WO2016159383A1 - Corps volant - Google Patents

Corps volant Download PDF

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Publication number
WO2016159383A1
WO2016159383A1 PCT/JP2016/061042 JP2016061042W WO2016159383A1 WO 2016159383 A1 WO2016159383 A1 WO 2016159383A1 JP 2016061042 W JP2016061042 W JP 2016061042W WO 2016159383 A1 WO2016159383 A1 WO 2016159383A1
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WO
WIPO (PCT)
Prior art keywords
flying object
frame
flying
landing
thruster
Prior art date
Application number
PCT/JP2016/061042
Other languages
English (en)
Japanese (ja)
Inventor
川崎　宏治
武典 松江
正己 黒坂
道弘 松浦
Original Assignee
株式会社日本自動車部品総合研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 株式会社日本自動車部品総合研究所 filed Critical 株式会社日本自動車部品総合研究所
Priority to JP2017510273A priority Critical patent/JP6465205B2/ja
Publication of WO2016159383A1 publication Critical patent/WO2016159383A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft

Definitions

  • the present invention relates to an aircraft that flies unattended by remote control or automatic control.
  • an unmanned air vehicle UAV
  • UAV unmanned air vehicle
  • a multicopter which is one of UAVs, is generally located at a relatively high center of gravity because the rotor is configured so as not to contact the ground surface. For this reason, it is difficult to land stably unless the landing surface is particularly flat.
  • a general multicopter is designed assuming a horizontal plane perpendicular to gravity as a landing surface.
  • Patent Document 1 proposes an aircraft including a spherical frame arranged outside the rotor, and a weight provided vertically below the arrangement position of the rotor in the frame. . Since this aircraft is provided with a weight vertically below the position where the rotor is located, the aircraft will land on the horizontal landing surface in a posture in which the axis of the rotor is inclined with respect to the vertical direction, for example, in a fallen posture. Even in such a case, the aircraft automatically restores the posture of the rotor from the fallen posture to the posture along the vertical direction, that is, the upright posture by the action of the weight.
  • Patent Document 1 is designed on the assumption that the landing surface is a horizontal plane free from obstacles and having an area of at least the size of its own frame. For this reason, the aircraft described in Patent Document 1 is difficult to land itself or land stably in places where there is not always a stable horizontal surface without obstacles, such as a disaster site. May be difficult.
  • the present invention has been made in view of the above problems, and is capable of stably supporting a support target (landing target) having an area very narrower than the size of its own base.
  • the purpose is to provide a body.
  • a flying body is provided on a base body (10), a plurality of frames (20) formed extending from the base body, and each of the plurality of frames.
  • a plurality of thrusters (30) which are arranged in the same plane and generate thrust in the same direction perpendicular to the plane and fixed to the base body during the flight of the flying object;
  • An landing part (40) that can be brought into contact with the landing point when landing on the body, an inertial measurement part (51) that detects the attitude of the base, and each thruster based on the attitude of the base detected by the inertial measurement part
  • a control unit (52) for controlling for controlling. Then, at least one frame of the plurality of frames bends so that a thruster provided on the at least one frame is positioned at least vertically below the plane when the flying object lands.
  • the position of the thruster provided in the at least one frame at the time of landing of the flying object is vertically lower than that at the time of flying of the flying object.
  • the entire center of gravity can be lowered vertically compared to when flying. For this reason, since the potential energy which the flying object has at the time of landing can be reduced, the flying object can be landed stably in terms of energy.
  • the at least one frame may be configured to bend so that the center of gravity of the flying object is positioned vertically below the landing point.
  • the moment of force around the landing point acting on the gravity acting on the center of gravity of the flying object acts in a direction to restore even when the attitude of the flying object is inclined with respect to the horizontal,
  • the flying object can be landed stably.
  • the flying body according to the second aspect of the present invention includes a base body (10, 40) and at least first and second arms extending outwardly from the base body. Of the first and second arms, At least one of the first and second arms (20, 21, 22, 23, 24) having a part of the first and second arms is attached to the first arm, and generates thrust on the flying object.
  • Center of gravity A control unit for changing the (52), and a.
  • the control unit controls the first and second thrusters based on the attitude of the aircraft detected by the inertial measurement unit.
  • the center of gravity of the flying object is changed by bending at least one of the second arms.
  • the control unit separates the center of gravity position of the flying object from the contact point of the support target, thereby Stabilize the flying object on the contact point.
  • the flying body according to the second aspect is stably supported even on a support target having an area much smaller than the size of its own base.
  • FIG. 1 is a top view of a flying object showing a schematic configuration of the flying object in a first embodiment of the present invention.
  • FIG. 2 is a side view of the flying object showing a schematic configuration of the flying object shown in FIG. 1.
  • It is a perspective view which shows the detailed structure of the flame
  • frame shown in FIG. 3B is a side view of the frame shown in FIG. 3A.
  • FIG. 3B is a plan view of the frame shown in FIG. 3A.
  • FIG. 3D is a plan view of the frame shown in FIG. 3D.
  • FIG. 2 is a side view of the flying object showing a state immediately after landing of the flying object shown in FIG. 1.
  • FIG. 2 is a side view of the flying object showing a state after landing of the flying object shown in FIG. 1.
  • It is a side view of the flying object which shows schematic structure of the flying object in the modification 1 of 1st Embodiment.
  • It is a side view of this flying object which shows schematic structure of the flying object in 2nd Embodiment of this invention.
  • FIG. 9 is a side view of the flying object showing a state after landing of the flying object shown in FIG. 8.
  • It is a side view of the flying object which shows schematic structure of the flying object in the modification 2 of 2nd Embodiment.
  • FIG. 13 is a side view of the flying object showing a state after landing of the flying object shown in FIG. 12. It is a top view of this flying object which shows schematic structure of the flying object in 4th Embodiment of this invention. It is a side view of the flying object which shows schematic structure of the flying object concerning the modification of each embodiment of this invention. It is a side view of the flying object which shows schematic structure of the flying object concerning the modification of each embodiment of this invention.
