object is pulled up to the loading portion on the second flying object (see FIG. 2). This completes the movement of the load L from the first flying object to the second flying object.

(Another moving method of this embodiment)
Another movement method according to this embodiment is performed as follows. First, the first flying object is positioned above the second flying object (not shown).

At this time, the relative positions (velocities) of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the cargo L in the loading section of the first flying vehicle is pulled down to the loading section of the second flying vehicle. This completes the movement of the load L from the first flying object to the second flying object.

(Second embodiment)
The mounted object replacement method according to the present embodiment transfers the mounted object of the first flying object to the second flying object. Since the configuration of each flying object is the same as that of the first embodiment, the description is omitted.

The moving method is performed as follows, similarly to the first embodiment. First, the first flying object is positioned below the second flying object.

At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software.

As shown in FIGS. 6-8, in the locked condition, each of the rotation ranges of the propellers (wake generating elements) of the first vehicle are at least partially aligned with the propellers of the second vehicle. Maintained as non-overlapping. As a result, at least the wake region B2 of the upper second flying object does not overlap with the wake region B1 of the lower flying object.

Subsequently, the load L on the loading portion of the first flying object is lifted onto the loading portion of the second flying object. This completes the movement of the load L from the first flying object to the second flying object.

In this embodiment, when the positions of the first flying body and the second flying body are relatively locked, their horizontal orientations are shifted from each other by approximately 45 degrees. This makes it possible to minimize turbulence in the propeller wake.

(Third Embodiment)
As shown in FIG. 5, at the time of takeoff (initial state), the aircraft takes off in a state where the first aircraft (parent aircraft) and the second aircraft (child aircraft) are stacked (stacked state). .

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

During flight, the battery of the parent device may be prioritized for power consumption. As a result, the child device can start working with a full charge at the time of disconnection.

The child device can be separated (detached) from the parent device and coupled (docked) to another parent device (second parent device).

In the following, the states during takeoff and during flight will be described separately for two patterns.
Let A be the parent device (which stacks the child devices), and B be the child device (hold luggage L). In the following, "A" represents the master unit, "B" represents the slave unit, and the suffix numbers are for individual units.
<Pattern 1>
Takeoff A1+B1 (stuck state)
In flight B1 (separated from A1)
At the time of takeoff, the parent device A1 and the child device B1 fly in a coupled state. In the sky, the child device B1 separates from the parent device A1 (see FIG. 5(b)).
<Pattern 2>
Takeoff A1+B1 (stuck state)
In flight B1 (separated from A1)
Distance extension 1 B1+A2 (coupled to other base unit A2)
Base unit 2 separation B1 (separated from A2)
Distance extension 2 B1+A3 (further combined with other base unit A3)
Base unit 2 separation B1 (separated from A3)
As shown in FIG. 5(c), at the time of takeoff, the parent device A1 and the child device B1 fly in a coupled state (takeoff 1). After flying for a predetermined time in the sky, the child device B1 separates from the parent device A1 (separation 2). Child device B1 is connected to another parent device A2 (connection 3). The process up to this point is the same as pattern 2 shown in FIG. When the flight distance is further extended while the parent device A2 and the child device B1 are coupled, the child device B1 separates from the parent device A2 (separation 5). In the coupled state, the propeller of only the parent device (or the propeller of the child device as well) may be rotated only by the power source (battery) of the parent device. Alternatively, the state of the battery of the child device may be detected and, accordingly, the battery of the parent device may be charged to the battery of the child device.

By loading the parcel L on the slave unit and guiding a new master unit when the remaining battery level is low, long-distance home delivery, which is impossible by itself, becomes possible.

<Configuration according to the present embodiment>
A flying object comprising a first flying object and a second flying object connectable to and detachable from the first flying object,
A flying object configured to be able to leave the second flying object in the air.

(Fourth embodiment)

In the fourth embodiment, the motive power of the aircraft in the third embodiment is changed from the electric power source such as the motor to an internal combustion engine. At the time of takeoff (initial state), the aircraft takes off in a state where the first aircraft (parent aircraft) and the second aircraft (child aircraft) are stacked (stacked state) (airframe structure example: Figs. 8).

The power source of the parent machine 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 parent device to consume power. As a result, the child device can start working with a full charge at the time of disconnection.

The child device can be detached from the parent device and docked with another parent device (second parent device).

The conditions during takeoff and flight will be described below.
Let A be the parent device (which stacks the child devices), and B be the child device (hold luggage L).
<Pattern 1>
Takeoff A1+B1 (stuck state)
In flight B1 (separated from A1)
<Pattern 2>
Takeoff A1+B1 (stuck state)
In flight B1 (separated from A1)
Distance extension 1 B1+A2
Base unit 2 separation B1 (separated from A2)
Distance extension 2 B1+A3
Base unit 2 separation B1 (separated from A3)

By loading the parcel L on the slave unit and guiding a new master unit when the remaining battery level is low, long-distance home delivery, which is impossible by itself, becomes possible.

<Configuration according to the present embodiment>
A flying object comprising a first flying object powered by an internal combustion engine and a second flying object connectable to and detachable from the first flying object,
A flying object configured to be able to leave the second flying object in the air.

(Fifth embodiment)

In the fifth embodiment, the aircraft in the third embodiment is changed from the rotary wing aircraft to a fixed wing aircraft. At the time of takeoff (initial state), the aircraft takes off in a state where the first aircraft (parent aircraft) and the second aircraft (child aircraft) are stacked (stacked state).

The parent aircraft is a fixed-wing aircraft. That is, the main wing is fixed to the fuselage, and the fuselage 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 parent device to consume power. As a result, the child device can start working with a full charge at the time of disconnection.

The child device can be detached from the parent device and docked with another parent device (second parent device).

The conditions during takeoff and flight will be described below.
Let A be the parent device (which stacks the child devices), and B be the child device (hold luggage L).
<Pattern 1>
Takeoff A1+B1 (stuck state)
In flight B1 (separated from A1)
<Pattern 2>
Takeoff A1+B1 (stuck state)
In flight B1 (separated from A1)
Distance extension 1 B1+A2
Base unit 2 separation B1 (separated from A2)
Distance extension 2 B1+A3
Base unit 2 separation B1 (separated from A3)

By loading the parcel L on the slave unit and guiding a new master unit when the remaining battery level is low, long-distance home delivery, which is impossible by itself, becomes possible. In addition, since the parent machine has fixed wings, it is possible to deliver the parcel L to a longer distance.

<Configuration according to the present embodiment>
A flying object comprising a first flying object having fixed wings and a second flying object connectable to and detachable from the first flying object,
A flying object configured to be able to leave the second flying object in the air.

(Sixth embodiment)

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

The movement method is performed as follows. First, the first flying object is positioned below the second flying object.

At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the load L on the loading portion of the first flying object is lifted onto the loading portion of the second flying object. This completes the movement of the load L from the first flying object to the second flying object.

As shown in FIGS. 9 and 10, the first flying object can change the distance between the motors (motor span) in the sky. That is, the length (from the center) of the motor arm is made variable (or, from the beginning, the first flying object and the second flying object have different lengths). As a result, the propellers of the first flying body and the second flying body do not overlap when viewed from the vertical direction, so flight efficiency can be improved.

The motor span may be variable for the first aircraft only, the second aircraft only, or both the first aircraft and the second aircraft.

(Modification)
A moving method according to a modification of the present invention is performed as follows. First, the first flying object is positioned above the second flying object.

At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the cargo L in the loading section of the first flying vehicle is pulled down to the loading section of the second flying vehicle. This completes the movement of the load L from the first flying object to the second flying object.

