WO2018123187A1 - マルチコプタ - Google Patents

マルチコプタ Download PDF

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Publication number
WO2018123187A1
WO2018123187A1 PCT/JP2017/036011 JP2017036011W WO2018123187A1 WO 2018123187 A1 WO2018123187 A1 WO 2018123187A1 JP 2017036011 W JP2017036011 W JP 2017036011W WO 2018123187 A1 WO2018123187 A1 WO 2018123187A1
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WO
WIPO (PCT)
Prior art keywords
rotor
line
rotors
multicopter
view
Prior art date
Application number
PCT/JP2017/036011
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 KR1020197016938A priority Critical patent/KR102155010B1/ko
Priority to CN201780081422.8A priority patent/CN110114270B/zh
Publication of WO2018123187A1 publication Critical patent/WO2018123187A1/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
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/001—Sludge spreaders, e.g. liquid manure spreaders
    • A01C23/003—Distributing devices, e.g. for rotating, throwing
    • A01C23/005—Nozzles, valves, splash plates
    • 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
    • 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
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/006—Mounting of the nozzles
    • 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
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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
    • 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
    • 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

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 discloses a multi-rotor aircraft including four propellers that are connected to an output shaft of an electric motor and generate thrust.
  • Patent Document 1 in general, in a multicopter, a plurality of the same rotors are arranged at equidistant positions from the center of the multicopter in plan view. For this reason, the same flight can be performed in any of the front, rear, left, and right directions, but it is difficult to make an agile movement (such as a sudden change of direction) in a specific direction (such as the front-rear direction or the left-right direction).
  • a main object of the present invention is to provide a multicopter that can fly in any direction, front, back, left, and right, and can move quickly in a specific direction.
  • a plurality of rotors provided at the vertices of an even-numbered polygon of six or more in plan view
  • the plurality of rotors includes a plurality of single rotors and at least two or more sets of coaxial contra-rotation.
  • the plurality of rotors are arranged in line symmetry with respect to a first line that extends back and forth through the center point of the even polygon and are orthogonal to the first line and the first line in plan view.
  • a multicopter is provided that is arranged at least one in a region partitioned by a second line extending in the left-right direction.
  • the plurality of rotors are arranged in line symmetry with respect to the first line and are arranged at least one in a region partitioned by the first line and the second line.
  • the rotor can be arranged in four directions from the center, and flight is possible in any of the front, rear, left and right directions.
  • one set of coaxial counter-rotating rotors can provide an output (thrust) greater than that of one single rotor, the two sets of coaxial counter-rotating rotors can be agile in the linear direction connecting the two sets of coaxial counter-rotating rotors. Move quickly and change direction quickly.
  • the even polygon is a hexagon
  • two sets of coaxial counter rotating rotors are arranged on the second line in plan view.
  • agile movement in the left-right direction can be achieved by the two sets of coaxial contra-rotating rotors arranged at the left and right symmetrical positions through which the second line passes.
  • the even-numbered polygon is a hexagon
  • two sets of coaxial counter rotating rotors are arranged at two diagonal pairs of symmetrical positions passing through a point on the first line in plan view.
  • the two pairs of coaxial counter-rotating rotors provided at each of the two diagonal pairs of symmetrical positions passing through the points on the first line are agile in the diagonal direction connecting the two pairs of coaxial counter-rotating rotors. Can move. Also, by cooperating a total of four sets of coaxial counter rotating rotors provided at two diagonal pairs of symmetrical positions passing through the points on the first line, it is possible to move quickly in the front-rear direction.
  • the rotor diameter of the single rotor is larger than the rotor diameter of the coaxial counter rotating rotor.
  • the output (thrust) obtained per rotor is smaller than that of the single rotor. Therefore, by making the rotor diameter of the single rotor larger than the rotor diameter of the coaxial counter-rotating rotor, the rotor diameter of the single rotor and the rotor diameter of the coaxial counter-rotating rotor can be obtained with the same energy.
  • the output (thrust) of the multicopter to be increased.
  • the rotor diameter of the coaxial counter-rotating rotor is larger than the rotor diameter of the single rotor.