  • FIGS. 1 is a top view of the flying object 100 in a flying state
  • FIG. 2 is a side view of the flying object 100 in a flying state as viewed from a side.
  • a frame (described later) on the viewpoint side is omitted.
  • FIGS. 5 to 10, 12, 13, and 15 to 20 are the same as FIG.
  • the flying object 100 in the present embodiment is, for example, a multi-rotor wing unmanned air vehicle (Unmanned Air Vehicle: UAV), and its use includes, for example, aerial photography and rescue of a rescuer.
  • UAV Unmanned Air Vehicle
  • the flying object 100 includes a base body 10, a frame 20, and a plurality of thrusters 30.
  • the flying object 100 includes an landing part 40, a microcomputer part 50, and a battery 60, as shown in FIG.
  • the base body 10 is a member that supports the frame 20, supports the landing part 40, the microcomputer part 50 is mounted, and supports the battery 60. Note that a plastic material or a metal material can be used for the base 10. As shown in FIG. 1, the base body 10 in the present embodiment is a rectangular parallelepiped composed of sides along the x-axis, y-axis, and z-axis.
  • the frame 20, which will be described later, is configured in a total of four arms, two each in the x-axis direction and the y-axis direction.
  • each arm-shaped portion of the frame 20 has the same length, and a thruster 30 corresponding to a part thereof, for example, the tip is fixed.
  • the center of gravity of the entire flying object 10 including the base body 10, the frame 20, the thruster 30, the landing part 40, the microcomputer part 50, and the battery 60 is Is in a predetermined linear position in the base 10, for example, at the center of the base 10.
  • the frame 20 includes a first frame 21 extending in the positive direction of the y axis from the first side surface along the x axis of the base 10 and a second of the base 10 along the y axis.
  • the second frame 22 extending in the positive direction of the x axis from the side surface of the first frame 21 and the third frame 21 facing the first side surface of the substrate 10 from the side opposite to the first frame 21 along the y axis (negative y axis
  • a fourth frame extending in the direction opposite to the second frame 22 along the x axis from the fourth side surface facing the second side surface of the substrate 10 (the negative direction of the x axis). 24.
  • the first frame 21 to the fourth frame 24 may be collectively referred to as the frame 20.
  • the frame 20, that is, each of the first frame 21 to the fourth frame 24, includes, for example, a plurality of links connected to each other that function as a plurality of bendable joints. 20A.
  • FIG. 3A four links 20a to 20d connected in series, which are a part of the frame 20, are shown.
  • the links 20a and 20b adjacent to each other are indicated by solid lines. That is, the link 20a has a link 20b and a link 20d (indicated by a one-dot chain line in FIG.
  • the link 20b has a link 20a and a link 20c (the one-dot chain line in FIG. 3A) on both sides thereof.
  • the link 20b has a link 20a and a link 20c (the one-dot chain line in FIG. 3A) on both sides thereof.
  • the link 20b has a link 20a and a link 20c (the one-dot chain line in FIG. 3A) on both sides thereof.
  • the second frame 22 extending in the negative direction on the x-axis of the frame 20 is representatively illustrated, but the other frames 21, 23, and 24 are also shown in FIG. It has the same structure as the frame 22.
  • Each link 20A that is, each link 20a to 20d has, for example, a rectangular tube shape, and the internal space has a quadrilateral cross section (transverse cross section) along the y-axis direction in FIG. 3A. Yes.
  • Each link 20A has first and second open ends that face each other in the x-axis direction and communicate with the internal space.
  • the first open end has an opposing first lateral end parallel to the xz plane, as shown in FIGS. 3A and 3B.
  • a through hole 20h is provided in each of the opposing first short ends along the y-axis direction.
  • the first open end has an opposing first longitudinal end parallel to the xy plane, and the central portion of the upper first longitudinal end at the opposing longitudinal end is In FIG. 3A, the projection 20B is formed extending in the negative direction of the x-axis.
  • the second open end has a second longitudinal end portion opposed to each other parallel to the xy plane, and an upper side of the second longitudinal end portion facing the second open end.
  • a concave portion 20C into which the convex portion 20B of another link 20A can be fitted is formed at the center of the second longitudinal end portion.
  • the second open end has opposing second short ends parallel to the xz plane, and the inner portions of each of the opposing second short ends are shown in FIG.
  • a connecting portion 20i that protrudes outward along the x-axis direction is formed.
  • a connecting hole 20j having the same size as the through hole 20h is formed in a penetrating shape at the protruding end of the connecting part 20i.
  • the convex portion 20B of the link 20a is fitted into the concave portion 20C of the second opening end of the link 20b.
  • the end surface of the first short end at the first opening end of the link 20a is in contact with the end surface of the second short end at the second opening end of the link 20b, and the connecting portion 20i
  • the connecting hole 20j is aligned with the through-hole 20h of the first short end.
  • the end surface of the first short end portion of the link 20a is formed as a curved surface having a predetermined curvature with respect to the lower portion (the negative direction of the z axis) from the central portion in the z axis direction.
  • the pin 20D is provided in the through hole 20h and the connecting hole 20j in a state where the through hole 20h of the first short end is aligned with the connecting hole 20j of the connecting part 20i of the second short end.
  • the link 20a and the link 20b are rotatable relative to each other about the pin 20D as a rotation axis. That is, since the end surface of the first short end of the link 20a is formed as a curved surface having a predetermined curvature with respect to the negative direction of the z-axis from the central portion in the z-axis direction, the link 20b It can rotate in the negative z-axis direction with respect to 20a.
  • each frame 20 is in a state (hereinafter also referred to as a first state) extending substantially linearly facing the base body 10 by a thrust generated by a corresponding thruster 30.