<Configuration according to the present embodiment>
A method for moving a load L between flying objects using a first flying object and a second flying object in the air, comprising:
Each of the first flying body and the second flying body includes a plurality of rotor blades, a power section for rotating each of the rotor wings, an arm section for supporting the power section, and a load for loading the cargo L. and
a standby step in which the first flying object is positioned below the second flying object;
a locking step of locking the relative positions of the first and second aircraft;
a retrofitting step of pulling up the load L on the loading section of the first flying body to the loading section of the second flying body;
At least one of the first flying body and/or the second flying body is arranged such that the first flying body, when viewed vertically at least in the fixing step, is displaced by a distance of the plurality of power units relative to each other. The rotor blade and the rotor blade of the second aircraft are configured so as not to overlap,
Method for moving cargo L between flying bodies.

(Seventh embodiment)

As shown in FIGS. 11 to 13, the flying object 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 and vertical directions. It is

The movement method is performed as follows. First, the first flying object 1 is positioned below the second flying object'.

At this time, the relative positions of the first flying object 1 and the second flying object' are locked (locked state). As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the load L on the loading portion of the first flying object is lifted onto the loading portion of the second flying object. This completes the movement of the load L from the first flying object to the second flying object.

As shown in FIG. 11, the upper second flying body is designed to change the wake generating direction of the rotor blades by changing 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 flying body do not overlap the region on which the wake generated from the rotor blades of the second flying body acts.

Thus, according to the present invention, when viewed from the vertical direction, the propeller of the first aircraft does not overlap with the wake region of the second aircraft, so flight efficiency can be improved.

The bending angle may displace only the first flight body, only the second flight body, or both the first flight body and the second flight body.
(Modification)
A moving method according to a modification of the present invention is performed as follows. First, the first flying object is positioned above the second flying object.

At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the cargo L in the loading section of the first flying vehicle is pulled down to the loading section of the second flying vehicle. This completes the movement of the load L from the first flying object to the second flying object.

<Configuration according to the present embodiment>
A method for moving a load L between flying objects using a first flying object and a second flying object in the air, comprising:
Each of the first flying object and the second flying object includes a plurality of rotor blades, a power section for rotating each of the rotor blades, an arm section for supporting the power section, and a load for loading the cargo L. and
a standby step in which the first flying object is positioned below the second flying object;
a locking step of locking the relative positions of the first and second aircraft;
a retrofitting step of pulling up the load L on the loading section of the first flying body to the loading section of the second flying body;
At least one of the first flying body and the second flying body changes the wake generation direction of the rotor blades so that the wake generated from the rotor blades of the first flying body at least in the fixed step. configured so that the rotor blades of the second flying body do not overlap the region where the flow acts,
A method of moving a load L between flying bodies.

(Eighth embodiment)
As shown in FIGS. 14 to 16, the arm portion of the aircraft according to this embodiment is configured to be independently displaceable at least in the horizontal and vertical directions. Also, the length of the motor arm of the flying vehicle is variable.

The movement method is performed as follows. First, the first flying object is positioned below the second flying object.

At this time, the relative positions of the first flying object and the second flying object are locked (locked state). As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the load L on the loading portion of the first flying object is lifted onto the loading portion of the second flying object. This completes the movement of the load L from the first flying object to the second flying object.

As shown in FIG. 2, the first flying object can change the distance between the motors (motor span: length of motor arm) in the sky. As a result, the propellers of the first flying body and the second flying body do not overlap when viewed from the vertical direction, so flight efficiency can be improved.

Furthermore, in the sky, the first flying object is designed to change the wake generation direction of the rotor blades by changing the angle of the arm.

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

Thus, according to the present invention, the propellers of the first flying body and the second flying body do not overlap when viewed from the vertical direction, so flight efficiency can be improved.

The motor span may be variable for the first aircraft only, the second aircraft only, or both the first aircraft and the second aircraft.

(Modification)
A moving method according to a modification of the present invention is performed as follows. First, the first flying object is positioned above the second flying object.

At this time, the relative positions of the first flying object and the second flying object are locked. As a locking method, a physical method may be used, or mutual positions may be locked by software.

Subsequently, the cargo L in the loading section of the first flying vehicle is pulled down to the loading section of the second flying vehicle. This completes the movement of the load L from the first flying object to the second flying object.

<Configuration according to the present embodiment>
A method for moving a load L between flying objects using a first flying object and a second flying object in the air, comprising:
Each of the first flying object and the second flying object includes a plurality of rotor blades, a power section for rotating each of the rotor blades, an arm section for supporting the power section, and a load for loading the cargo L. and
a standby step in which the first flying object is positioned below the second flying object;
a locking step of locking the relative positions of the first and second aircraft;
a retrofitting step of pulling up the load L on the loading section of the first flying body to the loading section of the second flying body;
At least one of the first aircraft or the second aircraft:
At least one of the first flying body and/or the second flying body is arranged such that the first flying body, when viewed vertically at least in the fixing step, is displaced by a distance of the plurality of power units relative to each other. configured so that the rotor blades and the rotor blades of the second aircraft do not overlap, and
By changing the wake generation direction of the rotor blades, the rotor blades of the second flying body do not overlap with the region where the wake generated from the rotor blades of the first flying body acts at least in the fixing step. configured as
A method of moving a load L between flying bodies.

(Ninth embodiment)

The flying object according to the present embodiment is a multicopter composed of a parent machine and a child machine equipped with propellers of different pitches.

The aircraft is intended to reach maximum altitude with a fixed-pitch propeller.

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

From takeoff to a certain height, the rotor blades of both aircraft are used to climb. Detach the slave unit when it reaches a high altitude. The handset starts its activity in a fully charged state, and with a propeller with a deeper pitch than usual, it climbs further to an altitude that cannot be reached by a normal multicopter.

It can also be applied to industrial drones.

Security multi-copter can shorten the time to reach a certain altitude in a few seconds after takeoff and extend the operating time.

It can also be used for military purposes, and the parent machine has a so-called mothership function.

<Configuration according to the present embodiment>
A compound aircraft comprising a first rotorcraft and a second rotorcraft connectable to and detachable from the first rotorcraft,
The inclination angle of the propeller of the rotor blade of the first rotorcraft and the inclination angle of the propeller of the rotor blade of the second rotorcraft are different from each other,
compound aircraft.

(Tenth embodiment)
The flying object according to the present embodiment is a multicopter composed of a parent machine and a child machine equipped with propellers of different pitches.

The aircraft is intended to reach maximum altitude with a fixed-pitch propeller.

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

Further, the propeller of the handset according to the present embodiment has a variable pitch, and the tilt angle can be changed.

Furthermore, the propeller may be a contra-rotating rotor (twin rotor) to further improve flight efficiency.

From takeoff to a certain height, the rotor blades of both aircraft are used to climb. Detach the slave unit when it reaches a high altitude. The handset starts its activity in a fully charged state, and with a propeller with a deeper pitch than usual, it climbs further to an altitude that cannot be reached by a normal multicopter.

It can also be applied to industrial drones.

Security multi-copter can shorten the time to reach a certain altitude in a few seconds after takeoff and extend the operating time.

It can also be used for military purposes, and the parent machine has a so-called mothership function.

<Configuration according to the present embodiment>
A compound aircraft comprising a first rotorcraft and a second rotorcraft connectable to and detachable from the first rotorcraft,
an inclination angle of the propeller of the rotor blade of the first rotorcraft and an inclination angle of the propeller of the rotor blade of the second rotorcraft are different from each other;
the angle of inclination of the second rotorcraft is variable;
compound aircraft.

