WO2022044212A1 - 着陸設備 - Google Patents

着陸設備 Download PDF

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Publication number
WO2022044212A1
WO2022044212A1 PCT/JP2020/032413 JP2020032413W WO2022044212A1 WO 2022044212 A1 WO2022044212 A1 WO 2022044212A1 JP 2020032413 W JP2020032413 W JP 2020032413W WO 2022044212 A1 WO2022044212 A1 WO 2022044212A1
Authority
WO
WIPO (PCT)
Prior art keywords
landing
region
windbreak
landing equipment
equipment according
Prior art date
Application number
PCT/JP2020/032413
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
鈴木陽一
渡邉なるみ
Original Assignee
株式会社エアロネクスト
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 株式会社エアロネクスト filed Critical 株式会社エアロネクスト
Priority to PCT/JP2020/032413 priority Critical patent/WO2022044212A1/ja
Priority to JP2020559010A priority patent/JP6811508B1/ja
Priority to JP2020203603A priority patent/JP7549339B2/ja
Priority to JP2020203714A priority patent/JP6936535B1/ja
Priority to CN202110435825.6A priority patent/CN114104319A/zh
Priority to CN202120833893.3U priority patent/CN216140201U/zh
Priority to JP2021103936A priority patent/JP6928991B1/ja
Publication of WO2022044212A1 publication Critical patent/WO2022044212A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
    • B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/50—Vessels or floating structures for aircraft
    • B63B35/52—Nets, slipways or the like, for recovering aircraft from the water
    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings

Definitions

  • the present invention relates to landing equipment.
  • Patent Document 1 discloses a flight management system capable of safely landing an air vehicle at a port (see, for example, Patent Document 1).
  • Aircraft with multiple rotors so-called multicopters, are susceptible to wind during flight and takeoff and landing, and vertical descent (landing motion) performed in strong crosswinds and updrafts is particularly dangerous. It is known.
  • a wind sensor is installed at the port, and wind information is used to determine whether or not takeoff and landing at the port is possible, so that safe landing can be provided.
  • the port used for takeoff and landing is a facility that not only allows the aircraft to land safely when there is no wind, but also allows stable takeoff and landing even in an environment such as strong winds in order to improve the operating rate.
  • one object of the present invention is to provide a landing facility capable of safely landing an air vehicle even under strong winds.
  • a landing facility including a first region for landing an air vehicle, and a windbreak portion having a predetermined height and covering at least a part, but not all, around the first region. Can be done.
  • FIG. 1 It is a conceptual diagram which looked at the landing equipment by this invention from the side. It is the figure which looked at the landing equipment of FIG. 1 from the upper surface. It is a schematic diagram of the air flow when the wind hits the windbreak part which does not allow air to pass. It is a schematic diagram of the air flow when the wind hits the windbreak part through which air passes. It is a figure which looked at an example of the structure of the landing equipment by this invention from the top view. It is a figure which looked at an example of the structure of the landing equipment by this invention from the top view. It is a figure which looked at an example of the structure of the landing equipment by this invention from the top view. It is a figure which looked at an example of the structure of the landing equipment by this invention from the top view. It is a figure which looked at an example of the structure of the landing equipment by this invention from the top view.
  • FIG. 29 is a view of FIG. 29 as viewed from above. It is a side view in the case where the windbreak part which prevents the updraft and the downdraft is provided near the landing place. It is a top view of an air vehicle. It is a functional block diagram of the flying object of FIG. 32.
  • the landing equipment according to the embodiment of the present invention has the following configuration.
  • [Item 1] The first area to land the aircraft and A windbreak portion having a predetermined height and covering at least a part, but not all, around the first region. Landing equipment including.
  • [Item 2] The windbreak portion is a net, The landing equipment according to item 1, characterized in that.
  • [Item 3] The windbreak part is partially invalidated.
  • the first area includes a laying portion.
  • the first region includes a high-altitude landing area.
  • the first region is provided on both sides of the windbreak portion.
  • the windbreak portion has a roof portion that covers the first region.
  • All of the windbreak parts are made of the same material.
  • the first region is provided on the upper part of the structure.
  • the windbreak portion is further provided on the side surface of the structure.
  • the landing equipment according to any one of items 1 to 8 characterized by the above.
  • the structure is a dwelling, The landing equipment according to item 9, characterized in that.
  • the first region and the windbreak portion are provided on the upper part of a vehicle or a ship.