  • the shape can be freely changed between a state in which the thruster 30 is bent in a negative z-axis direction (hereinafter also referred to as a second state) when no thrust is generated by the corresponding thruster 30. Yes.
  • the rotors 30a of the thrusters 30 of the respective arms 20 are configured not to interfere with each other.
  • each link 20A has a rectangular tube shape, and supplies power for power and a control signal to the corresponding thruster 30 through the internal space, the first opening end, and the second opening end.
  • Cable 20E is passed.
  • the power cable 20E includes at least a power supply cable and a ground cable, extends from the battery 60 to the thruster 30 via the link 20A, and is connected to the thruster 30.
  • the control signal cable 20E includes at least a circuit power supply cable, a signal line cable, and a ground cable. The control signal cable 20E extends to the corresponding thruster 30 via the link 20A connected from the microcomputer unit 50, and is connected to the thruster 30. Yes.
  • the thruster 30 provided in each frame 20 in this embodiment has, for example, a rotor 30a, and thrust is generated by the rotation of the rotor 30a.
  • the thruster 30 has a rotor 30a and a motor 30b for rotating the rotor 30a.
  • the thruster 30 is configured to be able to change the rotational speed of the rotor 30a based on the control of the microcomputer unit 50, which will be described later, and can exert a thrust corresponding to the rotational speed. That is, thrust increases as the rotational speed of the rotor 30a increases. More specifically, the microcomputer unit 50 can freely adjust the magnitude of the thrust generated by the thruster 30 by adjusting the rotational speed of the rotor 30a.
  • the thruster 30 in this embodiment is composed of four thrusters 30, that is, a first thruster 31, a second thruster 32, a third thruster 33, and a fourth thruster 34.
  • the first thruster 31 is at a predetermined portion of the first frame 21, for example, the tip
  • the second thruster 32 is at a predetermined portion of the second frame 22, for example, the tip
  • the third thruster 33 is at a predetermined portion of the third frame 23, for example, the tip.
  • the fourth thruster 34 is fixed to a predetermined portion of the fourth frame 24, for example, the tip.
  • the first thruster 31 to the fourth thruster 34 are collectively referred to as a thruster 30.
  • each thruster 30 is fixed so as to have a thrust in the positive direction of the z-axis. That is, the microcomputer unit 50 raises each frame 20 from the second state in the positive direction of the z-axis by controlling each thruster 30 and generating thrust by each thruster 30.
  • each frame 20 is maintained in the first state, that is, in the straight state facing the substrate 10 by the thrust generated by the corresponding thruster 30.
  • the thrust generated by the corresponding thruster 30 of each frame 20 acts as lift on the flying object 100 and raises the flying object 100.
  • the microcomputer unit 50 controls the first thruster 31 to the fourth thruster 34, respectively, so that the rotation directions of the rotors 30a of the first and third thrusters 31 and 33, the second and fourth thrusters 32, and 34 by rotating the rotation directions of the respective rotors 30a opposite to each other, the counter torque resulting from the rotation of the respective rotors 30a of the first and third thrusters 31 and 33, and the second and fourth thrusters 32 and
  • the counter torque resulting from the rotation of each of the rotors 30a can be offset.
  • the microcomputer unit 50 controls the rotation speed and direction of the motor 30b of each thruster 30, that is, controls the magnitude and direction of the thrust generated by each thruster 30 via the corresponding cable 20E. ing.
  • the landing part 40 is a part that contacts the landing point when the flying object 100 lands.
  • the landing portion 40 in the present embodiment has a flat landing surface along the xy plane, and when landing, the landing of the flying object 100 is completed by the landing surface contacting the ground surface.
  • the landing part 40 in this embodiment is attached so that the center of gravity of the flying object 100 exists in the plane of the landing surface when the xy plane is viewed from the front.
  • the microcomputer unit 50 is a part that detects an external command from the user and the attitude of the flying object 100 and appropriately controls the rotation speed and the rotation direction of the rotor 30a of each thruster 30.
  • the microcomputer unit 50 is fixed at a position where the center of gravity of the flying object 100 substantially coincides with the center of the base body 10 when the xy plane is viewed from the front side of the base body 10.
  • the microcomputer unit 50 includes, for example, an inertia measurement unit 51 and a control unit 52.
  • the inertial measurement unit 51 is configured to include a three-axis (pitching axis, rolling axis, yawing axis) gyroscope and the above-described three-axis acceleration sensor, which are used in general aircraft and the like.
  • the inertial measurement unit 51 is a part that detects the attitude of the flying object 100, the angular velocity around each of the three axes, and the acceleration around each of the three axes as information relating to the attitude of the flying object 100.
  • a vibration gyro sensor that uses the Coriolis force of a vibrating object may be used, but it can be increased by using a mechanical gyroscope that has a rotating disk or a laser ring gyroscope that uses the Sagnac effect. Accuracy and weight can be reduced. Further, as the acceleration sensor, in addition to the mechanical displacement measurement method, an optical method or a semiconductor method using piezoresistance may be employed.
  • the inertia measurement unit 51 is connected to the control unit 52 so as to be communicable, and outputs information related to the attitude of the flying object 100 to the control unit 52.
  • the inertial measurement unit 51 can include devices such as a global positioning system (GPS), a pressure sensor, a flow rate sensor, a magnetic sensor, and a starter tracker in addition to the gyroscope and the acceleration sensor.
  • GPS global positioning system
  • the attitude and altitude of the flying object 100 can be measured with high accuracy.
  • the control unit 52 estimates the attitude of the flying object 100 based on the information on the attitude of the flying object 100 output from the inertial measurement unit 51, and is operated by the estimated attitude of the flying object 100 and a user, for example. This is a part for controlling the output (rotation direction and rotation speed) of the motor 30b in each thruster 30 based on a command from the remote controller RC.
  • the control unit 52 can receive a command sent from the remote controller RC through wireless communication between the antenna 53 connected to the control unit 52 and, for example, a remote controller operated by the user.
