WO2017183551A1 - 無人航空機 - Google Patents
無人航空機 Download PDFInfo
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- WO2017183551A1 WO2017183551A1 PCT/JP2017/015108 JP2017015108W WO2017183551A1 WO 2017183551 A1 WO2017183551 A1 WO 2017183551A1 JP 2017015108 W JP2017015108 W JP 2017015108W WO 2017183551 A1 WO2017183551 A1 WO 2017183551A1
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- WIPO (PCT)
- Prior art keywords
- unmanned aerial
- aerial vehicle
- cargo compartment
- main body
- rotor blades
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/294—Rotors arranged in the UAV body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/22—Other structures integral with fuselages to facilitate loading, e.g. cargo bays, cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/28—Parts of fuselage relatively movable to improve pilots view
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/30—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with provision for reducing drag of inoperative rotor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/56—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement characterised by the control initiating means, e.g. manually actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
-
- 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/293—Foldable or collapsible rotors or rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0045—Fuselages characterised by special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/10—Drag reduction
Definitions
- the present invention relates to an unmanned aerial vehicle.
- the problem to be solved by the present invention is that a large number of airframes can be stored in a space-efficient manner, and the luggage can be safely and stably transported, and the loading and unloading work can be efficiently performed. It is to provide an unmanned aerial vehicle that can be performed automatically.
- an unmanned aerial vehicle of the present invention includes a plurality of rotor blades, and a housing of the unmanned aircraft supports a main body unit in which a cargo compartment that is a hollow portion is integrated, and the rotor blades.
- a housing of the unmanned aircraft supports a main body unit in which a cargo compartment that is a hollow portion is integrated, and the rotor blades.
- Each arm part and each set of the rotor blades supported by the arm part constitutes a retractable rotor blade, and each retractable rotor blade includes one of the retractable rotor blades.
- a part or the whole can be stored in the cargo compartment.
- the unmanned aerial vehicle of this configuration has a cargo compartment integrated with the main body, and can store these arms and rotor blades in the cargo compartment, thereby increasing the number of unmanned aircraft that can be stored in the storage space. .
- the unmanned aerial vehicle of this configuration is previously provided with a cargo compartment, it is not necessary to separately attach a dedicated attachment or the like when carrying the cargo. Also, by securing a large cargo compartment, various numbers, sizes and types of luggage can be transported. Furthermore, since the center of gravity is prevented from being excessively lowered as compared with the configuration in which the luggage is arranged below the aircraft, it is easy to maintain the balance of the aircraft. More specifically, in an unmanned aerial vehicle including a plurality of rotor blades, horizontal position control, movement control, and attitude control are realized by inclining the entire body. Generally, the lower the center of gravity, the more stable the aircraft, but this has the disadvantage that the aircraft is less likely to tilt.
- the other casing can be placed above the casing.
- the unmanned aerial vehicle of this configuration enables the storage space of the unmanned aerial vehicle to be used three-dimensionally as a volume including not only the area but also the height by allowing the casings to be stacked upward. Furthermore, by storing the arms and rotor blades in the cargo compartment, the number of unmanned aircraft that can be stored in the storage space can be maximized.
- each arm portion is supported by the main body portion so that the base end portion, which is the end portion on the main body portion side in the longitudinal direction, is pivotable, and the retractable type with the base end portion as a pivot center. It is preferable that the retractable rotor blade is stored in the cargo compartment or deployed from the cargo compartment by rotating the rotor blade.
- the retractable rotor blade can be stored and deployed simply by rotating the retractable rotor blade around its base end and storing it in the cargo compartment.
- the number of rotor blades that can be mounted by arranging two retractable rotor blades that share the same pivot center of the arm as a unit and shifting their vertical positions (axial direction of the pivot center).
- the maximum lift of the aircraft can be increased, and heavy objects can be transported more stably.
- the two retractable rotor blades constituting the one unit can be deployed at positions that do not overlap each other in the circumferential direction of the main body.
- the unmanned aerial vehicle of this configuration can reduce such lift loss by being able to deploy two retractable rotor blades constituting one unit at positions where they do not overlap each other.
- the cargo compartment has an opening at the top.
- the vehicle further includes one or a plurality of containers that can be attached to and detached from the cargo compartment, and the transported goods are placed in the container and accommodated in the cargo compartment.
- the container has a uniform shape.
- the cargo compartment may be configured to accommodate at least a part of the plurality of retractable rotor blades and the container at the same time.
- Energy efficiency during transportation can be increased by making the number of rotor blades adjustable according to the load capacity.