  • the apparatus further includes a spraying device including a plurality of nozzles for discharging a medicine, and the discharge port of each nozzle is located below the plurality of rotors in a side view, and is seen in a plan view on both the left and right sides of the first line.
  • a spraying device including a plurality of nozzles for discharging a medicine
  • the discharge port of each nozzle is located below the plurality of rotors in a side view, and is seen in a plan view on both the left and right sides of the first line.
  • the discharge ports of the nozzles are provided in each of the first regions formed by the arcs and tangents of the rotation trajectories of the rotor tips and the lines passing through the rotation axis of the foremost rotor and the rotation axis of the rearmost rotor. It is done. In this case, the two first regions are downwash strong wind areas.
  • downwash itself can be strengthened by using many rotors of 8 or more including two sets of coaxial counter rotating 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.
  • it further includes a plurality of rotor support portions that respectively support the respective rotors, and the discharge ports of the respective nozzles are provided except under the rotor support portions.
  • it further includes a plurality of drive sources for driving the respective rotors, the drive source and the rotor are provided coaxially, and the discharge ports of the respective nozzles are provided except for the lower part of the drive source.
  • the discharge port of each nozzle except under the driving source that does not become the strong wind area of the downwash, the medicine can be well dispersed on the strong downwash.
  • the discharge port of each nozzle is provided in a second region formed by connecting the rotation shafts of each rotor 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 discharge ports of the plurality of nozzles are arranged so as to be line symmetric with respect to the first line. In this case, it is possible to suppress the occurrence of uneven drug adhesion to the object in the field.
  • the discharge port of each nozzle is arranged on the second line in plan view. 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 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.
  • 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 arranged with respect to the traveling direction of the multicopter.
  • a medicine can be discharged from the rear nozzle.
  • 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 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 single rotor is provided in the vicinity of the lower portion of the drive source.
  • the distance between the nozzle outlet and the single rotor in the vertical direction is smaller, the medicine ejected from the nozzle outlet is more likely to ride downwash before spreading. Therefore, if 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.
  • the amount of the drug attached to the object in the field can be increased by a synergistic effect with the coaxial counter rotating rotor having strong downwash.
  • a multicopter that can fly in any direction, front, back, left, and right and can move quickly in a specific direction.
  • 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
  • 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 provided at the apex of the hexagon, and are lined with respect to the first line L1 extending forward and backward through the hexagonal center point P1. At least one is arranged in a region that is symmetrically arranged and 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 center point P1 is a hexagonal center of gravity.
  • 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 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, and two sets of coaxial counter-rotating rotors 44c, 44d. 50c and 50d are arranged on the second line L2.
  • the second line L2 passes through the center point P1 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. 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 plurality of (eight in this embodiment) rotors are arranged symmetrically with respect to the first line L1 and are partitioned by the first line L1 and the second line L2 in plan view. Since at least one is arranged in the region, the rotor can be arranged in four directions from the center of the multicopter 10, and flight is possible in any of the front, rear, left and right directions. Further, since one set of coaxial counter rotating rotors can provide an output (thrust) greater than that of one single rotor, two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d provide two sets of coaxial counter rotating coils. It is possible to move quickly in the linear direction connecting the rotors 44c, 44d and 50c, 50d, and the direction can be changed quickly.
  • Agile movement in the left-right direction can be achieved by the two sets of coaxial contra-rotating rotors 44c, 44d and 50c, 50d arranged at the left and right symmetrical positions through which the second line L2 passes. Therefore, when the multicopter 10 sprays the medicine while reciprocating over the field without changing the front-rear direction, the multicopter 10 moves from the forward path to the return path and from the return path to the next outbound path (to the left and right directions). You can move quickly.
  • the two first areas R1 and R2 are downwash strong wind areas. Further, by using as many as eight rotors including two sets of coaxial counter rotating rotors 44c and 44d and 50c and 50d, the downwash itself can be strengthened. Therefore, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 located below the eight rotors in the first regions R1 and R2, the medicine is placed on a strong downwash and sprayed with a strong pressure. It is possible to suppress the scattering of the medicine and secure the amount of the medicine attached to the object in the field.
  • 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 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.
  • 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.