  • the battery 60 is a generally known secondary battery.
  • the battery 60 supplies power to the motor 30b and the microcomputer unit 50 in the thruster 30.
  • the battery 60 is fixed to the base 10 at a position where the center of gravity of the flying object 100 substantially coincides with the center of the base 10 when the xy plane is viewed from the front. Note that the batteries 60 may be equally distributed in the vicinity of the thruster 30. In this case, although the controllability deteriorates due to an increase in rotational inertia, the effect of lowering the center of gravity at the time of landing can be increased.
  • FIG. 2 the action and effect of the flying object 100 in the present embodiment at the time of flight and landing will be described.
  • the microcomputer unit 50 When flying> At the time of flight, the microcomputer unit 50 generates thrust by rotating the rotor 30a of each thruster 30 at an appropriate rotational speed, and the thrust acts as lift of the flying object 100. That is, gravity acts on the base 10 and the microcomputer unit 50 and the battery 60 attached to the base 10 in the negative z-axis direction.
  • the microcomputer unit 50 increases the number of rotations of the rotor 30 a of each thruster 30 to extend each frame 20 linearly. As a result, the thrust generated by the thruster 30 of each frame 20 is directed in the positive z-axis direction.
  • each frame 20 when thrust is generated by the thruster 30 of each frame 20, a positive z-axis is formed around the connection point between each frame 20 and the base body 100 with the connection point between the frame 20 and the thruster 30 as an action point. A moment of force acts in the direction. Therefore, each frame 20 tends to bend in the positive z-axis direction. However, as described above, since each frame 20 does not bend in the positive z-axis direction with a substantially straight line as a limit, the thrust of the thruster 30 in each frame 20 acts as lift of the flying object 100. As a result, for example, the flying object 100 located on the ground surface flies away (lifts) away from the ground surface with the frame 20 being substantially straight. As described above, since each arm-shaped portion of the frame 20 extends substantially linearly, the center of gravity of the flying object 100 at the time of flight is located at the center which is a predetermined position in the base body 10.
  • the microcomputer unit 50 adjusts the number of rotations of the rotor 30a of each thruster 30 so that the thrust generated by each thruster 30 at the time of landing is changed to each value at the time of flight as shown in FIG. Lower than the thrust generated by the thruster 30. That is, the microcomputer unit 50 lowers the flying object 100 by lowering the thrust generated by each thruster 30 at the time of landing, that is, lifting force, below the gravity of the flying object 100. As a result, the flying object 100 contacts the landing target 200 from the landing surface of the landing unit 40. That is, this landing point 200 is a fulcrum that is supported after the flying object 100 has landed.
  • each thruster 30 At the moment of contact, the rotor 30a of each thruster 30 is rotating and the thrust is generated by each thruster 30, but the lift is smaller than the gravity applied to the flying object 100.
  • Each frame 20 maintains a substantially straight state by the thrust of the corresponding thruster 30. For this reason, the center of gravity of the flying object 100 is located at the center of the base body 10 as in flight.
  • the microcomputer unit 50 further reduces the rotational speed of the rotor 30a of each thruster 30 to reduce the thrust of each thruster 30, thereby reducing each frame 20 from the linear shape to the z-axis as shown in FIG. Bend in the negative direction (see FIG. 6).
  • the microcomputer unit 50 controls the magnitude of the thrust from the thruster 30 of each frame 20 (including zero), thereby changing the shape of each frame 20 relative to the base body 10. Thus, it can be freely changed between a state extending substantially linearly and a state depending on the negative z-axis direction.
  • the center of gravity of the entire flying object 100 is supported from the center of the base body 10, which is the original position of the center of gravity, and the landing point 200, that is, the flying object 100, where the landing part 40 contacts the landing. It can be located below the fulcrum 200. For this reason, the moment of force around the landing point (fulcrum) 200 applied to the gravity acting on the center of gravity of the flying object 100 is a direction to restore even when the attitude of the flying object 100 is inclined with respect to the horizontal. Therefore, the flying object 100 is stably supported at the fulcrum 200 to be landed.
  • the flying vehicle 100 after landing has a landing point 200 where the landing part 40 contacts as a fulcrum, and the thruster 30 of each frame 20 located below the fulcrum 200 functions as a weight. Acts as follows. That is, since the position of the center of gravity of the flying object 100 is spaced downward with respect to the fulcrum 200, the flying object 100 can stand on the fulcrum 200 stably. For this reason, the flying object 100 of this embodiment. Landing object, that is, a relatively narrow region of the object to be supported, for example, a part of wood protruding from the ground or a wall or a protrusion of rubble, is stably landed and supported stably.
  • an elastic member 70 is attached to each frame 20 in the present modification to connect the tip end portion to which the corresponding thruster 30 is attached and the base portion on the base 10 side.
  • the elastic member 70 is, for example, a spring, and the gravity center of the flying object 100 is positioned vertically below the landing point where the landing part 40 contacts, that is, the fulcrum, at least in a state where no thrust or gravity is applied to each frame 20.
  • the natural length of the spring is set so that the curvature of the frame 20 is maintained. That is, the elastic member 70 is set so that its elastic energy is low in the shape of the frame 20 in which the center of gravity of the flying object 100 is positioned vertically below the fulcrum of the support target with which the landing part 40 contacts. ing.
  • the flying object 100 After the flying object 100 reaches a part of the support target and is supported with the part as a fulcrum, the flying object 100 is inclined with respect to the fulcrum, and the gravity of the flying object 100 is reduced. Even if the application direction changes, the bent state of each frame 20 can be reliably maintained. For this reason, the change of the gravity center position of the flying object 100 resulting from the change of the shape of each frame 20 can be suppressed. As a result, for example, when the flying object 100 is landed on the ground surface and then tilted with respect to the ground surface, the restoring property of the flying object 100 to the original posture can be improved.
