WO2018123186A1 - マルチコプタ - Google Patents

マルチコプタ Download PDF

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Publication number
WO2018123186A1
WO2018123186A1 PCT/JP2017/036009 JP2017036009W WO2018123186A1 WO 2018123186 A1 WO2018123186 A1 WO 2018123186A1 JP 2017036009 W JP2017036009 W JP 2017036009W WO 2018123186 A1 WO2018123186 A1 WO 2018123186A1
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WO
WIPO (PCT)
Prior art keywords
rotor
line
rotors
view
plan
Prior art date
Application number
PCT/JP2017/036009
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
大典 平城
正典 吉原
博章 吉山
大祐 松村
友晴 丹羽
隆 四宮
Original Assignee
ヤマハ発動機株式会社
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.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to KR1020197016172A priority Critical patent/KR102164908B1/ko
Priority to CN201780081427.0A priority patent/CN110139799B/zh
Publication of WO2018123186A1 publication Critical patent/WO2018123186A1/ja

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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
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • 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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • 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
    • 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
    • B64U30/24—Coaxial rotors
    • 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
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • 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
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting

Definitions

  • This invention relates to a multi-copter, and more particularly to a multi-copter used for drug distribution or the like.
  • Patent Document 1 An example of this type of prior art is disclosed in Patent Document 1.
  • Patent Document 1 includes a pair of rotor blades (rotors) that rotate in opposite directions to each other and a prime mover that drives the rotor blades, the pair of rotor blades being arranged in parallel on the same plane, and a pair of rotor blades.
  • a flight-type working machine (multi-copter) for radio control in which a prime mover is disposed in the middle lower part is disclosed.
  • the flying work machine further includes a medicine tank, a medicine supply device, and a spray pipe.
  • the spray tube is provided to extend to the left and right below the pair of rotor blades, both the left and right outer ends of the spray tube are closed, and a plurality of nozzle holes run along the left and right sides at predetermined intervals on the lower end surface of the spray tube. Is formed. And the chemical
  • downwash In the spraying of medicines (liquid medicines such as herbicides and agricultural chemicals) using a multicopter as shown in Patent Document 1, the downdraft generated by the rotor (hereinafter referred to as “downwash”) greatly affects the characteristics of the medicine spraying. Specifically, downwash generated by multiple rotors creates asymmetry of wind force (velocity) due to vortices generated from the rotor tip or external wind, depending on the rotation direction and rotation speed of the rotor, and is subject to the field. Unevenness of drug adhesion to objects may occur.
  • the spraying of chemicals with a multi-copter has a small body weight, so the wind of the downwash is weakened and the natural winds make it easier for the chemicals to scatter.
  • the amount of drug attached to the object may be reduced.
  • a main object of the present invention is to provide a multicopter that can suppress the occurrence of uneven drug adhesion to a target object in a field and can secure the amount of drug adhesion to the target object.
  • 4 ⁇ N (N is an integer of 2 or more) rotors that are spaced apart from each other so as to surround the center point in plan view, and each rotor is supported.
  • 4 ⁇ N rotor support portions a main support portion that supports each rotor support portion, and a spraying device that includes a plurality of nozzles for discharging a medicine.
  • 4 ⁇ N rotors are Are arranged symmetrically with respect to the first line extending in the front-rear direction through the center point, including the rotational direction, and the same number of rotors are arranged on both the left and right sides of the first line.
  • the outlet is located below the 4 ⁇ N rotors, and in a plan view on both the left and right sides of the first line, the arc and tangent of the rotation locus of each rotor tip, the rotation axis of the foremost rotor, and the last rotor In a first region formed by a line passing through the rotation axis of Discharge port of each nozzle is provided, Maruchikoputa is provided.
  • N is an integer of 2 or more rotors are arranged to be spaced apart from each other so as to surround the center point in plan view, and extend in the front-rear direction through the center point.
  • the lines are symmetrically arranged with respect to the line including the rotational direction, and the same number of rotors are arranged on both the left and right sides of the first line.
  • the two first areas are downwash strong wind areas, and the downwash itself can be strengthened by using more than eight rotors. Therefore, by providing the discharge port of each nozzle located below the rotor in the first area, it is possible to spread the medicine on the strong downwash from above the field and spray it with a strong pressure, thereby suppressing the scattering of the medicine. Thus, it is possible to secure the amount of the drug attached to the object in the field.
  • the discharge port of each nozzle is provided so as not to overlap the rotation shaft of each rotor.
  • the discharge port of each nozzle so that it does not overlap the rotation axis of each rotor in plan view, i.e., except under the rotation axis of each rotor that does not become the strong wind area of the downwash, the medicine is made strong downwash. Can be sprayed well on top.
  • the discharge port of each nozzle is provided except under the rotor support portion.
  • the discharge port of each nozzle is provided except the lower part of the rotor support part which does not become the strong wind area of the down wash, the medicine can be satisfactorily sprayed on the strong down wash.
  • it further includes 4 ⁇ N drive sources for driving each rotor, the drive source and the rotor are provided on the same axis, and the discharge port of each nozzle is provided except under the drive source.
  • the discharge ports of the respective nozzles are provided in a second region formed by connecting the rotation shafts of the respective rotors in plan view on both the left and right sides of the first line. Since the second area in the first area is an area where downwash is stronger, by providing the discharge ports of the respective nozzles in the second area, the medicine can be sprayed on the stronger downwash. Further, it is possible to further ensure the adhesion amount of the drug to the object in the field by suppressing the scattering of the drug.
  • the 4 ⁇ N rotor includes four single rotors and two sets of coaxial counter-rotating rotors.
  • the four single rotors and the two sets of coaxial counter-rotating rotors are respectively Are arranged so as to form a hexagon when they are connected to each other, and in a plan view, the single rotor is defined by a first line and a second line extending in the left-right direction so as to be orthogonal to the first line
  • the two coaxial contra-rotating rotors are arranged on the second line in plan view.
  • the discharge port of each nozzle is disposed on the second line. Since the area on the second line is a stronger area of downwash, the discharge port of each nozzle is provided on the second line, so that the medicine can be sprayed on the stronger downwash.
  • the discharge port of each nozzle is disposed within the rotation locus of each coaxial counter rotating rotor. Since the rotation trajectory of each coaxial counter-rotating rotor is an area where downwash is stronger, the discharge port of each nozzle is provided within the rotational trajectory of each coaxial counter-rotating rotor, thereby further reducing the drug. Can be sprayed on a wash.
  • the distance from the rotation axis of the coaxial counter rotating rotor to the first line is longer than the distance from the rotation axis of the single rotor to the center point.