(Eleventh embodiment)
As shown in FIGS. 17 to 19, the arm portion according to the present embodiment has a waterdrop-shaped cross section (which is also called a teardrop shape or a teardrop shape). The rounded tip points upward (vertically) and the trailing edge, which is the edge, points downward.

The arm portion is often present in the wake region of the propeller, and if the cross-section is square or circular, it interferes with the wake flow. Aerodynamic resistance can be reduced by making the cross-sectional shape of the arm portion the above-described shape. According to this, it is possible to optimize the aerodynamics without hindering the wake generated by the motor, so the flight efficiency is improved.

<Configuration according to the present embodiment>
A rotary wing aircraft having a power section and an arm section that supports the power section,
The arm portion has a waterdrop-shaped cross section,
The rounded portion of the water drop faces upward and the edge of the water drop faces downward.
rotorcraft.

(Twelfth embodiment)
As shown in FIGS. 20 to 22, the arm portion according to the present embodiment has a waterdrop-shaped cross section (which is also called a teardrop shape or teardrop shape). The rounded tip points forward and the trailing edge, which is the edge, points backward.

According to such a configuration, the arm portion can further reduce air resistance when tilted forward. As for the shape of the arm portion, an appropriate angle of attack θ is set according to the position of the arm portion, the forward inclination angle of the rotorcraft during forward movement, 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 imaginary straight line connecting the front end and the rear end is in a predetermined direction according to the forward angle of the aircraft (see FIG. 22).

According to such a configuration, the wake generated by the motor does not interfere with the aerodynamic force when the rotorcraft is tilted forward, and thus the flight efficiency is improved.

<Configuration according to the present embodiment>
A rotary wing aircraft having a power section and an arm section that supports the power section,
The arm portion has a waterdrop-shaped cross section,
the rounded portion of the water drop faces forward and the edge of the water drop faces rearward;
rotorcraft.

(Thirteenth Embodiment)
As shown in FIGS. 23 to 25, the arm portion according to the present embodiment has a waterdrop-shaped cross section (which is also called a teardrop shape or a teardrop shape). The arm part consists of a first part with a waterdrop-shaped rounded part facing upward and a waterdrop-shaped edge facing downward, and a waterdrop-shaped rounded part with a waterdrop-shaped rounded part facing forward. The edge has a rearward facing second portion.

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

The second portion is located outside the region where the propeller wake occurs. As for the shape of the arm portion, an appropriate angle of attack is set according to the position of the arm portion, the forward inclination angle of the rotorcraft during forward movement, and the like. That is, when the aircraft is moving horizontally (that is, when the aircraft is leaning 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 further reduce air resistance when tilted forward.

According to such a configuration, the wake generated by the motor does not hinder, and the aerodynamic force can be optimized when the rotorcraft is in a forward-leaning posture, resulting in an increase in flight efficiency.

<Configuration according to the present embodiment>
A rotary wing aircraft having a power section and an arm section that supports the power section,
A cross section of the arm portion has a waterdrop shape,
The arm portion includes a first portion in which the waterdrop-shaped rounded portion faces upward and the waterdrop-shaped edge faces downward, and a first portion in which the waterdrop-shaped rounded portion faces forward. the cage edge has a rearwardly facing second portion;
rotorcraft.

(14th embodiment)
As shown in FIGS. 26 to 28, the motor pipe according to this embodiment is a motor pipe optimized for generating rising air currents.

It is possible to reduce the upward projection area and improve the updraft resistance. When viewed from above, it is a Y-shaped pipe.

(15th embodiment)
As shown in FIGS. 29 to 31, the motor pipe according to the present embodiment is a motor pipe that has both countermeasures against rising air currents and improved fuel efficiency.

It is possible to reduce the upward projection area and improve the updraft resistance. A positive drop type pipe can be applied to the position where a strong propeller wake is generated. Inverted water drop type pipes can be applied to the parts where the propeller wake does not occur.

(16th embodiment)
As shown in FIGS. 32 to 35, the arm portion according to the present embodiment has a space in the center for mounting the arm in the cross section, and the overall shape is a water drop shape (drop shape, teardrop shape, etc.). There is a way to call it). The attachment is attached so as to sandwich the arm. The attachment and the arm together have a waterdrop shape when attached (see FIG. 32). At this time, as a whole, the rounded portion of the water drop faces upward and the edge of the water drop faces downward.

By attaching the attachment to the existing airframe in this way, aerodynamics can be optimized after the fact.

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

According to such a configuration, the wake generated by the motor does not hinder, and the aerodynamic force can be optimized when the rotorcraft is in a forward-leaning posture, resulting in an increase in flight efficiency.

<Configuration according to the present embodiment>
An attachment for an arm of a rotorcraft, comprising:
An arm attachment having a water drop shape formed by integrating an arm of a rotary wing aircraft with the arm attachment when the arm is sandwiched between the arm and the arm attachment.

(17th embodiment)
The rotorcraft according to this embodiment obtains the direction the camera is facing and the date and time by GPS.

The retrograde processing unit changes the photographing parameters of the camera unit to the retrograde mode when determining that the camera unit is directed toward the light source such as the sun.

<Configuration according to the present embodiment>
A rotorcraft having a camera unit,
Further comprising a retrograde processing unit that changes shooting parameters to a retrograde mode when the camera unit is directed toward the light source,
rotorcraft.

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

The detection unit detects the azimuth information and the shadow of the aircraft on the sun, and calculates the current time.

(Nineteenth embodiment)
A rotorcraft according to the present embodiment is a flight method for a rotorcraft having a plurality of rotors and a control section for controlling the operation of the rotors.

The control unit executes the steps of detecting that an abnormality has occurred in one of the rotors, and controlling the attitude of the rotorcraft so that the rotor with the abnormality is oriented in the direction of travel.

As a result, the rotor in which the abnormality has occurred is positioned in the direction where the load is light, so the danger of falling can be prevented.

<Configuration according to the present embodiment>
A flight method for a rotorcraft having a plurality of rotors and a control unit for controlling the operation of the rotors, comprising:
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
a step of controlling the attitude of the rotorcraft so that the rotor with the abnormality is oriented in the direction of travel;
run the
How to fly a rotorcraft.

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

A rotary wing aircraft has a plurality of rotors, an arm provided with the rotor, a body section connected to the arm so as to be displaceable independently, and a control section for controlling the operation of the rotor. is the flight method of

The control unit executes the steps of detecting that an abnormality has occurred in one of the rotors, and controlling the attitude of the rotorcraft so that the rotor in which the abnormality has occurred is positioned forward in the direction of travel. .

As a result, the rotor in which the abnormality has occurred is positioned in the direction where the load is light, so the danger of falling can be prevented.

In addition, by making the position of the rotor variable, it is possible to safely control even when one system of the rotor is 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 section for varying the position of the rotor on the arm.

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

As a result, the rotor with the abnormality is positioned in the direction of the least load, thus preventing the risk of a crash.

<Configuration 1 according to the present embodiment>
A flight method for a rotary wing aircraft comprising a plurality of rotors, an arm provided with the rotors, a body section connected to the arms so as to be displaceable independently, and a control section for controlling the operation of the rotors. hand,
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
a step of controlling the attitude of the rotorcraft so that the rotor with the abnormality is oriented in the direction of travel;
run the
How to fly a rotorcraft.