  • [Item 12] The first region and the windbreak portion are provided on a floor plate or a loading platform in a vehicle.
  • [Item 13] Further including a second region adjacent to the first region, The windbreak portion is provided at a position around the first region excluding the boundary with the second region.
  • the landing equipment according to item 1 to item 12 characterized in that.
  • the windbreak portion is further provided on the side of the periphery of the second region facing at least the first region.
  • the windbreak portion 11 for preventing the wind hitting the air vehicle taking off or landing and the air vehicle 100 using the landing equipment 10 are stable.
  • a first region 12 composed of an area, a shape, and a material that can be grounded, and a second region 13 adjacent to the first region 12 are provided.
  • the first region 12 is a general term including not only a plane region as shown in FIG. 1 but also a three-dimensional region including a Z-axis direction region up to the height of the windbreak portion 11. be.
  • the windbreaker portion 11 has a configuration having an effect of weakening the wind blowing from the outside of the first region 12 toward the inside of the first region 12, and is a position for preventing the wind entering the first region 12 (for example, the position of the first region 12). It is arranged around the periphery or near the end in the first region 12).
  • the distance between the first region 12 and the windbreak portion 11 is preferably 20 n or less. .. This is because the windbreak portion 11 needs to be provided at an appropriate distance from the windbreak portion 11 in order to efficiently obtain the windbreak effect of the windbreak portion 11 against the crosswind blown from the outside of the first region 12.
  • windbreak unit 11 examples include panels, nets, fences, air curtains, green curtains, water curtains, and the like. Further, as the windbreak portion 11, a plurality of types may be used in combination.
  • the wind that hits the windbreaker 11 rises so as to avoid the windbreaker 11 as shown in FIG. 3, and the air in the region A above the windbreaker 11 rises. It is compressed. After that, in the region B beyond the windbreak portion 11, an air vortex is likely to be generated due to the difference in air pressure.
  • the generated vortex causes the airflow in the first region 12 to be turbulent, and when the wind is particularly strong, the influence of the turbulence in the airflow becomes large, so that the takeoff and landing of the flying object 100 may become unstable. Therefore, as shown in FIG. 4, it is more preferable to use a member such as a net or a fence that has an effect of weakening the wind but does not easily generate a difference in atmospheric pressure before and after the windbreaker 11.
  • the degree of windbreak effect may be partially changed in the windbreak portion 11.
  • the windbreak effect of the portion passing immediately after the start of approach to the region having the windproof effect is weakened, and the stage as it approaches landing.
  • the windbreak portion 11 may gradually increase the windbreak effect from the top to the bottom in the Z-axis direction. good.
  • the windbreak portion 11 has a simple and low-cost configuration in which a frame or the like is provided and a net is stretched, or a net is fixed to the roof or the like of an existing building as described later in FIGS. 14-16. ..
  • a frame or the like is provided and a net is stretched, or a net is fixed to the roof or the like of an existing building as described later in FIGS. 14-16. ..
  • soil, sand, dust, etc. are wound up by the wake of the propeller, and in order to prevent adverse effects on the flying object 100 and the transported object, concrete, asphalt, etc. are placed in a place where the wind emitted from the flying object 100 hits. It is more desirable to provide a laying part by laying a sheet or laying a plate or sheet made of metal or resin. Alternatively, it is possible to prevent the soil from being rolled up by providing a landing area at a high place with a platform or the like so as to keep it away from the ground.
  • the second area 13 is provided adjacent to the first area 12. It is desirable that the windbreak portion 11 is installed so as not to separate the boundary between the first region 12 and the second region 13.
  • the windbreaker 11 covers all four sides of the first region 12, the wind into the first region 12 can be prevented, but when a trouble occurs in the flying object 100 or the landing is restarted, the aircraft flies. However, there is not enough space to recover the situation. As a result, it may collide with the windbreak portion 11 and damage the airframe of the flying object 100. Therefore, by providing the second region 13 adjacent to the first region 12 and not covering the second region 13 side with the windbreak portion 11, the second region 13 can be used as an escape portion of the aircraft. Become.
  • the second region 13 in the landing equipment 10 on the leeward side of the first region 12 it can be used as an escape portion when the aircraft is swept by a strong wind during landing or hovering.
  • the wind strength and the tendency of the direction throughout the year are calculated from the past meteorological data at that point, and the highest. You may decide the direction in which the effect can be expected. Further, as will be described later, when the windbreaker 11 has a structure in which a part thereof can be removed, for example, the direction in which the highest effect can be expected (for example, the leeward side) is determined based on the weather forecast data of the day. May be.