  • an example of the elastic member 70 is shown as means for fixing each frame 20 in a bent state.
  • the present invention is not limited to this, and each frame 20 is in a bent state. Any means can be used as long as the potential energy is lower than the potential energy in a state where each frame 20 extends linearly.
  • the landing part 40 of the flying object 100 has an landing surface, and the flying object 100 has a fulcrum where the landing surface of the landing part 40 is a part of the support target.
  • An example of contact (to the landing point) was shown.
  • the landing part 40 included in the flying body 300 in the present embodiment has at least two finger members, and by these at least two finger members, a part of a rod-shaped member as a support target is grasped. By fixing, it is comprised as a gripper which can support the flying body 300 in a part of rod-shaped member.
  • the components other than the landing part 40 of the flying object 300 are substantially the same as the components of the flying object 100 according to the first embodiment, and thus detailed description thereof is omitted.
  • the landing part 40 has a left finger member 41 and a right finger member 42.
  • the left finger member 41 and the right finger member 42 are supported by a common rotating shaft L whose one end extends in the x-axis direction. That is, the left finger member 41 and the right finger member 42 rotate around the common rotation axis L in the opposite directions with respect to the one end portion, that is, in the direction toward and away from each other.
  • the left finger member 41 and the right finger member 42 can grip a member existing therebetween.
  • the landing portion 40 includes two finger members 41 and 42, but may include three or more finger members. Further, the left finger member 41 and the right finger member 42 are supported by a common rotation axis L whose one end is extended in the x-axis direction, and the left finger member 41 and the right finger member 42 are the same rotation axis.
  • L is configured to be detachable from each other with the one end portion as a fulcrum
  • the present invention is not limited to this configuration. That is, it is sufficient that at least two finger members are configured to be detachable from each other with a part thereof as a fulcrum.
  • the left finger member 41 rotates counterclockwise around the x axis
  • the right finger member 42 rotates clockwise around the x axis.
  • the left finger member 41 and the right finger member 42 in the present embodiment correspond to the gripping portion in the exemplary embodiment of the present invention.
  • the left finger member 41 and the right finger member 42 are collectively referred to as gripping portions 41 and 42.
  • the flying object 300 can select a part of the rod-shaped member 400 such as an electric wire or a tree branch as a landing point, that is, a supported fulcrum.
  • a part of the rod-shaped member 400 such as an electric wire or a tree branch as a landing point, that is, a supported fulcrum.
  • the left and right finger members 41 and 42 are opposite to each other around the rotation axis L, that is, left and right
  • the microcomputer unit 50 controls the thruster 30 of each frame 20 to bend each frame 20 downward so that the center of gravity of the flying object 300 is moved by the finger members 41 and 42.
  • the center of gravity of the flying object 300 can be positioned more than a part of the rod-shaped member 400 sandwiched between the finger members 41 and 42 of the rod-shaped member 400. That is, the configuration of the flying object 300 according to the present embodiment enables the flying object 300 to be stably supported with respect to a part of the rod-shaped member 400 such as a line or a branch.
  • the flying object 300 in the present embodiment it is difficult to support the flying object 300 with a conventional flying object structure, such as a part of a support target such as an electric wire or a branch. Enable support.
  • a conventional flying object structure such as a part of a support target such as an electric wire or a branch.
  • the structure It can be supported stably with respect to a part of.
  • a camera is mounted on the flying object 300, it is possible to efficiently perform shooting for investigating the disaster site.
  • rescue supplies on the flying object 300 it is possible to efficiently rescue a rescuer at a disaster site.
  • the flying body 300 includes the left finger member 41 and the right finger member 42 in addition to the left finger member 41 and the right finger member 42 that are gripping portions in the second embodiment. It has a tension member 81 for applying a tensile force for pulling in the closing direction, that is, the direction in which they approach each other.
  • the tension member 81 in this modification illustrates a spring, an electrostatic force or a magnetic force may be used.
  • the opening and closing directions of the left finger member 41 and the right finger member 42 coincide with the facing directions of the pair of frames 20 facing each other in the four frames 20.
  • the flying body 300 in this modification has a wire 82 that pulls to open the left finger member 41 and the right finger member 42 as the pair of opposing frames 20 become substantially straight from the bent state.
  • FIG. 10 an example in which the flying object 300 includes two wires 82 is illustrated.
  • One wire 82 connects the left finger member 41 and the tip of the frame 20 close to the left finger member 41 in the pair of opposed frames 20, and the other wire 82 is connected to the right finger member 42 and the opposed surface. The tip of the frame 20 close to the right finger member 42 in the pair of frames 20 is connected.
  • the left and right finger members 41 and 42 are closed by the tension member 81 when the opposed pair of frames 20 are bent by the control of the microcomputer unit 50. Then, when the pair of opposed frames 20 are substantially linear under the control of the microcomputer unit 50, the left and right finger members 41 and 42 are pulled by the wire 82 and opened.
  • the tension member 81 and the wire 82 correspond to the first connecting portion in the exemplary embodiment of the present invention.
  • the gripping portions 41 and 42 can be opened and closed by the shape change of the pair of opposed frames 20 based on the control of the microcomputer unit 50.
  • opening and closing it is possible to grip a part of the support target and to release the part of the support target.
  • the flying object 300 according to the present modification can reliably grasp the support target without providing an independent closing mechanism for opening and closing the grasping portions 41 and 42 with respect to the grasping portions 41 and 42. Can do.
  • the 1st connection part showed the example comprised by the tension member 81 and the wire 82, it is not limited to this.
  • the gripping portions 41 and 42 are opened, and when the pair of opposed frames 20 are bent, the gripping portions 41 and 42 are closed.
  • the first connecting portion may be configured in any manner.
  • the landing part 40 of the flying body 300 has a coil 43 formed by being wound around the right finger member 42 as shown in FIG.
  • the left finger member 41 and the right finger member 42 are each made of a magnetic material.