  • the 4 ⁇ N rotor includes eight single rotors, and in the plan view, the eight single rotors are arranged so that an octagon is formed when the respective rotation centers are connected, and in the plan view.
  • Two single rotors are arranged in a region defined by the first line and the second line extending in the left-right direction so as to be orthogonal to the first line.
  • the discharge ports of the nozzles are formed in the third region in plan view on both the left and right sides of the first line. Since the third region in the first region, in which the second region and the third region overlap, is an area where downwash is stronger, the discharge port of each nozzle is connected to the third region in the first region. In particular, by providing the area where the second area and the third area overlap, it is possible to spread the medicine on a stronger downwash.
  • the discharge ports of the nozzles are arranged other than on the second line, and the discharge ports of the nozzles are provided so that the direction and / or position of the nozzles can be changed between forward travel and reverse travel.
  • the rear region has a stronger downwash than the front region with respect to the traveling direction of the multicopter.
  • the 4 ⁇ N rotors include a single rotor, and the single rotor is provided near the lower portion of the drive source.
  • the single rotor is provided near the lower part of the drive source, it is easy to arrange the nozzle so that the nozzle discharge port is close to the single rotor, and the medicine ejected from the nozzle discharge port can be washed down before spreading. It becomes easy to put.
  • a coaxial counter rotating rotor with strong downwash it is possible to increase the amount of the drug attached to the object in the field due to a synergistic effect with the coaxial counter rotating rotor.
  • the four sets of coaxial counter rotating rotors that are spaced apart from each other so as to surround the center point in plan view, eight rotor support portions that respectively support the respective coaxial counter rotating rotors, and each rotor A main support part that supports the support part, and a spraying device that includes a plurality of nozzles for discharging a medicine.
  • the four sets of coaxial counter rotating rotors extend in the front-rear direction through the center point. Arranged symmetrically with respect to the first line, including the rotational direction, and arranged such that a quadrangle is formed when the respective rotation centers are connected.
  • the present invention by using four sets of coaxial counter rotating rotors, it is possible to generate a strong down wash and spray the medicine on the strong down wash.
  • the fourth region is an area with a strong downwash, by providing the discharge port of each nozzle in the fourth region, the medicine can be sprayed on the strong downwash.
  • the discharge ports of the plurality of nozzles are arranged so as to be line symmetric with respect to the first line.
  • medical agent with respect to the target object of a field can further be suppressed.
  • the discharge port of each nozzle is provided in a fifth region where the fourth region and the rotation locus of each coaxial counter rotating rotor overlap in plan view. Since the fifth region is an area where the downwash is stronger, by providing the discharge port of each nozzle in the fifth region, the medicine can be sprayed on the stronger downwash.
  • two or more nozzle outlets are arranged on both front and rear sides of the second line so as to be line-symmetric with respect to the second line, and the plurality of nozzles are rearward with respect to the traveling direction of the multicopter.
  • the medicine can be discharged from the nozzle on the side.
  • the rear area has a stronger downwash than the front area with respect to the traveling direction of the multicopter. Therefore, when a total of four or more nozzles are arranged in a multi-copter that sprays medicines when moving forward and backward without changing the front-rear direction in the sky above the farm field, the nozzle outlet is set to the second line.
  • Two or more nozzles can be arranged on both the front and rear sides of the second line so as to be symmetrical with each other, and a plurality of nozzles can be provided so that the medicine can be discharged from the nozzles on the rear side with respect to the traveling direction of the multicopter. . Thereby, it can switch so that a medicine may be ejected from the nozzle on the back side with respect to the advancing direction, and the medicine can be put on a strong downwash and sprayed in the same way at the time of forward movement and backward movement.
  • the present invention it is possible to suppress the occurrence of uneven drug adhesion to the object in the field and to secure the amount of drug adhesion to the object.
  • FIG. 1 is a perspective view showing a multicopter according to an embodiment of the present invention.
  • the multicopter which concerns on embodiment of FIG. 1 is shown, (a) is a top view solution figure, (b) is a front view solution figure, (c) is a side view solution figure.
  • FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 0 cm below a rotor (rotor lower surface) by the downwash of the multicopter which concerns on embodiment of FIG.
  • FIG. 10 It is an illustration figure which shows the flow-velocity distribution in the height of 90 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is a perspective view which shows the multicopter which concerns on other embodiment of this invention.
  • the multicopter which concerns on embodiment of FIG. 10 is shown, (a) is a top view solution figure, (b) is a front view solution figure, (c) is a side view solution figure.
  • FIG. 10 It is an illustration figure which shows the flow-velocity distribution in the height of 90 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is a perspective view which shows the multicopter which concerns on other embodiment of this invention.
  • the multicopter which concerns on embodiment of FIG. 10 is shown, (a) is
  • FIG. 20 is an illustrative view showing a rotation direction of a rotor of the multicopter according to the embodiment of FIG.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 0 cm below the rotor (rotor lower surface) due to a multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 10 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 30 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 0 cm below the rotor (rotor lower surface) due to a multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 10 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 50 cm below the rotor by a multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 70 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19.
  • FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 90 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19.
  • a multicopter 10 includes a main support portion 12.
  • the main support portion 12 includes a disc-shaped hub portion 14 and six columnar spoke portions 16, 18, 20, 22, 24, and 26.
  • the spoke portions 16 to 26 are provided at substantially equal intervals (approximately 60 ° intervals) in the circumferential direction on the side surface of the hub portion 14 and are formed to extend radially.
  • Drive sources 28 and 30 are provided below the tip portions of the spoke portions 16 and 18, respectively, and drive sources 32a and 32b are provided above and below the tip portion of the spoke portion 20, respectively.
  • Drive sources 34 and 36 are provided below the distal end portion of 24, and drive sources 38a and 38b are provided above and below the distal end portion of the spoke portion 26, respectively.
  • motors are used as the drive sources 28, 30, 32a, 32b, 34, 36, 38a and 38b.
  • Drive sources 28 and 30 drive single rotor units 40 and 42, respectively, drive sources 32a and 32b drive coaxial counter rotating rotor unit 44, and drive sources 34 and 36 respectively single rotor units 46 and 48. , And the drive sources 38 a and 38 b drive the coaxial counter rotating rotor unit 50.
  • Each of the single rotor units 40, 42, 46 and 48 including one rotor includes rotor support portions 40a, 42a, 46a and 48a and single rotors 40b, 42b, 46b and 48b.