- a plurality of through-holes communicating with the cargo compartment are formed on the outer peripheral surface of the main body, and each arm is a base that is an end on the main body in the longitudinal direction. An end is inserted into the through hole and supported by the main body, and the arm is further inserted into the through hole by inserting the arm into the through hole, and the arm is removed from the main body. It is good also as a structure by which the said retractable rotary blade is expand
- the retractable rotary blade By sliding the arm part in the longitudinal direction and taking it in and out of the cargo compartment, the retractable rotary blade (arm part) can be easily stored and deployed.
- the rotor blades preferably have blades that can be folded in the circumferential direction.
- the unmanned aircraft can be stored more compactly by storing the arm in the cargo compartment and folding the blade along the outer shape of the main body.
- Each of the retractable rotor blades has two rotor blades that are coaxially arranged vertically, and a plurality of the retractable rotor blades are disposed along the circumferential direction of the main body. It is preferable.
- Each retractable rotor blade is provided with two rotor blades, so that the lift of the unmanned aerial vehicle can be increased and the payload of the unmanned aircraft can be increased.
- the unmanned aerial vehicle according to the present invention, a large number of airframes can be stored in a space-efficient manner, and the load can be safely and stably transported, and the loading and unloading work can be efficiently performed. Can be performed automatically.
- FIG. 1 is an external perspective view of an unmanned aerial vehicle according to an embodiment. It is a block diagram which shows the function structure of the unmanned aerial vehicle concerning embodiment. It is an enlarged view of the part enclosed with the broken line A of FIG. It is an external appearance perspective view which shows a mode that the retractable rotary blade was accommodated in the cargo compartment. It is a top view of the unmanned aerial vehicle of FIG. It is an external appearance perspective view of the unmanned aerial vehicle according to another embodiment. It is a top view which shows the accommodation structure of an arm.
- the multicopter 90 of this embodiment is an example of an unmanned aerial vehicle including a plurality of rotor blades.
- “upper” and “lower” refer to the vertical direction in FIG. 1 and mean a direction parallel to the z-axis direction shown in the coordinate axis display of each figure.
- “horizontal” refers to the xy plane direction in the same coordinate axis display.
- the “circumferential direction” of the multicopter 90 (and the multicopter 96 according to another embodiment) means a circumferential direction along the yaw direction.
- the multi-copter 90 is integrally provided with the cargo compartment 13 in the casing 10, the influence on the balance of the aircraft due to the load is reduced as compared with the configuration in which the luggage is arranged below the aircraft. Yes.
- the lower the center of gravity the more stable the aircraft, but this has the disadvantage that the aircraft is less likely to tilt.
- the load 91 is accommodated in the housing 10, thereby reducing the difficulty of maintaining the balance of the aircraft.
- the multicopter 90 it is possible to achieve so-called containerization by packaging the luggage 91 by using a container 14 of a predetermined size as a packing unit.
- the flight controller FC includes a control device 20 that is a microcontroller.
- the control device 20 includes a CPU 21 that is a central processing unit, a memory 22 that is a storage device such as a ROM and a RAM, and a PWM controller 23 that controls the rotation speed and rotation speed of each motor 41 via the ESC 43.
- the memory 22 of the control device 20 stores a flight control program FCP, which is a program in which a flight control algorithm for controlling the attitude and basic flight operation of the multicopter 90 during flight is installed.
- the flight control program FCP adjusts the number of rotations of each rotor R based on the current position acquired from a sensor or the like according to an instruction from the operator (control terminal 95), and corrects the attitude and position disturbance of the fuselage. Fly 90.
- the operation of the multicopter 90 can be performed by the operator from the control terminal 95.
- parameters such as latitude and longitude, flight altitude, and flight route are registered in advance in the flight control program FCP and autonomously set to the destination. It is also possible to make it fly (hereinafter referred to as “autopilot”).
- autopilot The multicopter 90 according to the present embodiment is basically assumed to fly autonomously toward a predetermined destination by the autopilot.
- the multicopter 90 in this embodiment has an advanced flight control function.
- the unmanned aircraft according to the present invention may be any aircraft that has a cargo compartment and can fly by a plurality of rotor blades.
- an aircraft in which some sensors are omitted from a sensor or the like, or an autopilot function is not provided.
- An unmanned aerial vehicle of the present invention includes an airframe or an airframe that can fly only by manual control.
- the multicopter 90 according to the present embodiment is suitable for carrying luggage outdoors such as detecting latitude and longitude during flight by the GPS receiver 32.
- an unmanned aircraft includes a short-range wireless communication module.
- it is possible to carry the luggage in the facility by specifying the current flight position from Wi-Fi (registered trademark) access points and Bluetooth (registered trademark) Low Low Energy beacons distributed in the facility It is done.