<Configuration 2 according to the present embodiment>
A flight method for a rotary wing aircraft having a plurality of rotors, an arm provided with the rotors, and a control unit for varying the position of the rotors on the arm,
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
a step of controlling the attitude of the rotorcraft by adjusting the positions of the rotors other than the rotor in which the abnormality has occurred;
run the
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 system of the rotor 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 provided with the rotors, and a flap portion. The flap portion may be movably attached to the propeller, or may be provided at a location 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 resistance using the flap unit.

As a result, the rotor with the abnormality is positioned in the direction of the least load, thus preventing the risk of a crash.

<Configuration according to the present embodiment>
A flight method for a rotorcraft having a plurality of rotors, an arm provided with the rotors, and a flap portion,
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
using the flaps to control the attitude of the rotorcraft;
run the
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 system of the rotor is down.

A rotorcraft is a flight method for a rotorcraft having a plurality of rotors, an arm section provided with the rotors, and a tilt section attached to the arm section for tilting the rotor.

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

As a result, the rotor in which the abnormality has occurred is positioned in the direction where the load is light, so the danger of falling can be prevented.

<Configuration according to the present embodiment>
A flight method for a rotorcraft having a plurality of rotors, an arm section provided with the rotors, and a tilt section attached to the arm section for tilting the rotor,
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
controlling the attitude of the rotorcraft by tilting the rotor using the tilt section;
run the
How to fly a rotorcraft.

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

A rotorcraft is a flight method for a rotorcraft having a plurality of rotors, an arm section provided with the rotors, and a tilt section for tilting the arm section.

The control unit detects that an abnormality has occurred in one of the rotors, and controls 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 positioned in the direction where the load is light, so the danger of falling can be prevented.

<Configuration according to the present embodiment>
A flight method for a rotary wing aircraft having a plurality of rotors, an arm section provided with the rotors, and a tilt section for tilting the arm section,
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
a step of controlling the attitude of the rotorcraft by tilting the rotor together with the arm using the tilt section;
run the
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 system of the rotor is down.

A rotary wing aircraft is a flight method of a rotary wing aircraft having a plurality of rotors having variable pitch propeller sections, an arm provided with the rotors, and a control section for controlling the operation of the rotors.

The control unit performs the steps of detecting that an abnormality has occurred in any of the rotors, and controlling the rotation direction of at least a portion of the rotors.

As a result, the rotor in which the abnormality has occurred is positioned in the direction where the load is light, so the danger of falling can be prevented.

<Configuration according to the present embodiment>
A flight method for a rotary wing aircraft having a plurality of rotors having variable pitch propeller sections, an arm provided with the rotors, and a control section for controlling the operation of the rotors,
The control unit
a step of detecting that an abnormality has occurred in one of the rotors;
maintaining the attitude of the rotorcraft by controlling the direction of rotation of at least a portion of the rotor;
run the
How to fly a rotorcraft.

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

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

However, when mounted on a drone, there are cases where the combination of different angles of view can bring about benefits that make use of the difference.

<Configuration according to the present embodiment>
An aircraft equipped with a plurality of camera units having different angles of view.

(26th embodiment)
A stitching method for image data obtained from a flying vehicle having a first camera section, a second camera section, and an arm section for supporting them.

The first camera section is provided above the second camera section in the vertical direction. The first image data and the second image data are connected such that the area of the first image data photographed by the first camera section is larger than the area of the second image data photographed by the second camera section. do.

Existing software does not have the concept of setting the range of use for each material, but controls the material range of the lower camera to make effective use of it.

<Configuration according to the present embodiment>
An image processing method for image data acquired from a flying vehicle comprising a first camera section, a second camera section, and an arm section for supporting them,
The first camera section is provided above the second camera section in the vertical direction,
The first image data and the second image data are arranged so that the area of the first image data photographed by the first camera section is larger than the area of the second image data photographed by the second camera section. concatenate the
Image processing method.

(27th embodiment)
As shown in FIGS. 36 to 39, the aircraft includes a plurality of camera units and arm units that support the camera units. The arm supports a plurality of camera units so that they are positioned on the phantom spherical surface.

In a conventional multicopter, photography is often performed with two upper and lower camera sets.

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

The cameras are arranged on a sphere, but need not be evenly spaced.

<Configuration according to the present embodiment>
An aircraft comprising a plurality of camera units and an arm unit supporting the camera units,
The arm section supports the plurality of camera sections so that they are positioned on a phantom spherical surface.

(28th embodiment)
As shown in FIG. 2, it is a flight method of an aircraft having a motor unit. The method includes obtaining a log containing information about vibrations of the vehicle during hovering and prompting the user to replace the motor unit if vibration exceeds a certain level.

<Configuration according to the present embodiment>
An aircraft comprising a motor unit,
obtaining a log containing information about vibrations of the vehicle during hovering;
Prompting the user to replace the motor unit when the vibration exceeds a certain level,
warning method.

The above-described warning method, further comprising the step of forcibly stopping flight when the vibration exceeds a certain level for a certain period of time or when the vibration becomes strong.

(29th embodiment)
A method for comparing flight controller and tachometer logs to alert a user of a rotorcraft having multiple flight controllers comprising:
A warning method that compares each log and prompts replacement of flight controllers that are thought to be defective.

<Configuration according to the present embodiment>
A method for comparing flight controller and tachometer logs to alert a user of a rotorcraft having multiple flight controllers comprising:
A warning method that compares each log and prompts replacement of flight controllers that are thought to be defective.

(Thirtieth Embodiment)
This is a warning method that compares the logs of the flight controller and tachometer and prompts replacement of ESCs that are thought to be defective.

<Configuration according to the present embodiment>
A warning method that compares the logs of the flight controller and the tachometer and prompts replacement of an ESC that is thought to be defective.

(31st embodiment)
Frequent use of the straight posture concentrates the load on a specific motor. Concentration of wear and tear on specific motors and motor controllers occurs during operation.
From the point of view of dispersing here, the concept of the position of "before" is periodically exchanged.
Basically, it assumes autonomous flight.

<Configuration according to the present embodiment>
a propeller, a motor that rotates the propeller, an arm that supports the motor, and a detector that detects at least the state of the motor; A control method for a rotorcraft that moves in a direction,
changing a moving direction of the rotorcraft to a second horizontal direction different from the first horizontal direction in response to the forward operation by the operator, based on the state detected by the detection unit. control method.

(32nd embodiment)
Frequent use of the straight posture concentrates the load on a specific motor. Concentration of wear and tear on specific motors and motor controllers occurs during operation. From the point of view of dispersing here, the concept of the position of "before" is periodically exchanged. Basically, it assumes autonomous flight.

A rotorcraft includes a propeller, a motor that rotates the propeller, an arm that supports the motor, and a detector that detects at least the state of the motor. At least the forward or backward directional display in the first horizontal direction of the rotorcraft is displayed in a first pattern in response to forward operation by the operator.

When the load is concentrated on the motor by the detection unit, the load distribution operation is activated. At this time, the moving direction of the rotorcraft according to the forward operation from the operator is changed to the second horizontal direction different from the first horizontal direction, and at least the forward or backward direction indication display in the second horizontal direction is displayed as the second horizontal direction. 2 patterns are displayed.

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

<Configuration according to the present embodiment>
A propeller, a motor that rotates the propeller, an arm that supports the motor, and a detector that detects at least the state of the motor. A control method for a rotary wing aircraft for displaying at least a forward or backward directional display of a direction in a first pattern, comprising:
changing the movement direction of the rotorcraft in accordance with the forward operation by the operator to a second horizontal direction different from the first horizontal direction, based on the state detected by the detection unit; A method for controlling a rotary wing aircraft, wherein at least the forward or backward directional indication in two horizontal directions is displayed in a second pattern.