  • the site area In an environment where the site area is limited, such as a convenience store or a fast food store, and there is a third party near the landing facility 10, it is safe to move the aircraft (for example, the first area 12 and buildings or vacant lots). It is desirable that the second area 13 is used (between the garage and the like), and the first area 12 is covered with a windbreak portion except in the direction adjacent to the second area 13.
  • the first regions 12a and 12b are switched as the landing points with the windbreak portion 11 in between.
  • the windbreak portion 11 may be provided as shown in FIG. 9 so that the relief portion can be provided in two directions, particularly for takeoff and landing in the vertical direction.
  • the flight body 100 or the landing facility 10 or the flight depends on the environment at the time of landing of the flying object.
  • the control device included in the body control device may determine in which area the flight object 100 will land.
  • the landing position may be determined automatically from meteorological data such as wind direction and wind power at the time of landing acquired by the sensor and past environmental data, or may be selected by an operator or administrator. good.
  • the windbreak portion 11 to be used can be selected depending on the wind direction, as shown in FIG. 10, air can be invalidated from a part of the windbreak portions 11a-11d (here, the windbreak portion 11d). It is necessary to have functions such as turning on / off the operation of curtains and water curtains, stretching / winding with net wires, and opening / closing panels and fences.
  • a person may give an instruction or remove the net depending on the situation, and the flight is based on meteorological data and past environmental data as well as the determination of the landing position. It may be automatically performed by controlling a motor or the like connected to the windbreaker 11 in cooperation with the selection of the route of the body 100.
  • the windbreak portion 11 is provided on at least the side of the periphery of the second region 13 facing the first region 12. It is possible to reduce the wind direction in the opposite direction as compared with the case where the windbreak portion 11 is not provided. Further, the arrangement is not limited to that shown in FIG. 11, and may be provided in any portion of the periphery of the second region 13 other than the boundary with the first region 12.
  • the landing equipment 10 may be installed at a high place at a certain distance offset from the ground in the Z-axis direction.
  • a third party or an organism on the ground is provided at a high place with a certain distance offset (for example, an offset of about 2 meters or more) in the height direction from the ground so as not to come into contact with the flying object 100, for example, FIG.
  • It may be provided on some structure as described in FIG. 14, or it may be provided on the upper floor, roof, rooftop, etc. of the building 30 as shown in FIG. Even in these cases, the safety is further improved by providing the above-mentioned second region 13.
  • the windbreak portion 11 When installing the landing equipment 10 at a high place, it is desirable to reduce not only crosswinds but also updrafts. As illustrated in FIG. 12-14, by providing the windbreak portion 11 extending in both the vertical and horizontal directions near the upper edge of the structure, the ascent corresponding to the flying object 100 entering the first region 12 in the upper part of the structure is provided. The air flow can be suppressed. It is desirable that the windbreak portion 11 extending in the horizontal direction is near the upper edge of the building 30, but the effect can be obtained even if the windbreak portion 11 is provided on the side surface depending on the structure provided with the first region 12 or the structure of the building 30. It is possible. Further, the windbreak portion 11 is not limited to vertical or horizontal, and may be inclined with a predetermined angle. Further, although it is desirable that the windbreak portion 11 is provided with both, a certain effect can be obtained even if the windbreak portion 11 is provided on only one of the upper surface side and the side surface side.
  • the windbreak portion 11 may be disabled by folding, shrinking, storing, etc. while not in use.
  • These invalidation controls may be performed by the above-mentioned activation / invalidation control.
  • the activation / invalidation control is performed by using a known technology such as a technology for detecting that short-range communication is possible between the landing equipment 10 and the landing equipment 10. good. This prevents the windbreaker 11 from being damaged during a strong wind such as a typhoon, minimizes the time during which sound is generated when the wind hits the windbreaker 11, and does not spoil the aesthetics of the building 30 or the like. can do.
  • the building 30 is, for example, a residence, and as described above, the first area 12 may be provided on the roof from the viewpoint of safety. If the upper part of the building 30 is flat, the above configuration can be applied as it is. However, when the landing surface (first region 12) is not horizontal due to an inclination at the upper part of the building 30, the building 30 is set so that the first region 12 is horizontal as illustrated in FIG.