- FIG. 2 is an enlarged view of a portion surrounded by a broken line A in FIG.
- Each set of the arm portion 11 of the multicopter 90 and the blades 42 supported by the arm portion 11 constitutes a retractable rotor blade SR (SR1, SR2).
- SR1, SR2 retractable rotor blade
- the base end part 11a which is the edge part by the side of the main-body part 12 in the longitudinal direction is supported by the main-body part 12 so that rotation is possible.
- a rotor guard 11b that protects the blade 42 is disposed at the distal end that is the end opposite to the base end 11a of each arm 11.
- the rotor guard 11b has an arbitrary configuration and may be omitted. In the present embodiment, the rotor guard 11 b is regarded as a part of the arm portion 11.
- Each retractable rotor blade SR of the present embodiment is arranged with two retractable rotor blades SR1 and SR2 having a common rotation center as a unit. As shown in FIG. 1, the retractable rotor blades SR ⁇ b> 1 and SR ⁇ b> 2 are arranged in four units along the circumferential direction of the main body 12. As described above, the number of rotors R, that is, the number of retractable rotor blades SR, can be appropriately changed on condition that there are a plurality of rotors.
- FIG. 4 is an external perspective view showing a state in which the retractable rotor blade SR of the multicopter 90 is accommodated in the cargo compartment 13.
- slide plates 133 which are plate-like members slidable up and down, are arranged on both side surfaces in the x direction of the coordinate axis display of FIG.
- the slide plate 133 of the present embodiment is manually opened and closed, it may be opened and closed using an actuator such as a servo mechanism.
- the retractable rotor blade SR can be easily stored and deployed by the above configuration.
- FIG. 5 is a plan view of the multicopter 90 of FIG.
- the retractable rotary blades SR ⁇ b> 1 and SR ⁇ b> 2 can be deployed at positions that do not overlap each other in the circumferential direction of the main body 12. More specifically, there is a difference of 90 ° between the deployment angles of the retractable rotor blades SR1 and SR2, and the retractable rotor blade SR1 has a deployment angle that is 90 ° larger than the deployment angle of the retractable rotor blade SR2. have. Accordingly, the blades 42 of the retractable rotor blades SR1 and SR2 are arranged at positions that do not overlap with each other in the circumferential direction of the main body 12.
- the retractable rotary blade SR of the present embodiment is rotatable in the horizontal direction and is stored in the cargo compartment 13 from the side opening 132.
- the storage method of the retractable rotary blade SR in the cargo compartment 13 is based on this. It is not limited. For example, when the retractable rotor blade SR of each unit is configured only by the retractable rotor blade SR1, the retractable rotor blade SR1 is rotated in the vertical direction and stored in the cargo compartment 13 from the upper surface opening 131. Conceivable. Further, the retractable rotary blade SR may be removed and stored in the cargo compartment 13.
- the retractable rotor blade SR of the present embodiment is assumed to be manually stored in the cargo compartment 13 by rotating the retractable rotor blade SR, but this is performed using an actuator such as a servo mechanism. May be.
- the multicopter 90 of the present embodiment is configured so that the cargo 91 can be accommodated in the cargo compartment 13, the cargo compartment 13 can also be used as a storage space dedicated to the retractable rotary blade SR. In that case, the upper surface opening 131 may not be provided.
- the body portion 12 of the multicopter 90 is provided with a skid coupling portion 15 on the upper surface thereof.
- the skid connecting portions 15 are arranged at four corners on the upper surface of the main body portion 12, and the positions of these skid connecting portions 15 correspond to the positions of leg portions (skids) (not shown) of the multicopter 90.
- the skid connecting portion 15 is formed with a recess into which the leg portion is inserted. Since the multicopter 90 according to the present embodiment includes the skid coupling portion 15, when the casings 10 of other multicopters 90 are placed above the multicopter 90, the positioning of these casings 10 becomes easy. In addition, the stability when a plurality of casings 10 are stacked is enhanced.
- the multicopter 90 enables the storage space to be used three-dimensionally as a volume including not only the area but also the height by allowing a plurality of casings 10 to be stacked. . Further, by storing the retractable rotary blade SR in the cargo compartment 13, the number of units that can be stored in the storage space can be maximized.
- the casing 16 of the multicopter 96 is mainly composed of a substantially rectangular parallelepiped box-shaped main body portion 18 and a plurality of arm portions 17 extending radially in the horizontal direction from portions corresponding to the apexes in the circumferential direction of the main body portion 18. It is configured.
- Each arm part 17 consists of two pipe materials arrange
- Two rotors R 1 and R 2 that are coaxially arranged in the vertical direction are attached to the tips of the respective arm portions 17.
- the rotors R 1 and R 2 have blades 45 that can be folded in the circumferential direction.