(33rd embodiment)
Frequent use of the straight posture concentrates the load on a specific motor. Concentration of wear and tear on specific motors and motor controllers occurs during operation. From the point of view of dispersing here, the concept of the position of "before" is periodically exchanged. Basically, it assumes autonomous flight.

A rotorcraft includes a propeller, a motor that rotates the propeller, an arm that supports the motor, and a detector that detects at least the state of the motor. At least the forward or backward directional display in the first horizontal direction of the rotorcraft is displayed in a first pattern in response to forward operation by the operator.

When the load is concentrated on the motor by the detection unit, the load distribution operation is activated. At this time, the moving direction of the rotorcraft according to the forward operation from the operator is changed to the second horizontal direction different from the first horizontal direction, and at least the forward or backward direction indication display in the second horizontal direction is displayed as the second horizontal direction. 2 patterns are displayed.

Specifically, automatic switching of the traveling direction display LED of the aircraft is performed. When the load balancing operation occurs, it flies while changing the color of the LED. It also rotates the equipment mount, including changing the color of the LEDs and skidding.

<Configuration according to the present embodiment>
A propeller, a motor that rotates the propeller, an arm that supports the motor, and a detector that detects at least the state of the motor. A control method for a rotary wing aircraft for displaying at least a forward or backward directional display of a direction in a first pattern, comprising:
changing the movement direction of the rotorcraft in accordance with the forward operation by the operator to a second horizontal direction different from the first horizontal direction, based on the state detected by the detection unit; A method for controlling a rotary wing aircraft, wherein at least the forward or backward directional indication in two horizontal directions is displayed in a second pattern.

(34th embodiment)
As shown in FIGS. 40 to 42, the rotary wing aircraft includes a connection section that connects the mounting section to the arm section while the mounting section is movable within a predetermined range. The position of the connection part is above the center of gravity of the arm, but it may be below the center of gravity, substantially coincident with the center of gravity, or coincident with the center of gravity, depending on the application. Furthermore, 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, depending on the application. Ideally, the connection portion is preferably provided at a location that coincides or substantially coincides with both the center of gravity of the entire arm portion and the center of gravity of the mounting portion.

The rotorcraft further comprises a hook portion coupled to the mounting portion for hanging the rotorcraft.

It was difficult to suspend the conventional suspended rotorcraft from overhead wires depending on the direction of the wind. In other words, the situation is such that the wind becomes strong and takeoff becomes impossible. In this proposal, for example, the corresponding arm portion and the mounting portion can be independently displaced by displacing against a crosswind or the like, so that the hook portion of the mounting portion can always be maintained in the vertical direction.

<Configuration according to the present embodiment>
a plurality of rotor blades;
an arm portion that supports the plurality of rotor blades;
a mounting portion for mounting an object;
a connecting portion that connects the mounting portion to the arm portion in a state in which the mounting portion is movable within a predetermined range;
the position of the connection portion substantially coincides with the center of gravity of the arm portion and the center of gravity of the mounting portion, respectively;
a rotorcraft,
The mounting portion further comprises a hook portion,
rotorcraft.

(35th embodiment)
As shown in FIGS. 43 to 45, the rotorcraft according to this embodiment includes a plurality of rotor blades, an arm portion for supporting the plurality of rotor blades, and a detachable observation device ( mounting part).

It is not a rotorcraft that ``hangs a drone on a wire,'' but rather ``hangs only observation equipment on a wire, and the drone (flying part) serves as a transporter'' (see Fig. 43).

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

In addition, it is assumed that countless observation cameras will be installed immediately after the tsunami occurs. When large-scale tsunami damage occurs,
Because the terrain changes so much, pre-prepared data often doesn't work.
The purpose is to collect information under such an environment. It is also possible to use the observation equipment as a temporary mobile base station.

<Configuration according to the present embodiment>
A rotorcraft comprising a flight section and an observation section,
The observation unit is detachable from the rotorcraft, and has a hook for hanging the observation unit.
rotorcraft.

(36th embodiment)
As shown in FIGS. 46 to 48, the rotorcraft according to this embodiment includes a flight section and an observation section. The observation section is detachable from the rotorcraft and has a self-supporting section for allowing the observation section to stand on its own.

It is not a rotorcraft that ``hangs the drone on a wire'', but ``only the observation equipment is made to stand on the ground, and the drone (flying part) becomes a transport machine'' (see Fig. 46).

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

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

<Configuration according to the present embodiment>
A rotorcraft comprising a flight section and an observation section,
The observation unit is configured to be detachable from the rotorcraft, and has a self-standing portion for allowing the observation unit to stand on its own.
rotorcraft.

(37th embodiment)
As shown in FIGS. 49 to 51, the rotorcraft according to this embodiment includes a flying section and a pile driving section. The pile driving section is configured to be detachable from the rotorcraft, and the pile driving section has a pile.

The drone (flying part) also functions as a mobile piling device.

The stake is an I-type device consisting of a battery, observation equipment, etc., and performs a desired function at the destination.

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

<Configuration according to the present embodiment>
A rotary wing aircraft comprising a flying section and a piling section,
The pile driving unit has a pile configured to be detachable from the rotorcraft,
rotorcraft.

(38th embodiment)
As shown in Figures 52 to 54, the rotorcraft comprises a flight section and an observation section. The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that holds the observation section. The observation section includes an observation device and a magnet section for fixing the observation device to a ceiling or a wall.

When the rotorcraft arrives at the destination, the magnet part is attracted to the ceiling or the wall, and the position is fixed (hangs).

A two-axis gimbal is provided in the magnet portion. This allows the rotorcraft to be fixed on any ceiling angle.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A rotorcraft comprising a flight section and an observation section,
The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that detachably holds the observation section,
The observation unit comprises an observation device and a magnet unit for fixing the observation device to the ceiling or wall,
rotorcraft.

(39th embodiment)
As shown in Figures 55 to 57, the rotorcraft comprises a flight section and an observation section. The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that holds the observation section. The observation unit is detachably attached to the rotorcraft. It has an observation device and a magnet section for fixing the observation device to the ceiling or wall.

When the rotorcraft arrives at the destination, the magnet part is attracted to the ceiling or the wall, and the position is fixed (hangs).

A two-axis gimbal is provided in the magnet portion. This allows the rotorcraft to be fixed at any ceiling angle.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A rotorcraft comprising a flight section and an observation section,
The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that detachably holds the observation section,
The observation unit is detachably attached to the rotorcraft, and includes an observation device and a magnet unit for fixing the observation device to a ceiling or a wall.
rotorcraft.

(40th embodiment)
As shown in Figures 58 to 60, the rotorcraft comprises a flight section and an observation section. The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that holds the observation section. The observation section includes an observation device and a suction portion (suction cup) for fixing the observation device to a ceiling or a wall.

When the rotary wing aircraft reaches its destination, the suction unit (suction cup) is attached to the ceiling or wall to fix the position (hang).

A two-axis gimbal is provided in the suction portion (suction cup). This allows the rotorcraft to be fixed on any ceiling angle.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A rotorcraft comprising a flight section and an observation section,
The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that detachably holds the observation section,
The observation unit includes an observation device and an adsorption unit for fixing the observation device to a ceiling or a wall,
rotorcraft.

(Forty-first embodiment)
As shown in Figures 61 to 63, the rotorcraft comprises a flight section and an observation section. The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that holds the observation section. The observation unit is detachably attached to the rotorcraft. It has an observation device and a suction part (suction cup) for fixing the observation device to the ceiling or wall.

When the rotorcraft reaches its destination, the suction unit (suction cup) is attached to the ceiling, wall, or the like to fix the position (hang).