  • the rotor support portions 40a, 42a, 46a and 48a extend in the vertical direction below the tip portions of the spoke portions 16, 18, 22 and 24, and are rotationally driven by the drive sources 28, 30, 34 and 36.
  • the single rotors 40b, 42b, 46b and 48b are respectively supported by the lower end portions of the rotor support portions 40a, 42a, 46a and 48a and rotate together with the rotor support portions 40a, 42a, 46a and 48a.
  • the single rotors 40b, 42b, 46b and 48b are provided coaxially with the drive sources 28, 30, 34 and 36 in the vicinity of the lower portions of the drive sources 28, 30, 34 and 36, respectively.
  • the rotor support portions 40a, 42a, 46a, and 48a, and rotor support portions 44a, 44b, 50a, and 50b, which will be described later, also function as rotating shafts of the rotor to be supported.
  • the coaxial counter-rotating rotor unit 44 including two rotors includes a pair of rotor support portions 44a and 44b and a pair of coaxial counter-rotating rotors 44c and 44d.
  • the rotor support portion 44a extends in the vertical direction above the tip portion of the spoke portion 20, and is rotationally driven by the drive source 32a.
  • the coaxial counter rotating rotor 44c is supported by the upper end portion of the rotor support portion 44a and rotates together with the rotor support portion 44a.
  • the rotor support portion 44b extends in the vertical direction below the tip portion of the spoke portion 20, and is rotationally driven by the drive source 32b.
  • the coaxial counter rotating rotor 44d is supported by the lower end portion of the rotor support portion 44b and rotates together with the rotor support portion 44b.
  • the coaxial counter-rotating rotor unit 50 including two rotors includes a set of rotor support portions 50a and 50b and a set of coaxial counter-rotating rotors 50c and 50d.
  • the rotor support portion 50a extends in the vertical direction above the tip portion of the spoke portion 26, and is rotationally driven by the drive source 38a.
  • the coaxial counter rotating rotor 50c is supported by the upper end of the rotor support 50a and rotates together with the rotor support 50a.
  • the rotor support portion 50b extends in the vertical direction below the tip portion of the spoke portion 26 and is driven to rotate by the drive source 38b.
  • the coaxial counter rotating rotor 50d is supported by the lower end portion of the rotor support portion 50b and rotates together with the rotor support portion 50b.
  • the drive sources 32a, 32b, 38a and 38b are provided coaxially with the coaxial contra-rotating rotors 44c, 44d, 50c and 50d, respectively.
  • the rotor support portions 40a, 42a, 44a, 44b, 46a, 48a, 50a and 50b are supported by the main support portion 12 via the drive sources 28, 30, 32a, 32b, 34, 36, 38a and 38b, respectively. Is done.
  • the single rotors 40b, 42b, 46b, and 48b and the coaxial counter rotating rotors 44c, 44d, 50c, and 50d are driven by the drive sources 28, 30, 34, 36, 32a, 32b, 38a, and 38b, respectively.
  • the shapes and dimensions of the single rotors 40b, 42b, 46b, 48b and the coaxial counter rotating rotors 44c, 44d, 50c, 50d are the same.
  • the multicopter 10 includes four single rotors 40b, 42b, 46b, and 48b and two sets of coaxial counter rotating rotors 44c, 44d, 50c, and 50d, and is configured as a so-called hexacopter.
  • these eight rotors are spaced apart from each other so as to surround center point P1, and extend in the front-rear direction through center point P1.
  • the lines L1 are arranged symmetrically with respect to the rotation direction including the rotation direction, and the same number of rotors are arranged on the left and right sides of the first line L1.
  • the four single rotors 40b, 42b, 46b and 48b and the two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d have hexagonal shapes when the respective rotation centers are connected. Arranged to form.
  • the center point P1 is the center of gravity of the hexagon.
  • the single rotors 40b, 42b, 46b, and 48b are arranged one by one in four regions defined by the first line L1 and the second line L2 extending in the left-right direction so as to be orthogonal to the first line L1.
  • the two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d are disposed on the second line L2.
  • the second line L2 passes through the center point P1 in plan view. More specifically, in plan view, the respective rotation axes of the foremost single rotors 40b and 42b are arranged symmetrically with respect to the first line L1 in front of the second line L2, and the rearmost single rotor The rotational axes of 46b and 48b are arranged symmetrically with respect to the first line L1 behind the second line L2, and the respective rotational axes of the two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d. Is arranged on the second line L2.
  • the single rotors 40b and 46b and the coaxial counter rotating rotors 44d and 50c are rotated counterclockwise in a plan view, and the single rotors 42b and 48b and the coaxial counter rotating rotor 44c, 50d is rotated clockwise. Therefore, with respect to the single rotors 40b, 42b, 46b, and 48b, the rotors that are symmetric with respect to the center point P1 of the multicopter 10 have the same rotation direction.
  • the multicopter 10 includes a spraying device 52 for spraying a medicine on a field, an antenna 54 for transmitting and receiving a radio signal, and a control device (not shown) for controlling the operation of the multicopter 10.
  • medical agent said here means what is spread
  • the antenna 54 extends upward from the central portion of the main support portion 12, and the control device is accommodated in the main support portion 12.
  • the spraying device 52 includes a tank 56 for storing a medicine, a plurality of arm-shaped pipes 58 and 60, a plurality of nozzles 62 and 64 for discharging the medicine, and a medicine in the tank 56 to each nozzle 62 and 64.
  • a pump 66 for pumping and is provided below the main support portion 12.
  • the tank 56 is supported by a support portion 68 that extends downward from the central portion of the hub portion 14.
  • the pipes 58 and 60 are each formed in a substantially L shape, and extend radially from the side surface of the tank 56 and in the opposite directions along the second line L2.
  • the nozzles 62 and 64 are provided at the tip portions of the pipes 58 and 60, respectively.
  • the pump 66 is provided on the side surface of the tank 56. As shown in FIG. 2, the discharge ports 62a and 64a of the nozzles 62 and 64 are positioned on the second line L2 in a plan view and are positioned below the eight rotors in a side view. Therefore, the medicine stored in the tank 56 is discharged downward from the discharge ports 62a and 64a of the nozzles 62 and 64 through the pipes 58 and 60.
  • FIGS. 4 to 9 show the analysis results of the flow velocity distribution by the downwash of the multicopter 10.
  • 4 shows a height of 0 cm below the rotor (rotor lower surface)
  • FIG. 5 shows a height of 10 cm below the rotor
  • FIG. 6 shows a height of 30 cm below the rotor
  • FIG. 7 shows a height of 50 cm below the rotor
  • FIG. Fig. 9 shows the wind speed distribution in the downward direction at a height of 70 cm below the rotor
  • Fig. 9 at a height of 90 cm below the rotor.