  • the first region 12 may be provided on the structure provided on the upper part of the above. Further, the upper surface of the structure provided with the first region 12 may be configured by a lift, and when the lift is lowered, the flying object 100 or the mounted object mounted on the flying object 100 is inside the building 30 through the structure. May be accommodating.
  • the landing equipment 10 may be provided in a building 30 having a roof (for example, a canopy) without a side wall on the entire surface, such as a gas station.
  • a roof for example, a canopy
  • a windbreak portion 11 is provided by hanging a net or the like from the upper edge of the roof.
  • a support column 31 such as a pole and stretch it.
  • the second area 13 is on the moving body 200 or outside the moving body 200 and is a space suitable for retreating the flying object 100. It is desirable to have.
  • the windbreak portion 11 is used.
  • a wide space can be secured by providing the moving body 200 substantially parallel to the direction perpendicular to the straight direction (Y-axis direction) (X-axis direction), and especially when the ship faces the wave, the leeward side. Can be set to the second region 13, and the flying object 100 can be safely evacuated.
  • the windbreak unit 11 hinders the progress while the moving body 200 is moving, and the windbreak unit 11 may be damaged. It is preferable to make it. Further, although the above-mentioned advantages are impaired, the windbreak portion 11 may be provided substantially parallel to the moving body 200 in the straight direction so that the invalidation control is not required.
  • a vehicle capable of opening the side surface of the moving body 200 or the like.
  • wing body truck a vehicle capable of opening the side surface of the moving body 200 or the like.
  • the windbreak portion 11 is covered with the car body by closing the side surface of the moving body 200 when not in use or while the truck is running, the air resistance during running as in the trucks exemplified in FIGS. 17 and 18 and the like. There is no need to fold or disassemble in consideration of.
  • the open wing side panel makes it possible to work away from rain and sunlight.
  • the first region 12 may be provided not only on the side of the moving body 200 but also on the floor plate or the loading platform in the moving body 200.
  • the landing equipment 10 shown in FIGS. 25-27 forms a windproof space by covering at least the periphery of one or more landing areas 15 (first area 12) with a windbreak portion 11, and the flying object 100 is provided in the windbreak portion 11. It becomes possible to land on the landing area 15 in the windbreak space through the approached portion 14.
  • the landing equipment 10 shown in the figure does not have a roof, a roof may be further provided above the windbreak portion 11, and the roof may be made of the same material as the windbreak portion 11.
  • the approach portion 14 is, for example, a passage port, and the flying object 100 enters from the passage port in a substantially horizontal flight.
  • the position of the approach portion 14 is preferably provided, for example, above the center of the windbreak portion 11. As a result, the landing operation due to the vertical descent, which is particularly greatly affected by the wind, can be performed while the wind is weakened by the windbreaker 11. With such a configuration, the landing equipment 10 enables stable landing of the flying object 100.
  • the aircraft body 100 can pass through the approach portion 14 in a substantially horizontal flight, so that the aircraft body can be swiftly compared to the case where the landing operation is performed only by vertical descent.
  • the 100 can enter the windbreak space surrounded by the windbreak portion 11. Further, after the flying object 100 enters the windbreak space surrounded by the windbreak portion 11, it is unlikely that the flying object 100 will go out of the windbreak space, so even if there is a place where a third party can enter nearby. Safety can be guaranteed.
  • the landing equipment 10 of the present embodiment when the landing equipment 10 of the present embodiment is attached to the building 30, it is possible to use the outer wall of the building 30 as a part of the windbreak portion 11. In this way, by using at least one surface of the windbreak portion 11 as the outer wall of the building 30, a door connecting the building 30 and the windbreak space surrounded by the windbreak portion 11 is provided, so that a person such as a worker can prevent the wind. It is also possible to facilitate the recovery of aircraft that have landed in space.
  • the approach portion 14 must be able to enter the flying object 100, and has an area equal to or larger than the front projected area of the flying object at the time of approach. As shown in the figure, it does not have to be a rectangular opening that is always open, and it may have an opening / closing function by a wire, a hinge, or the like. Further, the approach portion 14 may be, for example, a slit-shaped gap without covering a part of the landing region 15 on the one-way side, or a hole having a graphic shape such as an elliptical shape.
  • the updrafts and downdrafts described here include not only a wide range created by the relationship between high pressure and low pressure, but also a very narrow range generated in buildings 30 and cliffs.
  • what is likely to hinder flight such as home delivery by the flying object 100 is an updraft or a downdraft caused by a wind blowing on a high-rise property such as a building.
  • the aircraft 100 to be landed is easily affected by the downdraft from the building 30. Become.