  • the structure except the landing part 40 is the same as that of 1st Embodiment or 2nd Embodiment, detailed description is abbreviate
  • the flying object 300 is supported by a part of the bar-shaped member 400 by sandwiching a part of the bar-shaped member 400 by the left and right finger members 41 and 42 of the landing part 40.
  • the left finger member 41 and the right finger member 42 form an annular conductor path when the left finger member 41 and the right finger member 42 are closed. It is configured as follows. Since the left finger member 41 and the right finger member 42 are made of a magnetic material, when the rod-shaped member 400 is an electric wire, the conductor path based on the left and right finger members 41 and 42 is caused by the electric wire flowing through the conductor path. Thus, it can be a magnetic path of magnetic field lines generated.
  • the flying object 300 can charge the battery 60 by landing on the electric wire.
  • the flying object 500 includes a foldable solar panel 90.
  • the solar panel 90 is fixed to the base 10 such that the light receiving surface faces the positive direction of the z axis.
  • the solar panel 90 has a plurality of panel portions 91 that receive light and are used for power generation, and a hinge portion 92 that connects the plurality of panel portions 91 to each other.
  • the solar panel 90 is closed along the y axis so that all of the panel portions 91 are deployed along the y axis so as to be along the xy plane, for example, and the adjacent panel portions 91 are opposed to each other. Transition between storage states is possible.
  • the solar panel 90 shown in FIG. 12 has shown the accommodation state
  • the solar panel 90 shown in FIG. 13 has shown the unfolded state. Since elements other than the solar panel 90 are the same as those in the first embodiment, a detailed description thereof will be omitted.
  • the deployment and storage directions (that is, the y-axis direction) of the solar panel 90 coincide with the opposing directions of the pair of opposing frames 20 in the four frames 20.
  • the flying object 500 in the present embodiment is, for example, a first for causing the solar panel 90 to transition to the deployed state or the stored state in conjunction with the shape change of the pair of opposed frames 20.
  • a second wire 93 connects one end of the pair of opposed frames 20 and a part of the solar panel 90.
  • the second wire 93 connects the other tip of the opposed pair of frames 20 to a part of the solar panel 90.
  • the first wire 93 in the present embodiment connects one end of the pair of opposed frames 20 and a part of the hinge portion 92 in the solar panel 90.
  • the second wire 93 connects the other tip of the pair of opposed frames 20 to the other part of the hinge portion 92 of the solar panel 90.
  • the first and second wires 93 correspond to the second connecting portion in the exemplary embodiment of the present invention.
  • each frame 20 is substantially linear by the control of the microcomputer unit 50, so that the hinge unit 92 is connected to the first and second wires 93 by y A force is received in the axial direction in which the solar panel 90 is closed. For this reason, the solar panel 90 will be in a stowed state at the time of the flight of the flying body 50 in which each frame 20 is substantially linear.
  • each frame 20 bends in the negative z-axis direction under the control of the microcomputer unit 50. Therefore, the hinge part 92 has the negative z-axis direction and the first and second directions.
  • the hinges 92 to which the wires 93 are connected are subjected to a tensile force in a direction in which they are separated. Thereby, the solar panel 90 will be in an expansion
  • the flying object 500 is solarized by bending each frame 20 in a state where the flying object 500 has landed on the landing point 200 which is a part of the support target and is supported with the landing point 200 as a fulcrum.
  • Panel 90 can be deployed.
  • the deployed solar panel 90 can generate electric energy by receiving light through the panel portion, supply the generated electric energy to the battery 60, and charge the battery 60.
  • the 2nd connection part showed the example comprised by the 1st and 2nd wire 93, it is not limited to this.
  • the second connecting portion when the pair of frames 20 facing each other along the deployment and storage directions of the solar panel 90 are in a substantially straight state, the second connecting portion is in a deployed state in which the solar panel 90 is opened. In the bent state, the solar panel 90 may be configured to be in a closed storage state.
  • the flying object 600 in the present embodiment, two frames 20 extend from the base body 10.
  • the flying object 600 includes a second frame 22 that extends in the positive direction of the x axis from the second side surface along the y axis of the base 10, and a second frame of the base 10.
  • the fourth frame 24 extends in the opposite direction (the negative direction of the x axis) from the second frame 22 along the x axis from the fourth side surface facing the side surface.
  • the flying body 60 has a configuration in which the first frame 21 and the third frame 23 are eliminated from the first embodiment.
  • each frame 20 has a first state extending substantially linearly facing the base 10 by the thrust generated by the corresponding thruster 30, and the thrust by the corresponding thruster 30. It is possible to freely change between the second state in which the zigzag is bent in the negative direction of the z-axis in a state where no is generated.
  • an auxiliary frame 25 extending in the y-axis direction is fixed to the tip of the second frame 22, and an auxiliary frame 26 extending in the y-axis direction is fixed to the tip of the fourth frame 24.
  • the middle point of the auxiliary frame 25 is connected to the tip of the second frame 22, and the middle point of the auxiliary frame 26 is connected to the tip of the fourth frame 24.
  • Thrusters 35 and 36 are fixed to both ends of the auxiliary frame 25, respectively.
  • thrusters 37 and 38 are fixed to both ends of the auxiliary frame 26, respectively.
  • the four thrusters 35 to 38 are collectively referred to as a thruster 30.
  • the thruster 30 is arranged so that the thrust is directed in the positive direction of the z-axis.
  • the possibility of interference between the flying object 600 and the landing point (fulcrum) of the support target can be further reduced.
  • the flying object 300 described in the second embodiment lands on a rod-like member 400 such as an electric wire extending in the y-axis direction
  • the first frame 21 and the third frame 23 extending in the y-axis direction are bent, so that the first There is a possibility that the frame 21 and the third frame 23 and the rod-shaped member 400 interfere with each other.