  • the rotor here is a single rotor 42b.
  • the multicopter 10 was flying forward and in the horizontal direction at a flight speed of 20 km / h. 4 to 9
  • the magnitude of the wind speed in the downward direction is indicated by black and white shades, and the wind speed increases, that is, the downwash becomes stronger as the color becomes darker.
  • FIGS. 13 to 18 and FIGS. 22 to 27 described later.
  • FIGS. In plan view on the left side of the first line L1, the arcs of the rotation trajectories S1, S2, S3 at the tips of the single rotor 42b, the coaxial counter rotating rotor 44c (44d), and the single rotor 46b are represented as arcs T1, T2, T3, respectively.
  • a common tangent line between the rotation trajectories S1 and S2 is a tangent line U1
  • a common tangent line between the rotation trajectories S2 and S3 is a tangent line U2.
  • a straight line passing through the rotation axis of the foremost single rotor 42b and the rotation axis of the rearmost single rotor 46b is defined as a line U3.
  • a first region R1 (shaded portion in FIG. 3) formed by arcs T1, T2, T3, tangents U1, U2, and line U3 is a strong wind area with strong downwash.
  • the arcs of the rotation trajectories S4, S5, and S6 at the tips of the single rotor 40b, the coaxial counter rotating rotor 50c (50d), and the single rotor 48b are represented by arcs T4 and T5. , T6.
  • a common tangent line between the rotation trajectories S4 and S5 is a tangent line U4, and a common tangent line between the rotation trajectories S5 and S6 is a tangent line U5.
  • a straight line passing through the rotation axis of the foremost single rotor 40b and the rotation axis of the rearmost single rotor 48b is defined as a line U6.
  • a first region R2 (shaded portion in FIG. 3) formed by the arcs T4, T5, T6, the tangent lines U4, U5, and the line U6 is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the first regions R1 and R2, respectively, in a plan view.
  • the rotation axes of the single rotor 42b, the coaxial counter rotating rotor 44c (44d) and the single rotor 46b are connected in plan view.
  • the second region R3 (shaded area in FIG. 3) is a strong wind area with stronger downwash.
  • the second region R4 in FIG. 3) formed by connecting the respective rotation axes of the single rotor 40b, the coaxial counter rotating rotor 50c (50d), and the single rotor 48b in plan view.
  • the shaded area is a strong wind area with stronger downwash. 4 to 9, the downwash located in the second regions R3 and R4 in FIG.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the second regions R3 and R4, respectively, in plan view.
  • the inside of the rotation trajectory S2 (see FIG. 3) of the coaxial counter rotating rotor 44c (44d) in a plan view on the left side of the first line L1 is a strong wind area with strong downwash.
  • the inside of the rotation locus S5 (see FIG. 3) of the coaxial counter rotating rotor 50c (50d) is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the rotation trajectories S2 and S5, respectively, in a plan view.
  • the straight line passing through the rotation axis of the coaxial counter rotating rotor 44c (44d) and the rotation axis of the coaxial counter rotating rotor 50c (50d) in the plan view is down. It becomes a strong wind area with stronger wash. In other words, on the second line L2 in a plan view, it is a strong wind area with a stronger downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are respectively provided on the second line L2 (particularly in the first regions R1 and R2) in plan view.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 do not overlap the positions of the rotation axes of the single rotors 40b, 42b, 46b, and 48b and the coaxial counter rotating rotors 44c, 44d, 50c, and 50d in a plan view. That is, it is preferable to be provided except under the rotor support portions 40a, 42a, 46a, 48a, 44a, 44b, 50a, 50b. Moreover, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided except under the drive sources 28, 30, 34, 36, 32a, 32b, 38a, and 38b.
  • discharge ports 62a and 64a of the nozzles 62 and 64 are arranged so as to be line-symmetric with respect to the first line L1.
  • the discharge port 62a of the nozzle 62 is located within the rotation locus S2 and on the center point P1 side and the second side from the rotation axis of the coaxial counter rotating rotor 44c (44d). It is provided in a region R5 located on the line L2. The region R5 is included in both the first region R1 and the second region R3.
  • the discharge port 64a of the nozzle 64 is provided in a region R6 located in the rotation locus S5 and on the second line L2 on the center point P1 side from the rotation axis of the coaxial counter rotating rotor 50c (50d). It is done.
  • the region R6 is included in both the first region R2 and the second region R4.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are provided at positions R5a and R6a in the regions R5 and R6, respectively, in plan view.
  • the eight rotors (the single rotors 40b, 42b, 46b, and 48b and the coaxial counter rotating rotors 44c, 44d, 50c, and 50d) are spaced from each other so as to surround the center point P1 in a plan view.
  • the first line L1 including the rotational direction with respect to the first line L1 extending in the front-rear direction, and the same number of rotors (single rotors 42b, 46b and coaxial counter rotating rotors 44c and 44d, and on the right side, single rotors 40b and 48b and coaxial counter rotating rotors 50c and 50d) are arranged.
  • the downwash in which the rotors (single rotors 40b, 42b, 46b, and 48b and coaxial counter rotating rotors 44c, 44d, 50c, and 50d) are generated on the left and right sides of the first line L1 of the multicopter 10 can be similarly performed. It is possible to suppress the occurrence of uneven drug adhesion to the object.
  • the two first regions R1 and R2 are downwash strong wind areas, and more than eight rotors (single rotors 40b, 42b, 46b, 48b and coaxial counter rotating rotors 44c, 44d, 50c, By using 50d), the downwash itself can be strengthened.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 positioned below the single rotors 40b, 42b, 46b and 48b and the coaxial counter rotating rotors 44c, 44d, 50c and 50d are disposed in the first regions R1 and R2.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 do not overlap with the rotation shafts of the rotors (single rotors 40b, 42b, 46b and 48b and coaxial counter rotating rotors 44c, 44d, 50c and 50d) in plan view. That is, by providing the medicine except for the lower part of the rotation shaft of each rotor (single rotors 40b, 42b, 46b, 48b and coaxial counter rotating rotors 44c, 44d, 50c, 50d) that does not become a strong wind area of the down wash, It can be sprayed well on a strong downwash.
  • the medicine is strengthened. Can be sprayed well on downwash.
  • the second regions R3 and R4 in the first regions R1 and R2 are areas with stronger downwash, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 in the second regions R3 and R4, respectively.
  • the medicine can be sprayed on a stronger downwash, and the amount of the medicine attached to the object in the field can be further secured by suppressing the scattering of the medicine.