  • a multicopter 10a according to another embodiment of the present invention, like multicopter 10, has a main support having a disk-shaped hub portion 14 and six columnar spoke portions 16-26. Part 12 is included.
  • Drive sources 100a and 100b are provided above and below the tip of the spoke part 16, respectively, and drive sources 102a and 102b are provided above and below the tip of the spoke part 18, respectively.
  • a drive source 104 is provided below the tip portion
  • drive sources 106a and 106b are provided above and below the tip portion of the spoke portion 22
  • a drive source is provided above and below the tip portion of the spoke portion 24.
  • Sources 108 a and 108 b are provided, and a drive source 110 is provided below the tip of the spoke portion 26.
  • motors are used as the drive sources 100a, 100b, 102a, 102b, 104, 106a, 106b, 108a, 108b and 110.
  • the drive sources 100a and 100b drive the coaxial counter-rotating rotor unit 112
  • the drive sources 102a and 102b drive the coaxial counter-rotating rotor unit 114
  • the drive source 104 drives the single rotor unit 116.
  • the sources 106 a and 106 b drive the coaxial counter rotating rotor unit 118
  • the driving sources 108 a and 108 b drive the coaxial counter rotating rotor unit 120
  • the driving source 110 drives the single rotor unit 122.
  • the coaxial counter-rotating rotor unit 112 including two rotors includes a set of rotor support portions 112a and 112b and a set of coaxial counter-rotating rotors 112c and 112d.
  • the coaxial counter-rotating rotor unit 114 including two rotors includes a set of rotor support portions 114a and 114b and a set of coaxial counter-rotating rotors 114c and 114d.
  • the coaxial counter-rotating rotor unit 118 including two rotors includes a set of rotor support portions 118a and 118b and a set of coaxial counter-rotating rotors 118c and 118d.
  • the coaxial counter-rotating rotor unit 120 including two rotors includes a set of rotor support portions 120a and 120b and a set of coaxial counter-rotating rotors 120c and 120d. Since the coaxial counter-rotating rotor units 112, 114, 118, and 120 are configured in the same manner as the coaxial counter-rotating rotor unit 44 in the multicopter 10, the overlapping description thereof will be omitted.
  • Single rotor units 116 and 122 having one rotor include rotor support portions 116a and 122a and single rotors 116b and 122b, respectively.
  • the single rotor units 116 and 122 are configured in the same manner as the single rotor unit 40 in the multicopter 10, their overlapping description is omitted.
  • the shapes and dimensions of the single rotors 116b and 122b and the coaxial counter rotating rotors 112c, 112d, 114c, 114d, 118c, 118d, 120c, and 120d are the same.
  • the multicopter 10a includes two single rotors 116b and 122b and a total of four sets of coaxial counter rotating rotors 112c, 112d, 114c, 114d, 118c, 118d and 120c, 120d, and is configured as a so-called hexacopter.
  • these ten rotors are provided at the apex of the hexagon and are lined with respect to the first line L3 that extends back and forth through the hexagonal center point P2. At least one is arranged in a region that is symmetrically arranged and 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 center point P2 is a hexagonal center of gravity.
  • the two single rotors 116b and 122b and the four sets of coaxial counter rotating rotors 112c, 112d, 114c, 114d, 118c, 118d and 120c, 120d connect the respective rotation centers. And hexagons are formed.
  • four sets of coaxial contra-rotating rotors 112c, 112d, 114c, 114d, 118c, 118d and 120c, 120d are set in four regions defined by the first line L3 and the second line L4 ( Two rotors) are arranged.
  • the multicopter 10a has a configuration in which the single rotor unit and the coaxial counter rotating rotor unit in the multicopter 10 are interchanged. As shown by white arrows in FIG.
  • the single rotor 116b and the coaxial counter rotating rotors 112d, 114c, 118d, and 120c are rotated clockwise in a plan view, and the single rotor 122b and the coaxial counter rotating rotors 112c and 114d are rotated. , 118c, 120d are rotated counterclockwise.
  • 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 ten rotors in a side view. To do.
  • Such a downwash of the multicopter 10a also exhibits a flow velocity distribution similar to that of the multicopter 10 downwash.