  • the flying object 600 in the present embodiment since the frame 20 extending in the y-axis direction does not exist, the rod-shaped member 400 and the frame 20 do not interfere with each other. Therefore, the possibility of interference with the rod-shaped member 400 can be reduced without changing the total number of the thrusters 30 as compared with the flying bodies 100 and 300 according to the first and second embodiments, for example.
  • the microcomputer unit 50 removes from the thrusters 30 of all the frames 20. It is also possible to stop the generation of thrust. In this case, as shown in FIG. 15, each frame 20 hangs down in the longitudinal direction of the projection P, and the thruster 30 at the tip functions as a weight. It is supported stably.
  • the microcomputer unit 50 extends each frame 20 in a substantially linear shape so as to face the base body 10 by controlling the magnitude and direction of the thrust based on the corresponding thruster 30.
  • the shape is freely changeable between the first state and the second state that hangs down in the negative z-axis direction when no thrust is generated by the corresponding thruster 30.
  • the present invention is not limited to this configuration.
  • each frame 20 in the microcomputer unit 50 can be configured to be bent in the positive direction of the z-axis by a thrust generated by the corresponding thruster 30 based on the control of the microcomputer unit 50.
  • This configuration can be easily realized, for example, by removing the interference structure in the link structure of each frame 20 shown in FIGS. 3A to 3E. That is, the microcomputer unit 50 can independently and freely change the shape of each arm 20 by controlling the magnitude and direction of the thrust generated by the corresponding thruster 30 in each frame 20.
  • the microcomputer unit 50 increases the thrust of the corresponding frame 20 by increasing the rotation speed of the rotor 30 a of each thruster 30, thereby changing each frame 20 from the linear shape to the z-axis. Can be bent in the positive direction.
  • the upper surface of the microcomputer unit 50 of the flying object 100 is brought into contact with the lower end of the protruding object Q protruding downward from the ceiling or the like, so that the flying object 100 is The lower end of Q can be supported as a fulcrum SP.
  • the center of gravity of the entire flying object 100 is positioned above the fulcrum SP with which the microcomputer unit 50 contacts from the center of the base body 10 that is the original center of gravity position.
  • the gravity of the flying object 100 and the upward thrust of each frame 20 can be balanced, and the flying object 100 can be stably supported at the lower end (fulcrum) SP of the protrusion Q.
  • FIG. 17 is a diagram illustrating an aircraft 100A according to a modification of the second embodiment.
  • the left finger member 41 and the right finger member 42 coincide with the opposing direction of a pair of opposing frames 20 (for example, 21 and 23) in the four frames 20.
  • the left finger member 41 and the right finger member 42 are configured to be rotatable so as to be separated from each other with one end portion as a fulcrum.
  • one end portions of the left finger member 41 and the right finger member 42 are respectively connected to one end portion of the wire 82.
  • the other end of the wire 82 connected to the left finger member 41 connects the tip of the frame 21 close to the left finger member 41 in the pair of opposed frames 21 and 23.
  • the other end of the wire 82 connected to the right finger member 42 connects the tip of the frame 23 near the right finger member 42 in the pair of opposed frames 21 and 23. Further, one end of the left finger member 41 and one end of the right finger member 42 are connected by an elastic member 81 such as a spring, and the other end of the left finger member 41 and the other end of the right finger member 42 are mutually connected. It is energized in the closing direction, that is, the direction approaching each other.
  • one end of the left and right finger members 41 and 42 is pulled by the wire 82 in a state where all the frames 21 to 24 are maintained in a straight line by the control of the microcomputer unit 50.
  • the other end portions of the left and right finger members 41 and 42 move in a direction approaching each other, that is, the left and right finger members 41 and 42 are closed, whereby the object M can be gripped.
  • the flying object 100 can fly to a desired location while holding the object M such as a material by the frames 21 and 23, for example.
  • the microcomputer unit 50 reduces the thrust of the frames 21 and 23 holding the supplies, thereby causing the left and right finger members 41 and 42 to be reduced. It is also possible to drop the object M gripped in the disaster place.
  • the flying object 100A according to this modification can use the thrust generated by the thruster 30 of each frame 20 as a gripping force that is used for purposes other than the thrust that propels the flying object 100A.
  • the flying body according to each embodiment and each modification of the present invention is very narrower than the base 10, for example, is stably supported even with respect to the tip of a projection, etc. It can be used for various purposes such as transportation of goods at disaster sites and logistics sites.
  • the pair of frames 21 and 23 are frames for gripping the object M
  • the other frames 22 and 24 are frames for flight.
  • the present invention is not limited to this configuration.
  • a part of the frames may be used for gripping an object and the remaining frames may be used for flight.
  • the shape of the finger member connected to the pair of frames, that is, the shape of the gripping portion is not limited to the above finger shape, and may be any shape that can grip an object, such as a flexible frame shape, for example. Good.
  • the flying object 100 has one surface of the dome-shaped object DO that the landing part 40 contacts when landing on the dome-shaped object DO, for example.
  • the part P1 is supported as a fulcrum.
  • the landing stability and support stability of the flying object 100 with respect to the dome-shaped object DO can be improved.
  • the flying object 100 is bent toward the dome-shaped object DO under the control of the microcomputer unit 50 in a state where the landing part 40 is floated with respect to the surface of the dome-shaped object DO.
  • It can be configured such that a part P2 of the surface of the dome-shaped object DO with which a part of the thruster 30 (for example, the motor 30b) in each frame 20 comes into contact is supported. Even in this configuration, the landing stability and support stability of the flying object 100 with respect to the dome-shaped object DO can be improved.
  • the microcomputer unit 50 can independently and freely change the shape of each arm 20 by controlling the magnitude and direction of the thrust generated by the corresponding thruster 30 in each frame 20. it can. For this reason, for example, as shown in FIG. 20, the flying object 100 can be stably landed and supported even on a place CL having a vertical or nearly vertical inclination such as a cliff. . That is, under the control of the microcomputer unit 50, for example, a part of the thruster 30 (for example, the motor 30b) in one of the pair of frames 21 and 23 is supported with a part CL1 of the horizontal surface at the place CL as a fulcrum. Is done.