  • a fixing member such as a frame or a building material may be fixed to the wall surface of the building 30, and a windbreak member (for example, a net or the like) to be a windbreak portion 11 may be provided therein.
  • the windbreak portion 11 is provided adjacent to the roof by using a fixing member such as a frame or a support. It is possible to prevent the downdraft from the building 30. Further, by providing the windbreak portion 11 on the roof so as to cover a part of the route 20, it is possible to safely fly to the landing even in the route 20 (approach route) to the landing equipment 10.
  • FIG. 31 in the case of an environment in which an updraft is likely to occur in an adjacent building in the route 20 of the aircraft 100, in order to reduce the influence of the updraft, a windbreak is provided below the route 20.
  • a unit 11 is provided.
  • the updraft that occurs on the wall surface of the building 30 is generated above the ground and blows upward, so even if the landing equipment 10 installed near the ground is equipped with a sensor or the like that detects the wind. , It is difficult to detect this updraft. Therefore, it is determined by the sensor or the like that the wind power can land from the ground, and if the building 30 exists near the route 20 to the landing facility 10, the aircraft 100 will enter an unexpected updraft. There can be.
  • the angle at which the windbreak portion 11 is fixed to the building 30 may be horizontal as shown in the figure, but the windbreak portion 11 may be fixed downward by a predetermined angle, for example, as a countermeasure against an updraft. Further, in order to facilitate the flow of the updraft to the outside, the windbreak portion 11 may be fixed upward by a predetermined angle.
  • a windbreak portion 11 is provided above the route 20 in order to reduce the influence of the downdraft. It may be provided.
  • the angle at which the windbreak portion 11 is fixed to the building 30 may be horizontal as shown in the figure, but for example, the windbreak portion 11 may be fixed upward by a predetermined angle as a countermeasure against downdraft. Further, in order to facilitate the flow of the downdraft to the outside, the windbreak portion 11 may be fixed downward by a predetermined angle.
  • windbreak portion 11 When the windbreak portion 11 is installed at the lower part of the route 20 of the flight body 100, it can be expected to be effective as an emergency shelter in case of failure of the flight body as well as the windbreak.
  • the route 20 of the flight body 100 is determined before the takeoff of the flight body 100, and the flight on the route 20 is started. Further, in the future, if the delivery service by the aircraft 100 becomes one of the general delivery services, there is a possibility that a route 20 determined as a delivery route will be prepared.
  • the configuration of the windbreak unit 11 in each of the above embodiments can further enhance the windbreak effect by combining a plurality of the windproof portions 11, and the configuration can be adjusted according to the environment, situation, and climate characteristics of the place where the aircraft 100 lands. It is desirable to change.
  • the aircraft 100 illustrated so far will be described, but these do not limit the form of the aircraft 100, and the aircraft 100 operated by using the landing equipment 10 in the present invention is the landing equipment. Any form that can land on 10 is sufficient. That is, the landing equipment 10 in the present invention can land substantially vertically, such as a VTOL aircraft and an aircraft having a plurality of motors called a multicopter, and it is not preferable to receive a strong wind at the time of landing. A particularly high effect can be expected in the airframe 100.
  • the configuration of the flying object 100 illustrated so far will be described with reference to FIG. 32.
  • the flying object 100 is equipped with at least elements such as a propeller 110 and a motor 111 for flying, and is equipped with energy for operating them (for example, a secondary battery, a fuel cell, fossil fuel, etc.). Is desirable.
  • the illustrated flying object 100 is drawn in a simplified manner for facilitating the explanation of the structure of the present invention, and for example, the detailed configuration of the control unit and the like is not shown.
  • the flying object 100 may have, for example, the direction of arrow D (-Y direction) in the figure as the traveling direction.
  • Front-back direction + Y direction and -Y direction
  • vertical direction or vertical direction: + Z direction and -Z direction
  • left-right direction or horizontal direction
  • traveling direction forward
  • Retreat direction or horizontal direction
  • traveling direction forward
  • retreat direction or reverse
  • ascending direction upward
  • descending direction downward
  • the propellers 110a and 110b rotate in response to the output from the motor 111.
  • the rotation of the propellers 110a and 110b generates a propulsive force for taking off the flying object 100 from the starting point, moving it, and landing it at the destination.
  • the propellers 110a and 110b can rotate to the right, stop, and rotate to the left.