  • the medicine ejected from the nozzles 62, 64 gets downwashed before spreading.
  • Cheap when the single rotors 40b, 42b, 46b, and 48b are provided near the lower portions of the drive sources 28, 30, 34, and 36, the discharge ports 62a and 64a of the nozzles 62 and 64 are close to the single rotors 40b, 42b, 46b, and 48b.
  • the nozzles 62 and 64 can be easily arranged, and the medicine ejected from the nozzles 62 and 64 can be easily put on the downwash before spreading.
  • the amount of the drug attached to the object in the field can be increased by a synergistic effect with the coaxial counter rotating rotors 44c, 44d, 50c, 50d having strong downwash.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are provided on the second line L2, so that the medicine is placed on the stronger downwash. Can be sprayed.
  • the rotation trajectory S2 of the coaxial counter-rotating rotor 44c (44d) and the rotation trajectory S5 of the coaxial counter-rotating rotor 50c (50d) are areas with a stronger downwash, so the discharge ports 62a of the nozzles 62, 64 are provided. 64a are provided in the rotation trajectories S2 and S5, so that the medicine can be sprayed on a stronger downwash.
  • a multicopter 10 a includes a main support portion 100.
  • the main support portion 100 includes a disc-shaped hub portion 102 and eight columnar spoke portions 104, 106, 108, 110, 112, 114, 116, 118.
  • the spoke portions 104 to 118 are provided at substantially equal intervals (approximately 45 ° intervals) in the circumferential direction on the side surface of the hub portion 102 and are formed to extend radially.
  • Drive sources 120 to 134 are provided below the tip portions of the spoke portions 104 to 118, respectively.
  • motors are used as the drive sources 120, 122, 124, 126, 128, 130, 132, and 134.
  • the drive sources 120 to 134 drive the single rotor units 136 to 150, respectively.
  • Single rotor units 136, 138, 140, 142, 144, 146, 148, 150 having one rotor are respectively provided with rotor support portions 136a, 138a, 140a, 142a, 144a, 146a, 148a, 150a, and a single rotor 136b. , 138b, 140b, 142b, 144b, 146b, 148b, 150b.
  • the rotor support portions 136a to 150a extend in the vertical direction below the tip portions of the spoke portions 104 to 118, and are rotationally driven by the drive sources 120 to 134.
  • the single rotors 136b to 150b are respectively supported by the lower end portions of the rotor support portions 136a to 150a and rotate together with the rotor support portions 136a to 150a.
  • the single rotors 136b to 150b are provided coaxially with the drive sources 120 to 134 near the lower portions of the drive sources 120 to 134, respectively.
  • the rotor support portions 136a to 150a also function as a rotating shaft of the rotor to be supported.
  • the rotor support parts 136a to 150a are supported by the main support part 100 via the drive sources 120 to 134, respectively.
  • the single rotors 136b to 150b are driven by drive sources 120 to 134, respectively.
  • the shapes and dimensions of the single rotors 136b to 150b are the same.
  • the multicopter 10 includes eight single rotors 136b to 150b and is configured as a so-called octocopter.
  • FIGS. 11 and 12 in a plan view, eight single rotors 136b to 150b are spaced apart from each other so as to surround center point P2, and extend in the front-rear direction through center point P2.
  • the first line L3 is disposed symmetrically with respect to the rotation direction including the rotation direction, and the same number of rotors are disposed on both the left and right sides of the first line L3.
  • the eight single rotors 136b to 150b are arranged so that an octagon is formed when the respective rotation centers are connected.
  • the center point P2 is the center of gravity of the octagon.
  • the single rotors 136b to 150b are arranged in two in four regions defined by the first line L3 and the second line L4 extending in the left-right direction so as to be orthogonal to the first line L3.
  • the single rotors 136b and 138b are arranged in the same region, and similarly, the single rotors 140b and 142b, the single rotors 144b and 146b, and the single rotors 148b and 150b are arranged in the same region.
  • the rotational axes of the foremost single rotors 134b and 136b are arranged symmetrically with respect to the first line L3 in front of the second line L4, and the rearmost single rotors 142b and 144b are respectively The rotation axis is arranged symmetrically with respect to the first line L3 behind the second line L4.
  • the second line L4 includes a midpoint of a line connecting the rotation axes of the single rotors 138b and 140b and a midpoint of a line connecting the rotation axes of the single rotors 146b and 148b. It passes through the center point P2.
  • the single rotors 136b, 140b, 144b and 148b are rotated clockwise, and the single rotors 138b, 142b, 146b and 150b are rotated counterclockwise. Therefore, with respect to the single rotors 136b to 150b, the rotors that are symmetrical with respect to the center point P2 of the multicopter 10a have the same rotational direction.
  • the multicopter 10a includes a spraying device 52 for spraying a medicine on the field, an antenna 54 for transmitting and receiving a radio signal, and a control device (not shown) for controlling the operation of the multicopter 10a. Since these are the same as those included in the multicopter 10, redundant description thereof is omitted. As shown in FIG. 11, the discharge ports 62a and 64a of the nozzles 62 and 64 included in the spraying device 52 are positioned on the second line L4 in a plan view and positioned below the single rotors 136b to 150b in a side view. To do.
  • FIGS. 13 to 18 show the analysis results of the flow velocity distribution by the downwash of the multicopter 10a.
  • 13 shows a height of 0 cm below the rotor (rotor lower surface)
  • FIG. 14 shows a height of 10 cm below the rotor
  • FIG. 15 shows a height of 30 cm below the rotor
  • FIG. 16 shows a height of 50 cm below the rotor
  • FIG. Fig. 18 shows a wind speed distribution in the downward direction at a height of 70 cm below the rotor
  • Fig. 18 at a height of 90 cm below the rotor.
  • the rotor here is a single rotor 136b.
  • the arcs of the rotation trajectories S7, S8, S9, and S10 at the tips of the single rotors 136b, 138b, 140b, and 142b in a plan view on the left side of the first line L3 are arcs T7, T8, T9, and T10.
  • a common tangent line between the rotation trajectories S7 and S8 is a tangent line U7
  • a common tangent line between the rotation trajectories S8 and S9 is a tangent line U8
  • a common tangent line between the rotation trajectories S9 and S10 is a tangent line U9.
  • a straight line passing through the rotation axis of the foremost single rotor 136b and the rotation axis of the rearmost single rotor 142b is defined as a line U10.
  • a first region R7 (shaded portion in FIG. 12) formed by arcs T7, T8, T9, T10, tangent lines U7, U8, U9 and line U10 is a strong wind area with strong downwash. Become.