  • each of coaxial counter-rotating rotor 114c (114d), single rotor 116b, and coaxial counter-rotating rotor 118c (118d) in a plan view on the left side of first line L3.
  • the arcs of the rotation trajectories S7, S8, and S9 are arcs T7, T8, and T9.
  • 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 straight line passing through the rotation axis of the foremost coaxial counter rotating rotor 114c (114d) and the axis of rotation of the rearmost coaxial counter rotating rotor 118c (118d) is defined as a line U9.
  • a first region R7 (shaded portion in FIG. 12) formed by the arcs T7, T8, T9, the tangent line U7, U8, and the line U9 is a strong wind area with strong downwash.
  • the rotation trajectories S10, S11, S12 of the respective tips of the coaxial counter rotating rotor 112c (112d), the single rotor 122b, and the coaxial counter rotating rotor 120c (120d) in plan view on the right side of the first line L3.
  • a common tangent line between the rotation trajectories S10 and S11 is a tangent line U10
  • a common tangent line between the rotation trajectories S11 and S12 is a tangent line U11
  • a straight line passing through the rotation axis of the foremost coaxial counter rotating rotor 112c (112d) and the rotation axis of the rearmost coaxial counter rotating rotor 120c (120d) is defined as a line U12.
  • a first region R8 (shaded portion in FIG. 12) formed by the arcs T10, T11, T12, the tangents U10, U11, and the line U12 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 line formed by connecting the respective rotation axes of the coaxial counter rotating rotor 114c (114d), the single rotor 116b, and the coaxial counter rotating rotor 118c (118d) in plan view on the left side of the first line L3.
  • a region R9 is a strong wind area with stronger downwash.
  • the first rotating shaft 112c (112d), the single rotor 122b, and the coaxial counter rotating rotor 120c (120d) are connected to each other with a rotation axis.
  • Two region R10 is a strong wind area with stronger downwash.
  • the medicine when the medicine is discharged from the second regions R9 and R10, the medicine is prevented from being scattered outside the multicopter 10a in a plan view, and the medicine can be reliably sprayed below the flight path of the multicopter 10a. Therefore, it is more preferable that 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 inside of the rotation locus S8 (see FIG. 12) of the single rotor 116b is a strong wind area with strong downwash.
  • the rotation locus S11 (see FIG. 12) of the single rotor 122b in a plan view on the right side of the first line L3 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 S8 and S11, respectively, in a plan view.
  • the straight line passing through the rotation axis of the single rotor 116b and the rotation axis of the single rotor 122b in a plan view is a strong wind area where downwash is stronger.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are respectively provided on the second line L4 (particularly in the first regions R7 and R8) in plan view.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 overlap the positions of the rotation shafts of the single rotors 116b and 122b and the coaxial counter rotating rotors 112c, 112d, 114c, 114d, 118c, 118d, 120c, and 120d in plan view.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided except under the drive sources 104, 110, 100a, 100b, 102a, 102b, 106a, 106b, 108a, and 108b.
  • 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 located in the rotation locus S8 and on the second line L4 on the center point P2 side from the rotation axis of the single rotor 116b.
  • the region R11 is included in both the first region R7 and the second region R9.
  • the discharge port 64a of the nozzle 64 is provided in a region R12 located in the rotation locus S11 and on the second line L4 side from the rotation axis of the single rotor 122b.
  • the region R12 is included in both the first region R8 and the second region R10.
  • the discharge ports 62a and 64a of the nozzles 62 and 64 are provided at positions R11a and R12a in the regions R11 and R12, respectively, in plan view.
  • two sets of coaxial counter rotating rotors 112c, 112d and 118c, 118d provided at two diagonal pairs of symmetrical positions passing through a point on the first line L3, and two sets of coaxial double
  • two pairs of coaxial counter rotating rotors 112c, 112d and 118c, 118d forming a pair
  • a pair of coaxial rotating counter rotors 114c, 114d forming a pair.
  • 120c, 120d can be moved in an oblique direction.