- Each set of the arm 17 and the supported blade 45 of this embodiment constitutes a retractable rotary blade ER.
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Abstract
Description
図1はマルチコプター90の外観斜視図である。マルチコプター90の筐体10は、主に、略直方体の箱形の本体部12、および本体部12の周方向における各頂点に相当する部位から水平方向に放射状に延びた複数のアーム部11により構成されている。各アーム部11にはそれぞれ、固定ピッチの回転翼であるブレード42を有するローターが支持されている。本体部12の内部には、上部に開口131を有する貨物室13が設けられている。
図2はマルチコプター90の機能構成を示すブロック図である。マルチコプター90の機体には、フライトコントローラ20、複数のローターRおよびこれらローターRの回転を制御するESC43(Electric Speed Controller)、オペレータの操縦端末95と無線通信を行う無線送受信器33、および、これらに電力を供給するバッテリー51が搭載されている。
図2は、図1の破線Aで囲んだ部分の拡大図である。マルチコプター90のアーム部11およびその支持されたブレード42の各組は、それぞれ格納式回転翼SR(SR1,SR2)を構成している。各アーム部11は、その長手方向における本体部12側の端部である基端部11aが、本体部12に回動可能に支持されている。各アーム部11の基端部11aの反対側の端部である先端部には、ブレード42を保護するローターガード11bが配置されている。ローターガード11bは任意の構成であり省略してもよい。本実施形態では、ローターガード11bをアーム部11の一部とみなす。
以下、図6および図7を用いて本発明の他の実施形態について説明する。図6は本発明の他の実施形態にかかる無人航空機であるマルチコプター96の外観斜視図である。図7はマルチコプター96のアーム部17の収容構造を示す平面図である。なお、以下の説明では、先の実施形態と同一または同様の構成については、先の実施形態と同じ符号を付してその詳細な説明を省略する。また、マルチコプター96の基本的な飛行機能は先の実施形態のマルチコプター90と同一であるためその説明を省略する。
Claims (12)
- 複数の回転翼を備える無人航空機であって、
前記無人航空機の筐体は、中空部である貨物室が一体化された本体部と、前記各回転翼を支持する複数のアーム部と、を有し、
前記アーム部および該アーム部に支持された前記回転翼の各組は、それぞれ格納式回転翼を構成しており、
前記各格納式回転翼は、その一部または全体を前記貨物室に格納可能であることを特徴とする無人航空機。 - 前記筐体は、その上方に他の前記筐体を載置可能であることを特徴とする請求項1に記載の無人航空機。
- 前記各アーム部は、その長手方向における前記本体部側の端部である基端部が前記本体部に回動可能に支持されており、
前記基端部を回動中心として前記格納式回転翼を回動させることにより、該格納式回転翼が、前記貨物室に格納または該貨物室から展開されることを特徴とする請求項1に記載の無人航空機。 - 前記各基端部は前記本体部に対して水平方向に回動可能であり、
前記格納式回転翼は、回動中心を共通とする二基を一単位として、前記本体部の周方向に沿って複数単位配置されていることを特徴とする請求項3に記載の無人航空機。 - 前記一単位を構成する二基の前記格納式回転翼は、前記本体部の周方向において互いに重ならない位置に展開可能であることを特徴とする請求項4に記載の無人航空機。
- 前記貨物室はその上部に開口が設けられていることを特徴とする請求項1に記載の無人航空機。
- 前記貨物室への着脱が可能な一または複数のコンテナをさらに有し、
運搬物は前記コンテナに入れられて前記貨物室に収容されることを特徴とする請求項1に記載の無人航空機。 - 前記コンテナは画一的な形状であることを特徴とする請求項7に記載の無人航空機。
- 前記貨物室には、前記複数の格納式回転翼の少なくとも一部と前記コンテナとを同時に収容可能であることを特徴とする請求項7または請求項8に記載の無人航空機。
- 前記本体部の外周面には、前記貨物室に連通された複数の貫通穴が形成されており、
前記各アーム部は、その長手方向における前記本体部側の端部である基端部が前記貫通穴に挿入されて前記本体部に支持されており、
前記アーム部を前記貫通穴にさらに差し込むことで該アーム部が前記貨物室に格納され、前記アーム部を前記本体部から引き出すことで前記格納式回転翼が展開されることを特徴とする請求項1に記載の無人航空機。 - 前記各回転翼は、周方向へ折り畳み可能なブレードを有していることを特徴とする請求項10に記載の無人航空機。
- 前記各格納式回転翼はそれぞれ、上下に同軸配置された二基の前記回転翼を有していることを特徴とする請求項10に記載の無人航空機。
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