  • the arcs of the rotation trajectories S11, S12, S13, and S14 at the tips of the single rotors 144b, 146b, 148b, and 150b in a plan view on the right side of the first line L3 are arcs T11, T12, T13, and T14.
  • a common tangent line between the rotation trajectories S11 and S12 is a tangent line U11
  • a common tangent line between the rotation trajectories S12 and S13 is a tangent line U12
  • a common tangent line between the rotation trajectories S13 and S14 is a tangent line U13.
  • a straight line passing through the rotation axis of the foremost single rotor 150b and the rotation axis of the rearmost single rotor 144b is defined as a line U14.
  • a first region R8 (shaded portion in FIG. 12) formed by the arcs T11, T12, T13, T14, the tangents U11, U12, U13, and the line U14 is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the first regions R7 and R8, respectively, in plan view.
  • the second region R10 (shaded portion in FIG. 12) formed by connecting the respective rotation axes of the single rotors 144b, 146b, 148b, and 150b has a downwash. It becomes a stronger strong wind area. 13-18, the downwash located in the second region R9, R10 in FIG.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the second regions R9 and R10, respectively, in plan view.
  • the third region R11 (shaded area in FIG. 12) where the rotation loci S7, S8, S9, and S10 of the single rotors 136b, 138b, 140b, and 142b overlap is a strong wind area with strong downwash.
  • the single rotors 144b, 146b, 148b, and 150b are between the rotation axes of the foremost single rotor 150b and the rearmost single rotor 144b in a side view and viewed in the front-rear direction.
  • the third region R12 shaded portion in FIG. 12 where the rotation trajectories S11, S12, S13, and S14 overlap is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the third regions R11 and R12, respectively, in plan view.
  • the position of the rotation shaft of the single rotors 136b to 150b in plan view, that is, the lower part of the rotor support portions 136a to 150a is not a strong wind area for downwash. Further, the area below the drive sources 120 to 134 is not a strong wind area for downwash. Accordingly, the discharge ports 62a and 64a of the nozzles 62 and 64 are provided so as not to overlap with the positions of the rotation shafts of the single rotors 136b to 150b in a plan view, that is, except under the rotor support portions 136a to 150a. Is preferred. In addition, the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided except under the drive sources 120 to 134.
  • discharge ports 62a and 64a of the nozzles 62 and 64 are arranged so as to be line symmetric with respect to the first line L3.
  • the discharge port 62a of the nozzle 62 is provided at the position R13 on the second line L4 and in the third region R11, and the discharge port 64a of the nozzle 64 is connected to the second line L4. It is provided at a position R14 above and in the third region R12.
  • the position R13 is included in any of the first region R7, the second region R9, and the third region R11, and the position R14 is included in any of the first region R8, the second region R10, and the third region R12.
  • the rotor diameter of each rotor can be reduced, and the thrust required for each rotor can be made relatively small.
  • the rotor diameter means the diameter of a circle that is the rotation locus S of the rotor tip.
  • the areas where the third areas R11, R12 in the first areas R7, R8, among which the second areas R9, R10 and the third areas R11, R12 overlap, are areas where the downwash is stronger, so each nozzle 62 , 64 are provided in the third regions R11, R12 in the first regions R7, R8, particularly in the areas where the second regions R9, R10 and the third regions R11, R12 overlap. Can be sprayed on a stronger downwash.
  • multi-copter 10 b of another embodiment of the present invention includes a main support portion 200.
  • the main support portion 200 includes a disc-shaped hub portion 202 and four columnar spoke portions 204, 206, 208, and 210.
  • the spoke portions 204 to 210 are provided at substantially equal intervals (approximately 90 ° intervals) in the circumferential direction on the side surface of the hub portion 202, and are formed to extend radially.
  • Drive sources 212a and 212b are provided above and below the tip of the spoke part 204, respectively, and drive sources 214a and 214b are provided above and below the tip of the spoke part 206, respectively.
  • Drive sources 216a and 216b are provided above and below the tip portion, respectively, and drive sources 218a and 218b are provided above and below the tip portion of the spoke portion 210, respectively.
  • a motor is used as the drive sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b.
  • the drive sources 212a and 212b drive the coaxial counter-rotating rotor unit 220
  • the drive sources 214a and 214b drive the coaxial counter-rotating rotor unit 222
  • the drive sources 216a and 216b are the coaxial counter-rotating rotor unit 224.
  • the drive sources 218a and 218b drive the coaxial contra-rotating rotor unit 226.
  • the coaxial counter-rotating rotor unit 220 including two rotors includes a set of rotor support portions 220a and 220b and a set of coaxial counter-rotating rotors 220c and 220d.
  • the rotor support part 220a extends in the vertical direction above the tip part of the spoke part 204, and is rotationally driven by the drive source 212a.
  • the coaxial counter rotating rotor 220c is supported by the upper end of the rotor support 220a and rotates together with the rotor support 220a.
  • the rotor support part 220b extends in the vertical direction below the tip part of the spoke part 204, and is rotationally driven by the drive source 212b.
  • the coaxial counter rotating rotor 220d is supported by the lower end portion of the rotor support portion 220b and rotates together with the rotor support portion 220b.
  • the coaxial counter-rotating rotor unit 222 including two rotors includes a set of rotor support portions 222a and 222b and a set of coaxial counter-rotating rotors 222c and 222d.
  • the coaxial counter rotating rotor unit 224 including two rotors includes a set of rotor support portions 224a and 224b and a set of coaxial counter rotating rotors 224c and 224d.
  • the coaxial counter-rotating rotor unit 226 including two rotors includes a set of rotor support portions 226a and 226b and a set of coaxial counter-rotating rotors 226c and 226d.
  • the coaxial counter-rotating rotor units 222, 224, and 226 are configured in the same manner as the coaxial counter-rotating rotor unit 220, their overlapping description is omitted.
  • the drive sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b are provided coaxially with the coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d, respectively.
  • the rotor support portions 220a, 220b, 222a, 222b, 224a, 224b, 226a, and 226b also function as a rotating shaft of the rotor to be supported.
  • the rotor support portions 220a, 220b, 222a, 222b, 224a, 224b, 226a, 226b are supported by the main support portion 200 via the drive sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b, respectively. Is done.
  • the coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, and 226d are driven by driving sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, and 218b, respectively.
  • the shapes and dimensions of the coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, and 226d are the same.
  • the multicopter 10b includes four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d (a total of eight rotors), and is configured as a so-called quadcopter.