A two-axis gimbal is provided in the suction portion (suction cup) portion. This allows the rotorcraft to be fixed on any ceiling angle.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A rotorcraft comprising a flight section and an observation section,
The flight section includes a plurality of rotor blades, an arm section that supports the plurality of rotor blades, and a holding section that detachably holds the observation section,
The observation unit is detachably attached to the rotorcraft, and includes an observation device and an adsorption unit for fixing the observation device to a ceiling or a wall.
rotorcraft.

(42nd embodiment)
As shown in Figures 64 to 67, the rotorcraft includes a flight section and an adsorption section. The flying section includes a plurality of rotor blades and an arm section that supports the plurality of rotor blades. The adsorption section is connected to the arm section so as to be displaceable within a predetermined range.

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

When the rotorcraft reaches its destination, the suction unit (suction cup) is attached to the ceiling, wall, or the like to fix the position (hang).

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

This fixes the position of the rotorcraft with respect to at least one of the vertical and horizontal directions.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A parking method for a rotorcraft having a power section and an adsorption section, comprising:
Fixing the position of the rotorcraft at least in either vertical or horizontal direction by fixing the suction part to the ceiling or wall;
parking method.

(Forty-third embodiment)
As shown in Figures 68 to 71, the rotorcraft includes a power section and an observation section.

The observation part has a suction part that fixes the position of the rotorcraft at least in either the vertical direction or the horizontal direction by being fixed to the ceiling or wall. Furthermore, the observation unit is detachably attached to the rotorcraft.

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

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

This fixes the position of the observation unit at least in either vertical or horizontal direction.

It can be used as temporary observation equipment in the event of an earthquake. For example, in a tsunami-hit area, there is a high possibility that the glass surfaces of houses and vehicles can be used as anchors rather than electric wires.

Since this glass is a horizontal surface, it is not possible to use hanging equipment, so the present invention is effective.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A parking method for the observation section by a rotary wing aircraft comprising a power section and an observation section,
The observation unit has a suction unit that fixes the position of the rotorcraft with respect to at least one of the vertical direction and the horizontal direction by being fixed to the ceiling or the wall, and Attached detachably,
moving the rotorcraft to a destination;
a step of adsorbing the adsorption unit to a fixing target surface at the destination;
and uncoupling the rotorcraft.
parking method.

(Forty-fourth embodiment)
A rotorcraft includes a power section and an observation section.

The observation part has a suction part that fixes the position of the rotorcraft at least in either the vertical direction or the horizontal direction by being fixed to the ceiling or wall. Furthermore, the observation unit is detachably attached to the rotorcraft.

The parking method includes the steps of cleaning the adsorption unit, moving the rotorcraft to a destination, adsorbing the adsorption unit to a fixed target surface at the destination, and separating the rotorcraft. contains.

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

This fixes the position of the observation unit at least in either vertical or horizontal direction.

It can be used as temporary observation equipment in the event of an earthquake. For example, in a tsunami-hit area, there is a high possibility that the glass surfaces of houses and vehicles can be used as anchors rather than electric wires.

Since this glass is a horizontal surface, it is not possible to use hanging equipment, so the present invention is effective.

Applications of the present invention include, but are not limited to, buildings having metal structures, specifically nuclear power plant buildings and the like.

<Configuration according to the present embodiment>
A parking method for the observation section by a rotary wing aircraft comprising a power section and an observation section,
The observation unit has a suction unit that fixes the position of the rotorcraft in at least one of the vertical direction and the horizontal direction by being fixed to the ceiling or the wall, and Attached detachably,
a step of washing the adsorption unit;
moving the rotorcraft to a destination;
a step of adsorbing the adsorption unit to a fixing target surface at the destination;
and uncoupling the rotorcraft.
parking method.

(Forty-fifth embodiment)
As shown in Figures 72-74, the rotorcraft has a feeder cable.

The method according to the present embodiment is intended to take countermeasures against updrafts of a multicopter used for bridge inspection.

Motor threshold settings, over spec motors, tension meter and controls. Actively use ground power cables for "ground restraint".

Theoretically, there is no loss of balance because the motor's minimum rotation speed will not drop even when an updraft occurs.

<Configuration according to the present embodiment>
A parking method for a rotorcraft having a power supply cable, comprising:
keeping the rotorcraft in place by applying a given tension to the feeder cables;
parking method.

(Forty-sixth embodiment)
This is a countermeasure against updraft of multi-copter for bridge inspection. Motor threshold setting, ・Using a body that does not use a strap or a power supply cable, equipped with an upper monitoring sensor.

Do not drop below the motor threshold at any time during stick maneuvers below hover (including autonomous navigation).

Sub-threshold control is permitted only when the value of the upper monitoring sensor is less than the set value.

(Forty-seventh embodiment)
To provide a countermeasure against updraft of a multicopter by variable motor dihedral angle. As shown in FIGS. 75 to 77, by changing the mounting angle of the motor of the multicopter, it is possible to deal with the generation of rising air currents.

Normally, it is horizontal, and the motor mounting angle is changed in an environment where rising air currents are expected to occur.

(48th embodiment)
As shown in FIGS. 78 to 80, a heliport is provided assuming take-off and landing of a general multicopter from heavy equipment, trailers, and vehicles.

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

Realizes smooth take-off and landing from vehicles on slopes and heavy machinery in motion.

(Forty-ninth embodiment)
Figures 81 and 82 provide a premise mechanism to be mounted on a general-shaped home delivery drone.

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

It deploys at the time of landing and counters the updraft by obstructing the wake of the propeller.

This guard also functions as a landing leg.

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

(Fiftieth embodiment)
Provide an emergency disconnect skid. It is particularly suitable for use in disaster areas where tsunami damage occurs and water does not drain.

Under the conditions immediately after the tsunami damage, it is assumed that a place for the drone to land cannot be secured.

It is also possible to assume that people will be left behind in houses that have been swept out to 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, only the cargo L is released under conditions where landing is possible, but under conditions where takeoff is impossible, the skid and cargo L are released at the same time. 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 balloon-like portion that opens with compressed air.

(Fifty-first embodiment)
Provide a simple anemometer.

Calculate simple wind speed and direction in the sky from the tilt of the aircraft and the absolute speed based on the GPS signal.

(52nd embodiment)
84 and 85, a compact multicopter intended for use in the field of surveying is provided.

As a landing form, it enables "one-handed landing form" with the arm at A2 lowered directly below.

If the road surface condition is good, the arm can be moved forward and normal landing is possible.

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

(Fifty-third embodiment)
This embodiment is intended to ensure the positional accuracy of the imaging/observation data from the drone.

The purpose of the observation method is to objectively complement the drone observation data.
A step of shooting with an automatic tracking video camera from the ground,
A step of measuring the position of the drone from the ground in real time A step of adding the position information of the drone from the ground to the video A step of adding the position information from the drone to the video A step of issuing a warning if there is a difference in the position information .

(Fifty-fourth embodiment)
This enables monitoring from the sky in the observation method according to the fifty-third embodiment. A correction means is used to correct the relative position of the observation drone.

(Fifty-fifth embodiment)
With reference to Figures 86 and 87, a method for spraying pesticides for paddy fields using a self-propelled drone and a multicopter is provided.

This is 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 agricultural chemical spraying methods, there is a method in which a chemical spraying hose is passed between two ends of a paddy field, and spraying is carried out while holding the hose by two people. Replace this method with a parent unit on the ground and a multicopter in the air.

The method includes a ground parent unit (can travel on furrows) and a multicopter child unit (ground powered and holding hose ends). At least the parent unit or child flight unit has a hose winding function.