  • the propeller 110 included in the flying object of the present invention has one or more blades. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a curved shape, a twisted shape, a tapered shape, or a combination thereof. The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces). The blades can be formed into an air wheel, wing, or geometry suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.
  • rotors e. 1, 2, 3, 4, or more blades
  • shape of the blade can be any shape such as a flat shape,
  • the propeller included in the flying object of the present invention may have a fixed pitch, a variable pitch, or a mixture of a fixed pitch and a variable pitch, but the propeller is not limited to this.
  • the motor 111 causes the rotation of the propeller 110, and for example, the drive unit can include an electric motor, an engine, or the like.
  • the blades are driveable by the motor and rotate around the axis of rotation of the motor (eg, the long axis of the motor).
  • All the blades can rotate in the same direction, and can also rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction.
  • the blades can all rotate at the same rotation speed, or can rotate at different rotation speeds.
  • the rotation speed can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
  • the flight body 100 determines the rotation speed and flight angle of each motor according to the wind speed and the wind direction by a flight controller, a radio, or the like. As a result, the flying object can move ascending / descending, accelerating / decelerating, and changing direction.
  • the flight body 100 can perform autonomous flight according to routes and rules set in advance or during flight, and flight by maneuvering using a radio.
  • the above-mentioned flying object has a functional block shown in FIG. 33.
  • the functional block in FIG. 33 has a minimum reference configuration.
  • the flight controller is a so-called processing unit.
  • the processing unit can have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).
  • the processing unit has a memory (not shown), and the memory can be accessed.
  • the memory stores the logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.
  • the memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in the built-in memory or an external memory.
  • the processing unit includes a control module configured to control the state of the rotorcraft.
  • the control module adjusts the spatial arrangement, velocity, and / or acceleration of a rotorcraft with 6 degrees of freedom (translation x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z ).
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls).
  • the transmitter / receiver can use any suitable communication means such as wired communication or wireless communication.
  • the transmitter / receiver uses one or more of a local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to.
  • the transmitter / receiver can transmit and / or receive one or more of data acquired by sensors, processing results generated by a processing unit, predetermined control data, user commands from a terminal or a remote controller, and the like. ..
  • Sensors according to this embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (eg, riders), or vision / image sensors (eg, cameras).
  • inertial sensors acceleration sensors, gyro sensors
  • GPS sensors GPS sensors
  • proximity sensors eg, riders
  • vision / image sensors eg, cameras

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JPH04321492A (ja) * 1991-04-18 1992-11-11 Taisei Corp 滑走路の構造
JPH0789495A (ja) * 1993-09-03 1995-04-04 Taiyo Kogyo Kk 航空機離着陸装置
US20160364989A1 (en) * 2015-06-15 2016-12-15 ImageKeeper LLC Unmanned aerial vehicle management
JP2017133142A (ja) * 2015-12-11 2017-08-03 エアロファシリティー株式会社 保護シート
JP2019023020A (ja) * 2017-07-24 2019-02-14 株式会社熊谷組 荷受け設備
JP2019059402A (ja) * 2017-09-27 2019-04-18 Ｉｈｉ運搬機械株式会社 無人飛行機用離着陸設備
JP2019151149A (ja) * 2018-02-28 2019-09-12 本田技研工業株式会社 飛行制御装置、プログラム及び車両
JP2019207555A (ja) * 2018-05-29 2019-12-05 京セラ株式会社 基地装置、基地装置の制御方法、及び基地装置の制御プログラム
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JPH04321492A (ja) * 1991-04-18 1992-11-11 Taisei Corp 滑走路の構造
JPH0789495A (ja) * 1993-09-03 1995-04-04 Taiyo Kogyo Kk 航空機離着陸装置
US20160364989A1 (en) * 2015-06-15 2016-12-15 ImageKeeper LLC Unmanned aerial vehicle management
JP2017133142A (ja) * 2015-12-11 2017-08-03 エアロファシリティー株式会社 保護シート
JP2019023020A (ja) * 2017-07-24 2019-02-14 株式会社熊谷組 荷受け設備
JP2019059402A (ja) * 2017-09-27 2019-04-18 Ｉｈｉ運搬機械株式会社 無人飛行機用離着陸設備
JP2019151149A (ja) * 2018-02-28 2019-09-12 本田技研工業株式会社 飛行制御装置、プログラム及び車両
JP2019207555A (ja) * 2018-05-29 2019-12-05 京セラ株式会社 基地装置、基地装置の制御方法、及び基地装置の制御プログラム
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