  • FIGS. 20 and 21 in a plan view, four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are spaced from each other so as to surround center point P3.
  • center point P3 In a plan view, four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are spaced from each other so as to surround center point P3.
  • the four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are arranged so that a quadrangle is formed when the respective rotation centers are connected. Is done.
  • the center point P3 is the center of gravity of the rectangle.
  • the four sets of coaxial contra-rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are second lines extending in the left-right direction so as to be orthogonal to the first line L5 and the first line L5.
  • One set is arranged in each of the four areas partitioned by L6.
  • the rotational axes of the coaxial counter rotating rotors 220c and 220d and the rotational axes of the coaxial counter rotating rotors 226c and 226d are arranged symmetrically with respect to the first line L5 in front of the second line L6.
  • the rotational axes of the coaxial counter rotating rotors 222c and 222d and the rotational axes of the coaxial counter rotating rotors 224c and 224d are arranged symmetrically with respect to the first line L5 behind the second line L6.
  • the second line L6 includes a midpoint of a line segment connecting the respective rotational axes of the coaxial counter rotating rotors 220c (220d) and 222c (222d), a coaxial counter rotating rotor 224c (224d), and It passes through the midpoint of the line segment connecting the respective rotation axes of 226c (226d) and the center point P3.
  • the coaxial counter rotating rotors 220c, 222d, 224c, and 226d are rotated clockwise in the plan view, and the coaxial counter rotating rotors 220d, 222c, 224d, and 226c are counterclockwise. To be rotated.
  • the rotors that are symmetrical with respect to the center point P3 of the multicopter 10b have the same rotational direction.
  • the multicopter 10b includes a spraying device 52 for spraying a medicine on the field, an antenna 54 for transmitting and receiving a radio signal, and a control device (not shown) for controlling the operation of the multicopter 10b. Since these are the same as those included in the multicopter 10, redundant description thereof is omitted.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 included in the spraying device 52 are positioned on the second line L6 in a plan view, and coaxial counter-rotating rotors 220c and 220d in a side view. It is located below 222c, 222d, 224c, 224d and 226c, 226d.
  • FIGS. 22 to 27 show the analysis results of the flow velocity distribution by the downwash of the multicopter 10b.
  • FIG. 22 shows the height 0 cm below the rotor (rotor lower surface)
  • FIG. 23 shows the height 10 cm below the rotor
  • FIG. 24 shows the height 30 cm below the rotor
  • FIG. 25 shows the height 50 cm below the rotor
  • FIG. Fig. 27 shows the wind speed distribution in the downward direction at a height of 70 cm below the rotor
  • Fig. 27 at a height of 90 cm below the rotor.
  • the rotor here is the coaxial counter rotating rotor 220d.
  • the multicopter 10b was flying forward and in the horizontal direction at a flight speed of 20 km / h.
  • the arcs of the rotational trajectories S15, S16, S17, and S18 at the tips of the coaxial counter rotating rotors 220c (220d), 222c (222d), 224c (224d), and 226c (226d) are arcs T15, T16, T17 and T18.
  • a common tangent line between the rotation trajectories S15 and S16 located farther from the first line L5 is defined as a tangent line U15.
  • a common tangent line between the rotation trajectories S16 and S17 located farther from the second line L6 is defined as a tangent line U16.
  • a common tangent line between the rotation trajectories S17 and S18 located farther from the first line L5 is defined as a tangent line U17.
  • a common tangent line between the rotation trajectories S18 and S15 located farther from the second line L6 is defined as a tangent line U18.
  • a region R15 (shaded portion in FIG. 21) formed by arcs T15, T16, T17, T18 and tangents U15, U16, U17, U18 becomes a strong wind area with strong downwash.
  • the region R15 is a strong wind area with strong downwash. Therefore, the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided in the region R15 in plan view.
  • R16 shaded area in FIG. 21
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided in the fourth region R16 in plan view.
  • S16, S17, and S18, the fifth regions R17, R18, R19, and R20 are strong wind areas with stronger downwash. 22 to 27, the downwash located in the fifth region R17 to R20 in FIG. 22 maintains a strong wind while moving backward as it proceeds downward, and therefore, from the fifth region R17 to R20.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the fifth regions R17 and R20 or in the fifth regions R18 and R19, respectively, in plan view.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably arranged so as to be line symmetric with respect to the first line L5.
  • the positions of the discharge ports 62a and 64a of the nozzles 62 and 64 are symmetrical with respect to the first line L5 in the fourth region R16 in plan view. Provided in R21 and R22.
  • a strong downwash is generated and placed on the strong downwash.
  • the fourth region R16 is an area with strong downwash, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 in the fourth region R16, the medicine is spread on the strong downwash. be able to.
  • the fifth regions R17 to R20 are areas where the downwash is stronger, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 in the fifth regions R17 to R20, the medicine is made stronger. Can be sprayed on top.
  • the downwash generated by each coaxial counter rotating rotor is the other coaxial. Less affected by downwash generated by counter-rotating rotor. Therefore, when the discharge ports 62a and 64a of the nozzles 62 and 64 are arranged directly below any one of the rotation axes of the coaxial counter rotating rotors 220d, 222d, 224d and 226d, the discharge ports 62a of the nozzles 62 and 64 are disposed.
  • 64a is sprayed from the center of a strong downwash generated by a pair of coaxial counter rotating rotors located directly above each, thereby suppressing the scattering of the medicine and the object in the field It is possible to secure a larger amount of drug on the surface.
  • the discharge ports of the nozzles are arranged on the plane other than the second line, and the direction and / or position of the discharge ports of the nozzles can be changed between forward and backward travel. It may be provided.
  • the rear area has a stronger downwash than the front area with respect to the traveling direction of the multicopter. Therefore, when the multicopters 10 and 10a are configured to spray the medicine at the time of advance and reverse without changing the front-rear direction without changing the front-rear direction over the field, and when the discharge ports of the respective nozzles are arranged outside the second line, By making it possible to change the direction and / or position of the nozzle outlet at the time of reverse travel and backward travel, the drug can be applied in consideration of the difference in downwash between the front region and the rear region with respect to the wind and the traveling direction.
  • the medicine can be discharged, and can be sprayed in the same way when moving forward and backward by placing the drug on a strong downwash. This is particularly effective when one nozzle outlet is provided in each of the two first regions or the two second regions.
  • the two nozzles 62 and 64 are used.
  • the present invention is not limited to this, and four nozzles may be used.
  • the discharge ports of the two nozzles may be provided in the second region R3, and the discharge ports of the other two nozzles may be provided in the second region R4.
  • the discharge ports of the two nozzles are respectively disposed in the second region R3 and on both the front and rear sides of the second line L2.
  • the discharge ports of the other two nozzles are respectively disposed in the second region R4 on both the front and rear sides of the second line L2.
  • the two nozzles 62 and 64 are used, but the present invention is not limited to this, and four nozzles may be used.
  • the discharge ports of the two nozzles may be provided in the first region R7, and the discharge ports of the other two nozzles may be provided in the first region R8.
  • the discharge ports of the two nozzles are respectively within the rotation locus S8 within the region R13a on the first line L3 side of the rotation axis of the single rotor 138b and within the rotation locus S9 and the rotation of the single rotor 140b.
  • the regions R13a and R13b are included in any of the first region R7, the second region R9, and the third region R11. Further, the discharge ports of the other two nozzles are respectively in the rotation locus S13 in the region R14a on the first line L3 side from the rotation axis of the single rotor 148b, and in the rotation locus S12, and the rotation of the single rotor 146b. It is provided in the region R14b on the first line L3 side from the axis. The regions R14a and R14b are included in any of the first region R8, the second region R10, and the third region R12.
  • the same number of nozzle outlets be arranged in areas with strong downwash on both the left and right sides of the first line so as to be symmetrical with respect to the first line extending in the front-rear direction. .
  • the two nozzles 62 and 64 are used.
  • the present invention is not limited to this, and four nozzles may be used.
  • the discharge ports of the four nozzles are provided in the fifth regions R17 to R20, respectively, in a plan view. Further, in plan view, the discharge ports of the four nozzles are respectively a position R23 immediately below the rotation axis of the coaxial counter rotating rotor 220c (220d) and a position R24 immediately below the rotation axis of the coaxial counter rotating rotor 222c (222d).
  • the same number of nozzle outlets be arranged in the fifth regions R17 to R20 so as to be symmetric with respect to the first line L5 extending in the front-rear direction.
  • two or more nozzle outlets are arranged on both the front and rear sides of the second line so as to be line-symmetric with respect to the second line.
  • 10a, 10b may be provided so that the medicine can be ejected from the nozzle on the rear side.
  • the rear area has a stronger downwash than the front area with respect to the direction of travel of the multicopter. Therefore, when the multicopter 10, 10a, 10b is configured to spray the medicine at the time of forward and backward movement without changing the front-rear direction over the field, and when a total of four or more nozzles are arranged, Two or more discharge ports are arranged on both front and rear sides of the second line so as to be symmetric with respect to the second line, and a plurality of nozzles are arranged with respect to the traveling direction of the multicopters 10, 10a, 10b.
  • the medicine can be ejected from the rear nozzle.
  • a coaxial counter-rotating rotor may be further provided at the center points P1, P2, and P3.
  • All of the rotor units included in the multicopters 10 and 10a may be coaxial contra-rotating rotor units. That is, the rotor included in the multicopter 10 may be six sets of coaxial counter rotating rotors. The rotor included in the multicopter 10a may be eight sets of coaxial counter rotating rotors.
  • the rotor near the nozzle outlet may be four sets of coaxial counter rotating rotors.
  • the discharge ports 62a When 64a is provided at each of the positions R13 and R14, or when the discharge ports of the four nozzles are provided at the regions R13a, R13b, R14a, and R14b, respectively, the rotor near the second line L4 is set to four coaxial two A double reversing rotor is used. Further, when the discharge ports of the four nozzles are provided at both ends of the third regions R11 and R12, the rotor near the first line L3 is set as four sets of coaxial counter rotating rotors. In this case, the medicine can be satisfactorily spread on a stronger downwash.
  • the dimensions of all the included rotors are the same.
  • the present invention is not limited to this, and the rotor diameter in the vicinity of the nozzle outlet may be larger than the rotor diameters of the other rotors. Good. In this case, the medicine can be satisfactorily spread on a stronger downwash.
  • the two sets of coaxial contra-rotating rotors 44c, 44d and 50c, 50d on the second line L2 may be arranged in front of or behind the center point P1.
  • the distances from the respective rotation shafts (rotor support portions 44a, 44b, 50a, 50b) of the coaxial contra-rotating rotors 44c, 44d, 50c, 50d to the first line L1 are set as the single rotor 40b.
  • 42b, 46b, 48b may be longer than the distance from the respective rotation shafts (rotor support portions 40a, 42a, 46a, 48a) to the center point P1. In this case, the width in which the medicine can be spread can be increased.
  • the distances from the respective rotation axes of the coaxial counter rotating rotors 44c, 44d, 50c, 50d to the first line L1 are set to the respective rotations of the single rotors 40b, 42b, 46b, 48b.
  • the distance from the axis to the center point P1 may be shorter.
  • the present invention can be applied not only to multicopters that move forward and backward without changing the front-rear direction but also to multicopters that reciprocate by changing the direction of the aircraft.
  • the rotor support portion also functions as the rotating shaft of the rotor, but is not limited thereto. You may comprise a rotor support part and the rotating shaft of a rotor as a separate member.
  • the single rotor unit and the driving source for driving the single rotor unit are provided below the tip of the spoke part of the main support part. It may be provided above.
  • the second line does not necessarily pass through the center point in plan view.
  • the present invention includes 4 ⁇ N (N is an integer of 2 or more) rotors spaced apart from each other so as to surround a center point in plan view, and 4 ⁇ N rotors in plan view It can be applied to any multicopter in which the first line extending in the front-rear direction through the center point is arranged in line symmetry including the rotational direction, and the same number of rotors are arranged on both the left and right sides of the first line.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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PCT/JP2017/036009 2016-12-28 2017-10-03 マルチコプタ WO2018123186A1 (ja)

Priority Applications (2)

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KR1020197016172A KR102164908B1 (ko) 2016-12-28 2017-10-03 멀티콥터
CN201780081427.0A CN110139799B (zh) 2016-12-28 2017-10-03 多旋翼机

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JP2016257057A JP6454317B2 (ja) 2016-12-28 2016-12-28 マルチコプタ
JP2016-257057 2016-12-28

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WO2024142260A1 (ja) * 2022-12-27 2024-07-04 株式会社クボタ 作業飛行体
WO2024142218A1 (ja) * 2022-12-27 2024-07-04 株式会社クボタ 飛行体システム

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JP2018108774A (ja) 2018-07-12
JP6454317B2 (ja) 2019-01-16
CN110139799A (zh) 2019-08-16
KR20190075126A (ko) 2019-06-28
CN110139799B (zh) 2022-11-29
KR102164908B1 (ko) 2020-10-13

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