The configuration of the ground master unit is as follows. Movement is performed by an engine or a motor. In the case of an engine type, it is further equipped with a generator. Supplies drug and power to child flight units. The chemicals are sprayed from spray holes provided in the hose between the parent and child units. It is also possible to shrink the hose according to the distance of the child unit.

The configuration of the child flight unit is as follows. The child flight unit flies by receiving power from the parent unit. Since the child flight unit flies while maintaining the chemical spray hose without bending, the child flight unit receives a large load in the direction of the parent unit. The sub-flight unit moves directly above the ridge while monitoring what is directly below.

(Fifty-sixth embodiment)
As another example of the method according to the fifty-fifth embodiment described above, it is also possible to configure two sets of parent units as shown in FIGS.

The chemicals are sprayed from spray holes provided in the hose between the parent and child units. It is also possible to shrink the hose according to the distance of the child unit.

(Fifty-seventh embodiment)
Provide a differential observation method. It can be used for road and overhead line maintenance.

During normal times, images are taken along a predetermined route and angle, and position and angle information is added to the data.

Immediately after the occurrence of a disaster, inspection flights are similarly photographed.

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

This makes it possible to immediately grasp what kind of changes have 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 etc. at events etc. (You can see the positions of manholes and sidewalks, etc.)

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.

(58th embodiment)
Provides a rescue request and self-location marking system by drone. It is used as an anti-earthquake measure (other uses are possible).

When the user activates from the smartphone app, the disaster marking drone enters the corresponding area and fires a marking bullet toward the user's smartphone (near the entrance of the building left behind).

Type of alarm A: Buried in rubble (marking target)
B: Unable to move (arrangement of observation drone)
C: Being swept away (arrangement of observation drones)

The following examples can be given as notification conditions.
・Earthquake disaster ・User requests rescue from smartphone

Regarding marking, the following examples are possible.
・In the case of a building that has not collapsed, the marking will be near the entrance. ・In the case of a collapsed building, the marking will be done at a 45-degree oblique bird's-eye view from due south.

Regarding the database, the following examples are possible.
・Registration trigger is notification ・Disclosure of location information that has been reported to a third party ・Disclosure of personal information of people who completed rescue

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

(Fifty-ninth embodiment)
Provide a missing person search system. It can be used for earthquake countermeasures and location identification of missing persons. In the fifty-eighth embodiment, the operation is voluntarily performed, but in this embodiment, the operation is performed automatically.

Its primary purpose is to expedite the search for missing persons. Another object of the present invention is to rank rescue operations in conjunction with the fifty-eighth embodiment.

Notification condition ・Trigger is when the earthquake occurred ・Movement occurred within the past few days (about 3 days) from the trigger time (to exclude unused smartphones)
・There is no movement within a certain period of time (about 4 hours) from the trigger occurrence time (cannot move voluntarily)
・The smartphone is not operated for a certain period of time from the trigger occurrence time.

・The marking drone marks the corresponding smartphone. ・Marking with an identification color different from the 58th embodiment.

By combining with the fifty-eighth embodiment, two types of markings are applied to the rubble in the disaster area.

The fifty-eighth embodiment is marked voluntarily. are marked regardless of their intentions. In other words, it can be visually determined that the priority of rescue is low, and priority can be given to rescue by the fifty-eighth embodiment, which is considered to be highly effective in saving lives.

(60th embodiment)
To provide an automatic marking system for any person linked with the occurrence of an earthquake. This is an anti-earthquake countermeasure and is different from the fifty-eighth embodiment.

User 1 calls a disaster marking drone to mark the position of user 2's smartphone or dedicated terminal.

Since the fifty-ninth embodiment is an automatic process, it takes a certain amount of time before marking.

Trigger conditions ・Earthquake occurrence ・User 1 requests rescue to User 2

This allows immediate rescue of a known user at the location by making it an immediate marking of another user.
Infants and bedridden elderly people who cannot use the fifty-eighth embodiment are targeted.

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

Drones perform highly accurate positioning using beacons, etc., and register their positions in a database.
Based on this position information, the position of the victim is provided by AR.

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

How to identify drones flying overhead.
・Individual numbers are assigned to autonomous flying drones ・Individual numbers are expressed by the lighting timing of the LEDs

(63rd embodiment)
Display the aircraft that has been determined by the identification of the autonomous drone by AR on the terminal.

・Displays the route so far and the future route ・Displays the future route ・Whether or not a camera is installed ・Purpose of use

(64th embodiment)
To provide a jig (maintenance tool) for obtaining the Z-axis center of gravity of a multicopter.

A jig for determining the center of gravity position of the multicopter in the Z-axis direction ・Two sets of jig A are attached between the horizontal motors ・By changing the mounting position, it is also possible to index the X-axis and Y-axis

(65th embodiment)
Provides drones with optical camouflage. Although it is intended as a survey drone, it can also be used as a prop for dramas.

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

Shield functions and optical camouflage (including infrared rays, etc.)
・Sound absorbing material ・Stealth (absorbing radar waves)

(66th embodiment)
As shown in FIGS. 90-92, a cover-like sound absorbing material is provided for suppressing drone noise.

The target is an object existing in the flight direction of the drone. When viewed from the side, the L shape (front and top) is fitted with a cover with sound absorbing material. Bottom, side, and rear are omitted from the viewpoint of propeller wake and weight.

(67th embodiment)
To provide a cover for reducing sound emitted in a specific direction from a scheduled flight location. A cover similar to that of the sixty-sixth embodiment and a flying portion are connected via a connecting portion so as to be independently displaceable.

Soundproofing is achieved by rotating and displacing the shield in the desired direction.

(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 section. In this embodiment, the anchor position of the load L is positioned above the center of lift generated by the rotor blades. Note that the position of the anchor may coincide with the center of lift force.

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

According to such a configuration, the change in gain after the load L is separated becomes moderate. In addition, even if the load L shakes during unloading, the impact on the flying part is small.

(69th embodiment)
In the sixty-eighth embodiment described above, means for cutting the wire holding the load may be further provided.

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

(70th embodiment)
Also, the flying object may have a fuse function. When the load L is paid out for a certain amount or more, the load L can be separated if tension is applied.

The fuse function stops its function during the winding state (during movement). That is, the fuse is controlled so that it does not work depending on the load during winding. On the other hand, when it is detected that a predetermined load is applied to the winch portion while the load L is being let out, the wire is released or cut.

(71st embodiment)
As shown in Figures 96-98, variable landing legs are provided.

Landing legs can be retrofitted to conventional air vehicles. In the retrofitted state, the landing leg is attached so as to be displaceable independently of the main body. The landing leg according to this embodiment is suitable for landing on rough terrain with strong winds. The landing legs are fixed in their general position during level flight. When entering landing mode, it becomes a displaceable state, and when it touches down, it is fixed at the tilt at that time.

(72nd embodiment)
As shown in Figures 99 to 101, takeoff can be performed using landing legs according to the seventy-first embodiment. Suitable for takeoff in strong winds and rough terrain.

For example, when taking off from uneven ground, the attitude is held (locked) so that the flight section is horizontal (see FIG. 99).

When taking off in a strong wind, in the initial state, the attitude is held (locked) so that the flight section is horizontal.
・Free when a certain amount of lift is generated after the motor starts

(73rd embodiment)
As shown in FIG. 102, the aircraft has a winch 73c capable of winding down a wire 73b connected to a mounting portion 73a on which a load L is placed. The winch and flying part are connected by a two-axis 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 separate sprayer pesticide (water, fertilizer, seed) spraying drone is provided.