  • the thrust of the thruster 30 in the other frame 23 is reduced (for example, zero), and the other frame 23 is suspended along the inclined surface of the location CL, thereby flying.
  • the body 100 is stably supported with respect to the place CL as described above.
  • the flying object 100 according to each embodiment and each modified example all of the first frame 21 to the fourth frame 24 are configured to be bendable.
  • the present invention is not limited to this configuration.
  • the flying object 100 according to each embodiment and each modification may be configured so that a part of at least one frame 20 of the plurality of arm-shaped frames 20 has flexibility. That is, even if configured in this way, the gravity center position of the flying object 100 can be freely changed by bending the at least one frame 20 having flexibility under the control of the microcomputer unit 50. This can contribute to the stable support of the body 100.
  • each frame 20 is configured by a plurality of links 20A connected to each other that function as a plurality of bendable joints, but the present invention is limited to this configuration. It is not a thing. That is, at least one frame 20 according to the present invention is required to have at least a part of flexibility, and may have at least one joint, or may be configured by an elastic member that bends freely. It may be.
  • the configuration in which the solar panel 90 is added to the flying object 100 of the first embodiment has been described.
  • the landing object 40 includes the gripping parts 41 and 42, and the flying object 300 of the second embodiment.
  • a configuration in which a solar panel 90 is added may be used.
  • an example of the elastic member 70 in particular, a spring is shown as means for fixing each frame 20 in a bent state.
  • the present invention is not limited to this, and each frame 20 is in a bent state. Any means can be used as long as the potential energy is lower than the potential energy in a state where each frame 20 extends linearly.
  • the first connecting portion is configured to be in an open state in which the grip portions 41 and 42 are opened when the frame 20 is substantially linear, and in a closed state in which the grip portions 41 and 42 are closed when the frame 20 is bent. It should be done.
  • the second connecting portion may be configured so that the solar panel 90 is opened when the frame 20 is substantially linear, and the solar panel 90 is closed when the frame 20 is bent.
  • the flying object 100 is configured as a so-called quadcopter mainly having four thrusters 30, but the number of thrusters 30 is not limited.
  • the present invention can also be applied to twin twin copters and six hexacopters.
  • the thruster 30 that generates the thrust by rotating the rotor 30a has been described as an example.
  • the thrust generation means is not limited to the rotor system, and a ducted fan or a rocket engine is adopted. You can also
  • the method in which one rotor 30a rotates with respect to one rotation shaft of the motor unit 30b is shown as an example. It is not limited to.
  • a coaxial inversion type thruster 30 in which two rotors 30a exist on one rotating shaft of the motor unit 30b and rotate reversely to each other may be employed. According to this, since the influence of the counter torque per one thruster 30 can be suppressed, the stability of the attitude of the flying object 100 during hovering of the flying object 100 can be improved.

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
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  • Toys (AREA)

Abstract

L'invention concerne un corps volant qui comprend : une base ; de multiples cadres qui s'étendent depuis la base ; de multiples propulseurs qui sont respectivement disposés sur les multiples cadres tout en étant agencés dans le même plan, et qui génèrent des forces de poussée dans la même direction orthogonale au plan lorsque le corps volant est en vol ; une section d'atterrissage qui est fixée à la base et qui peut entrer en contact avec le sol lorsque le corps volant atterrit sur un lieu d'atterrissage ; une partie de mesure d'inertie pour détecter la posture du corps volant ; et une partie de commande pour commander les propulseurs respectifs sur la base de la posture du corps volant détectée par la partie de mesure d'inertie. En outre, au moins un des multiples cadres est conçu pour fléchir de telle sorte que le propulseur disposé sur ledit cadre est positionné en dessous du plan dans la direction verticale lorsque le corps volant atterrit.
PCT/JP2016/061042 2015-04-03 2016-04-04 Corps volant WO2016159383A1 (fr)

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CN108082459A (zh) * 2016-11-21 2018-05-29 成都天府新区光启未来技术研究院 起落架及飞行器
JP2019123486A (ja) * 2018-01-15 2019-07-25 石川　誠司 ２個以上の回転翼を有する航空機の安定化機構
JP2019147559A (ja) * 2017-11-06 2019-09-05 株式会社エアロネクスト 飛行体及び飛行体の制御方法
JP2020147055A (ja) * 2019-03-11 2020-09-17 株式会社プロドローン 回転翼航空機
JP2020202426A (ja) * 2019-06-06 2020-12-17 株式会社ナイルワークス 受信装置、ドローン
JP7053930B1 (ja) 2021-08-12 2022-04-12 三菱重工業株式会社 マルチコプターシステム
CN114450223A (zh) * 2019-10-16 2022-05-06 株式会社爱隆未来 飞行体
WO2022145331A1 (fr) * 2020-12-29 2022-07-07 株式会社クボタ Machine agricole

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JP2018068471A (ja) * 2016-10-26 2018-05-10 日本工機株式会社 無人浮遊機用の保持装置、無人浮遊機、消火器の交換・装填装置及び自動消火システム
CN108082459A (zh) * 2016-11-21 2018-05-29 成都天府新区光启未来技术研究院 起落架及飞行器
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JP2019147559A (ja) * 2017-11-06 2019-09-05 株式会社エアロネクスト 飛行体及び飛行体の制御方法
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JP2020147055A (ja) * 2019-03-11 2020-09-17 株式会社プロドローン 回転翼航空機
JP2020202426A (ja) * 2019-06-06 2020-12-17 株式会社ナイルワークス 受信装置、ドローン
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CN114450223A (zh) * 2019-10-16 2022-05-06 株式会社爱隆未来 飞行体
WO2022145331A1 (fr) * 2020-12-29 2022-07-07 株式会社クボタ Machine agricole
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