  • a total of four sets of coaxial counter rotating rotors 112c, 112d, 114c, 114d, 118c, 118d and 120c, 120d provided at two diagonal pairs of symmetrical positions passing through points on the first line L3 are allowed to cooperate. Can move quickly in the front-rear direction. Therefore, when the multicopter 10a sprays the medicine when moving forward and backward without changing the direction in the front-rear direction over the field, the multicopter 10a can quickly change direction from forward to backward (and from backward to forward). . Also, the multicopter 10a can obtain substantially the same effect as the multicopter 10.
  • the coaxial counter rotating rotor has a smaller output (thrust) per rotor than the single rotor. Therefore, in the multicopters 10 and 10a, by making the rotor diameter of the single rotor larger than the rotor diameter of the coaxial counter-rotating rotor, the rotor diameter of the single rotor and the rotor diameter of the coaxial counter-rotating rotor are compared with the same case. Thus, the output (thrust) of the multicopter obtained with the same energy is increased.
  • the rotor diameter means the diameter of a circle that is the rotation locus S of the rotor tip.
  • the rotor diameter of the coaxial counter-rotating rotor is equal to that of the single rotor.
  • 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 second region R9, and the discharge ports of the other two nozzles may be provided in the second region R10. preferable. More preferably, the discharge ports of the two nozzles are respectively disposed in the second region R9 and on both the front and rear sides of the second line L4. Further, the discharge ports of the other two nozzles are disposed in the second region R10 and on both the front and rear sides of the second line L4.
  • 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. .
  • two or more nozzle outlets are arranged on the front and rear sides of the second line so as to be symmetrical with respect to the second line, and the plurality of nozzles are in the traveling direction of the multicopter.
  • the medicine may 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 multicopters 10 and 10a are configured to spray the medicine at the time of forward and backward movement without changing the front-rear direction over the farm field, and when a total of four or more nozzles are arranged, the nozzle discharge port Two or more on the front and rear sides of the second line so as to be line symmetric with respect to the second line, and a plurality of nozzles from the rear nozzle with respect to the traveling direction of the multicopter.
  • 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 single rotors 116b and 122b on the second line L4 may both be arranged in front of or behind the center point P2.
  • the even polygon is a hexagon, and two pairs of coaxial counter rotating rotors are arranged on the first line in plan view, and two pairs of diagonal symmetry passing through the points on the first line.
  • a single rotor may be arranged at each position.
  • the even-numbered polygon is a hexagon, and in plan view, two single rotors are arranged on the first line, and 2 pairs of symmetrical positions passing through the points on the first line are 2 respectively.
  • a set of coaxial counter rotating rotors may be arranged.
  • the even polygon is a hexagon, and the distance from the rotation axis of the coaxial counter rotating rotor to the center point may be longer or shorter than the distance from the rotation axis of the single rotor to the center point. Good.
  • the even polygon is an octagon
  • four sets of coaxial counter rotating rotors may be arranged in the front-rear direction. That is, the rotors arranged at the two frontmost vertices and the two rearmost vertices of the octagon line-symmetric with respect to the first line may be four sets of coaxial counter rotating rotors.
  • the even polygon is an octagon
  • four sets of coaxial counter rotating rotors may be arranged in the left-right direction. That is, four pairs of coaxial contra-rotations are arranged at four vertices excluding the two frontmost vertices and the two rearmost vertices in an octagon axisymmetric with respect to the first line. It may be a rotor.
  • 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 of the even polygon in plan view.
  • the present invention can be applied to a multicopter including a plurality of rotors provided at the apexes of six or more even polygons in plan view.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Pest Control & Pesticides (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Wood Science & Technology (AREA)
  • Soil Sciences (AREA)
  • Water Supply & Treatment (AREA)
  • Zoology (AREA)
  • Insects & Arthropods (AREA)
  • Catching Or Destruction (AREA)
  • Fertilizing (AREA)
PCT/JP2017/036011 2016-12-28 2017-10-03 マルチコプタ WO2018123187A1 (ja)

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CN113954592B (zh) 2021-11-29 2022-06-17 广东工业大学 一种基于foc动力系统可倾转的六旋翼两栖无人机

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KR102155010B1 (ko) 2020-09-11
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KR20190077546A (ko) 2019-07-03
CN110114270B (zh) 2023-02-03
JP2018108775A (ja) 2018-07-12

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