The present embodiment aims to reduce the influence of the propeller wake on crops. Electric power and drugs are provided from the parent device 1 to the child device 1'. The handset 1' according to the present embodiment has only the minimum number of attitude control motors. As shown in Figure 103, the parent aircraft flies at an altitude that allows it to maintain a sufficient distance from the crop of interest. As a result, pesticides and the like do not adhere to the expensive parent device, so maintenance frequency of the parent device 1 can be reduced.

(75th embodiment)
As shown in FIGS. 105 and 106, agricultural chemicals and the like are sprayed indoors, such as in a vinyl house, using the parent device 1 and the child device 1', as in the seventy-fourth embodiment.

In this embodiment, the parent device can move on rails 75a installed on the ceiling of the greenhouse. Electric power and drugs are provided from the parent device 1 to the child device 1'. The handset 1' according to the present embodiment has only the minimum number of attitude control motors. An arm (developable) and a hose are provided from the parent device 1 . The handset 1' can also perform harvesting and the like.

(76th embodiment)
It provides an arm that monitors the position of the drone and retracts and rotates. One of the mechanisms of the seventy-fifth embodiment

The cordless handset will fly finely in the house. At this time, it is assumed that the connection of only the hose will cause entanglement.

Prevent entanglement by extending the arm directly above the small drone. One or more arms are installed on the main unit on the vinyl house ceiling. The position of the drone in charge is monitored by the camera on the arm. The arm rotates and contracts to maintain the position near the position directly above the drone.

(77th embodiment)
A method for landing a VR photography drone 1 carrying two camera sets V is provided as shown in FIGS. 107-110.

A VR camera is provided at the tip of an arm that extends vertically in the aircraft. The VR camera can be bent from the connecting portion C of the aircraft body.

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

(78th embodiment)
As shown in FIGS. 111-116, a method for landing a drone carrying camera set V is provided.

A multicopter landing transformation mechanism with a cheap VR camera mounted underneath. By adding a fixed camera above, it is also possible to make the aircraft disappear. As in the seventy-seventh embodiment, at the time of landing, as shown in FIG. 111, the camera is bent from the connection portion C to transform into the landing mode.

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

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 drone dedicated to VR photography will be described with reference to FIGS. 122 to 126. FIG. 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, there is provided a simple VR drone having imaging units V at the front and rear of the body.

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

(82nd embodiment)
As shown in FIGS. 130-132, it provides a reverse mode for the VR camera-equipped machine.

It is part of the function of the on-board aircraft for the drone operation method regardless of the actual flight attitude. If you press the "reverse button" on the radio side, the direction of travel will be reversed 180 degrees. It is suitable for applications such as moving back and forth in pipes.

(Eighty-third embodiment)
Provides a home position mode for a machine equipped with a VR camera.

Pressing the "home position button" reverses the traveling direction by 180 degrees. It has an auxiliary function when the pilot's position (home position) is unclear. Press the home position switch and move forward to return to the pilot.

(84th embodiment)
We provide a GPS antenna to be mounted on a VR shooting drone.

It is a GPS antenna of the 77th embodiment (landing method of a VR imaging drone equipped with two sets of cameras).

When transforming from flight mode to landing mode, the GPS antenna tilts. It functions as a mechanism for canceling this tilt.

(85th embodiment)
To provide a 4-axis gimbal for a camera mounted at a position distant from the center of gravity of an aircraft.

With existing 3-axis gimbals, if the aircraft tilts during hovering, the camera position will move up and down. This disturbance is noticeable in close-range aerial photography.

In order to cancel this, we add an axis that cancels the vertical movement of the camera.
This idea is very effective in short-distance hovering photography using quadcopters, multicopters, and octocopters, which have a camera mounted away from the center of gravity of the aircraft.

It should be noted that it is preferable to adopt a 6-axis gimbal in order to aim for a perfect effect.

(86th embodiment)
As shown in Figures 133-135, a stabilizer optimized for close-range aerial photography using a multicopter is provided.

It is a stabilizer that assumes a small quadcopter.

A swastika-shaped arm is used to mount the lens unit at the forward position at the bottom of the fuselage.

The stabilizer motor is installed near the center of gravity, realizing a multicopter that does not move the three-dimensional position of the camera even if attitude control is activated during hovering. The tilt/roll axis exists near the center of gravity. The pan axis exists near the camera.

(87th embodiment)
Offers ceiling charging drones. The mounting portion and flight portion are independently displaceable.

As shown in FIGS. 136 to 138, it has the following configuration. A charging mechanism is provided on the upper part of the fuselage. Restrain the aircraft from the charging port side. Restriction methods include magnetic attachment and mechanical methods, but are not limited to these. Charging can be either contact or non-contact.

(88th embodiment)
As shown in Figures 139-141, an overhead drone charger is provided. The flying object is installed on the ceiling. Power is distributed from an existing crescent. The flying object is fixed to the ceiling by being magnetically attached to the metal part of the ceiling.

(Eighty-ninth embodiment)
As shown in Figures 142-144, the drone is provided with a sighting light on a vertical bar.

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

In the conventional fuselage, there was a condition that the nose light and tail light were all visible from the pilot's position, and it was possible to lose sight of the direction of travel of the fuselage. In the case of the installation position of this proposal, since it is possible to precisely adjust the irradiation range of the taillight, the pilot can control the direction of the aircraft even if it is far away by panning while maintaining the hovering posture. becomes possible to grasp.

(90th embodiment)
To provide a method of guiding an intersection on a drone route.

Rules to prevent drone contact at intersections on the route ・In the vicinity of the intersection, the intersection guidance system has priority to control the Z axis ・It is assumed that the aircraft on Route A flies above and on Route B below ・A Aircraft on Route B can only be operated in the upward direction at the discretion of the aircraft ・Aircraft in Route B can only be operated in the downward direction at the discretion of the aircraft ・Both aircraft can fly freely within the range permitted by the route on the X and Y axes

(91st embodiment)
To provide a mechanism for correcting the center of gravity of a cargo of a home delivery drone using a biaxial gimbal mechanism. This is a modification of the 73rd embodiment.

A balance adjustment mechanism that uses a brushless motor may not work if the center of gravity of the load deviates significantly from the design value.

In addition, when the robot loses its balance, it consumes more power than necessary to maintain its posture.

The purpose is to implement a balance adjustment mechanism on the fuselage side and respond to various loads.

When packing a load in a box, it is relatively easy to balance by placing the X and Y axes near the center, but adjusting the Z axis is difficult, so this proposal focuses on adjusting the Z axis. put.

Add one or more balance correction mechanisms.

(92nd embodiment)

To provide a method for stabilizing a load of a home delivery drone using a biaxial gimbal mechanism.

When the drone changes its attitude in the sky, the load is also loaded with unexpected weight due to G.

Specifically, the contents of home delivery are biased.

In order to counteract this, the inclination of the load L is changed in a direction that cancels out the generation of G.

The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit and interpret the present invention. It goes without saying that the present invention can be modified and improved without departing from its spirit, and that equivalents thereof are included in the present invention.

Claims (1)

a plurality of rotor blades;
a plurality of motors that respectively rotate the rotor blades;
a frame supporting the motor;
a loading section having an inner frame for loading cargo, comprising:
said frame having a first enclosed space inside thereof, said inner frame being at least partially within said first enclosed space;
the inner frame having a second enclosed space therein and configured to be mountable to contain the load at least partially within the second enclosed space;
The frame and the inner frame are connected via a connecting portion so as to be independently displaceable from each other,
A rotorcraft characterized by: