WO2022137392A1

WO2022137392A1 - Flight vehicle

Info

Publication number: WO2022137392A1
Application number: PCT/JP2020/048204
Authority: WO
Inventors: 浩一田中
Original assignee: ヤマハ発動機株式会社
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2022-06-30
Also published as: WO2022138115A1; JPWO2022138115A1; JP7231791B2

Abstract

The present invention provides a flight vehicle in which an air frame can be downsized and made to be lighter in weight by arranging a flight vehicle control device and an electric generator engine in a compact layout while fully satisfying the performance of the flight vehicle control device and the performance of the electric generator engine. A flight vehicle 1 comprises: an air frame 2; a plurality of rotors 22 which include an electric motor 23 and a propeller 24 rotary-driven by said electric motor 23, and which provide lift; an electric generator 10 which supplies electricity to the electric motor 23; an electric generator engine 12 which drives the electric generator 10; a flight vehicle control device 25 which controls the electric motor 23 and the electric generator engine 12; a cooling unit having a radiator that cools the electric generator 10 and/or the electric generator engine 12; and a fan for cooling the radiator. The cooling unit is configured such that the air blowing from the fan and having passed the radiator is caused to flow toward the electric generator engine 12 but is not caused to flow toward the flight vehicle control device 25.

Description

Flying object

The present invention relates to a flying object.

Conventionally, an electric multicopter (flying object) having a plurality of rotors is known. The multicopter disclosed in Patent Document 1 includes an airframe frame, four rotors including a propeller and an electric motor, a battery, a flight control module, and an inertial measurement unit (IMU). The airframe frame includes a main body portion of the airframe frame on which the battery, the flight control module, and the inertial measurement unit are mounted, and four arm portions on which the rotor is loaded. The four arm portions are radially provided on the main body portion of the airframe frame.

The inertial measurement unit is a measuring instrument that measures the attitude angle, acceleration, etc. of the multicopter in the three axial directions in real time. The flight control module independently controls the output of the electric motor of each rotor according to a control signal from the outside. The operator of the multicopter can easily interlock and control the four rotors by the inertia measuring unit and the flight control module. It is desirable that the inertial measurement unit and the flight control module, which are composed of electronic components, take measures against vibration and heat in order to fully exhibit their performance.

In addition, it is desirable that the multicopter be equipped with a power source with high energy density in order to extend the cruising range. As such a multicopter, a multicopter in which an engine generator is mounted on an electric multicopter having a plurality of rotors is known. The multicopter disclosed in Patent Document 2 includes a machine frame, two rotors including a propeller and an electric motor, a battery, a generator, and an engine for a generator. The airframe frame includes a main body portion of the airframe frame on which the battery, the generator and the engine for the generator are mounted, and two arm portions on which the rotor is loaded. In the multicopter disclosed in Patent Document 2, when the remaining battery level becomes less than the threshold value, the generator is driven by the generator engine to charge the battery. The multicopter can realize a long flight by having the engine generator.

In a multicopter equipped with an engine generator, it is required to suppress heat and vibration generated from the engine for the generator. Therefore, in order to exhibit the performance of the engine generator and improve the operability of the multicopter, a radiator that lowers the temperature of the generator engine, such as the multicopter disclosed in Patent Document 2, is used. , A multicopter including a vibration suppression member that suppresses transmission of vibration from the generator engine to the body frame has been proposed. The multicopter disclosed in Patent Document 2 can improve operability and exhibit the performance of the engine generator by mounting the vibration suppressing member and the radiator.

Chinese Patent Application Publication No. 107416195 Korean Published Patent No. 10-2019-0086835

In the flying object, when the flying object control device is mounted at a distance from the generator engine as a countermeasure against heat and vibration of the generator engine, the body frame of the flying object becomes large and the flying object becomes larger. Weight increases. As the weight of the aircraft increases, not only the payload is reduced but also the cruising range is shortened. Therefore, while satisfying the performance of the flying object control device and the performance of the engine generator, by arranging the flying object control device and the engine generator compactly with respect to the aircraft frame, the aircraft frame can be made smaller. There is a demand for an air vehicle that can be made lighter and lighter.

In the present invention, the aircraft frame can be miniaturized and the engine frame can be miniaturized by arranging the aircraft control device and the engine for the generator compactly with respect to the aircraft frame while satisfying the performance of the aircraft control device and the performance of the engine generator. The purpose is to provide an air vehicle that can be made lighter.

The present inventors have made the aircraft frame smaller by arranging the aircraft control device and the engine for the generator compactly with respect to the aircraft frame while satisfying the performance of the aircraft control device and the performance of the engine generator. We examined the configuration of an air vehicle that can be made lighter and lighter. As a result of diligent studies, the present inventors have come up with the following configuration.

The flying object according to the embodiment of the present invention includes a body frame, an electric motor, and a plurality of rotors including a propeller rotated by the electric motor to generate a lift, and a generator for supplying power to the electric motor. , The generator engine for driving the generator, the flying object control device for controlling the electric motor and the generator engine, and cooling at least one of the generator and the generator engine and the rotor. It is an air vehicle including a cooling unit having a radiator located outside the rotation region of the propeller and a fan for cooling the radiator when viewed in the direction of the rotation axis of the above.

The cooling unit is configured so that the exhaust air of the fan that has passed through the radiator does not flow toward the flying object control device but flows toward the generator engine.

As described above, the flying object has a radiator for cooling the generator and the generator engine in order to exert the performance of the generator engine. The radiator is not cooled by the air flow (downwash) generated by the rotation of the rotor propeller, but by the air blown from the fan for cooling the radiator. Since the radiator is cooled by the fan, it can be placed at any position on the airframe frame rather than near the propeller. Therefore, the radiator has an improved degree of freedom in arrangement in the flying object. By arranging the radiator so that the exhaust air of the fan heated through the radiator does not flow toward the flying object control device but flows toward the engine for the generator, the ascending air is generated by the exhaust air. The temperature is suppressed. Therefore, the flying object control device can be brought close to the generator engine to a position where the radiant heat from the generator engine cooled by the radiator does not affect. Thereby, while satisfying the performance of the flying object control device and the performance of the engine generator, the flying object control device, the radiator and the engine for the generator are compactly arranged with respect to the body frame. It is possible to realize an air vehicle that can reduce the size and weight of the body frame.

Further, the fan is arranged so that the rotation axis of the fan extends toward the generator engine in order to allow the exhaust air to flow toward the generator engine. The fan is arranged closer to the generator engine than in the case where the rotation axis extends toward a direction other than the generator engine. Therefore, the degree of freedom in arranging the fan with respect to the airframe frame is improved. The fan can be brought close to the generator engine to a position where it does not interfere with the generator engine. As a result, the flying object control device, the fan, and the engine for the generator are compactly arranged with respect to the aircraft frame while satisfying the performance of the flying object control device and the performance of the engine generator. It is possible to realize an air vehicle that can reduce the size and weight of the body frame.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. The radiator is supported by the airframe frame.

With the above configuration, the radiator can be freely arranged with respect to the airframe frame without being affected by the position of the generator engine. Therefore, the degree of freedom in arranging the radiator with respect to the airframe frame can be improved. Thereby, the radiator can be arranged close to the generator engine until the position where the fan and the generator engine do not interfere with each other. Therefore, while satisfying the performance of the airframe control device and the performance of the engine generator, the radiator, the fan, and the engine for the generator are compactly arranged with respect to the airframe to make the airframe frame. It is possible to realize an airframe that can be made smaller and lighter.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. At least one of the generator engine, the radiator, and the airframe control device is supported by the airframe frame via a vibration suppressing member that suppresses vibration transmitted from the airframe frame and vibration transmitted to the airframe frame.

With the above configuration, the vibration suppressing member suppresses the transmission of vibration from the generator engine to the radiator and the flying object control device. Therefore, the radiator and the airframe control device can be freely arranged with respect to the airframe frame without being affected by the vibration generated by the generator engine. Therefore, the degree of freedom in arranging the radiator and the flying object control device with respect to the airframe frame can be improved. Thereby, the radiator can be arranged close to the generator engine until the position where the fan and the generator engine do not interfere with each other. Therefore, while satisfying the performance of the flight object control device and the performance of the engine generator, the flight object control device, the radiator, the fan, and the engine for the generator should be compactly arranged with respect to the body frame. As a result, it is possible to realize an air vehicle whose body frame can be made smaller and lighter.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. It has a wall component constituting an exhaust passage for guiding the exhaust air of the fan that has passed through the radiator to the engine for the generator.

With the above configuration, the exhaust air of the fan is guided to the engine for the generator by the exhaust passage. That is, the exhaust air of the fan does not flow toward the flight object control device by the exhaust passage even if the fan is not arranged so that the rotation axis of the fan faces the engine for the generator. It flows toward the generator engine. Therefore, the degree of freedom in arranging the radiator and the fan with respect to the airframe frame is improved. As a result, the flying object control device, the fan, and the engine for the generator are compactly arranged with respect to the aircraft frame while satisfying the performance of the flying object control device and the performance of the engine generator. It is possible to realize an air vehicle that can reduce the size and weight of the body frame.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. At least a part of the wall component is made of resin.

With the above configuration, the increase in weight of the flying object is suppressed even when the flying object has the exhaust passage. Thereby, while satisfying the performance of the flying object control device and the performance of the engine generator, the flying object control device, the fan, and the engine for the generator are compactly arranged with respect to the body frame. It is possible to realize an air vehicle that can reduce the size and weight of the body frame.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. The radiator includes at least one of a first radiator that cools the generator engine and a second radiator that cools the generator. The fan includes at least one of a first fan for cooling the first radiator and a second fan for cooling the second radiator.

With the above configuration, the generator engine having different calorific value and the radiator having appropriate capacities for the generator are used. Since the first radiator and the second radiator are smaller than the radiator for cooling the generator engine and the generator together, the degree of freedom in arranging the radiator with respect to the machine frame is improved. As a result, the flying object control device, the fan, and the engine for the generator are compactly arranged with respect to the aircraft frame while satisfying the performance of the flying object control device and the performance of the engine generator. It is possible to realize an air vehicle that can reduce the size and weight of the body frame.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. The radiator is located between the flying object control device and the generator engine.

With the above configuration, the fan passes the air including the air around the flying object control device through the radiator and flows toward the generator engine without flowing toward the flying object control device. Inhale and expel. As a result, it is possible to suppress the air that has passed through the radiator from flowing toward the flying object control device. Further, by arranging the radiator between the flying object control device and the generator engine, the influence of the radiant heat from the generator engine cooled by the radiator can be exerted on the flying object control device. It is possible to approach the generator engine to a position that does not reach it. As a result, the flight object control device, the radiator, the fan, and the engine for the generator are compactly arranged with respect to the body frame while satisfying the performance of the flight object control device and the performance of the engine generator. As a result, it is possible to realize an air vehicle whose body frame can be made smaller and lighter.

From another point of view, it is preferable that the flying object of the present invention includes the following configurations. The radiator looks at the flying object in a direction orthogonal to the direction in which the flying object control device and the generator engine are lined up, and the generator engine moves from the flying object control device toward the generator engine. It is placed at an angle so as to be separated from it.

With the above configuration, the range in which the radiator can be arranged in the airframe frame is expanded. Therefore, the degree of freedom in arranging the radiator with respect to the airframe frame is improved. Thereby, the flying object can reduce the size and weight of the aircraft frame by arranging the radiator compactly while satisfying the performance of the flying object control device and the performance of the engine generator.

The terminology used herein is used for the purpose of defining only specific embodiments, and is not intended to limit the invention by the terminology.

As used herein, "and / or" includes all combinations of one or more relatedly listed components.

As used herein, the use of "including, including," "comprising," or "having" and variations thereof are described as features, processes, elements, components, and / or. , Identifying the existence of their equivalents, but may include one or more of steps, actions, elements, components, and / or groups thereof.

In the present specification, "attached", "connected", "combined", and / or their equivalents are used in a broad sense and are "direct and indirect" attachments. Includes both connections and bonds. Further, "connected" and "bonded" are not limited to physical or mechanical connections or bonds, but can include direct or indirect connections or bonds.

Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs.

Terms defined in commonly used dictionaries should be construed to have meaning consistent with the relevant technology and in the context of the present disclosure, unless expressly defined herein. , Is not interpreted in an ideal or overly formal sense.

It is understood that in the description of the present invention, a number of techniques and processes are disclosed. Each of these has its own interests and can be used with one or more of the other disclosed techniques or, in some cases, all.

Therefore, for the sake of clarity, the description of the invention refrains from unnecessarily repeating all possible combinations of individual steps. However, the specification and claims should be read with the understanding that all such combinations are within the scope of the invention.

This specification describes an embodiment of the flying object according to the present invention.

In the following description, a number of specific examples will be given to provide a complete understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without these specific examples.

Therefore, the following disclosure should be considered as an example of the invention and is not intended to limit the invention to the particular embodiments set forth in the drawings or description below.

[Flying body]
As used herein, an air vehicle means a multicopter having a plurality of rotors. The rotation axes of the plurality of rotors are oriented in a substantially vertical direction. The plurality of rotors are driven by an electric motor. Further, the flying object is equipped with at least an engine and a generator, and is configured to be able to supply the electric power generated by the generator to the electric motor.

[Engine generator unit]
In the present specification, the engine generator unit is a device that drives a dynamo to generate electricity by an engine for a generator, which is various reciprocal engines such as a diesel engine and a gasoline engine. The engine generator unit controls the rotation speed and output of the engine for a generator to generate power in response to an external power generation request. The engine generator unit does not supply the driving force of the generator engine to other than the generator. For example, the engine generator unit does not output power for rotating the propeller of the multicopter.

[Flight control device]
In the present specification, the flying object control device is a device that controls the position, speed, attitude, moving direction, etc. of the flying object. The flying object control device is, for example, a computer. The control device includes an inertial measurement unit (IMU) used for controlling the attitude and the like of the flying object. The inertial measurement unit detects, for example, angular velocity and acceleration.

[Vibration suppression member]
In the present specification, the vibration suppressing member attenuates the kinetic energy (vibration) transmitted from the airframe frame to the flying object control device. In addition, the kinetic energy (vibration) transmitted from the generator engine to the airframe frame is attenuated.

[Cooling unit]
In the present specification, the cooling unit refers to a heat exchanger that cools at least one of the generator, the engine for the generator, and the flying object control device, and the aircraft that has passed through the heat exchanger in a predetermined direction. Includes a guide vent. The heat exchanger is, for example, a radiator. The exhaust passage is, for example, a duct.

[Line up direction]
In the present specification, the side-by-side direction means a direction in which the two objects appear to overlap when the two objects are arranged side by side.

According to one embodiment of the present invention, the flight object control device and the engine for the generator are compactly arranged with respect to the body frame while satisfying the performance of the flight object control device and the performance of the engine generator. It is possible to realize an air vehicle that can reduce the size and weight of the aircraft frame.

FIG. 1 shows a plan view of an air vehicle according to the first embodiment of the present invention. FIG. 2 shows a side view of the flying object according to the first embodiment of the present invention. FIG. 3 shows a partial side view of the flying object according to the first embodiment of the present invention. FIG. 4 shows a partial plan view of the flying object according to the first embodiment of the present invention. FIG. 5 shows a partial side view showing the flow of air passing through the radiator in the flying object according to the first embodiment of the present invention. FIG. 6 shows a partial side view showing the flow of air passing through the radiator in the flying object according to the second embodiment of the present invention.

Hereinafter, each embodiment will be described with reference to the drawings. In each figure, the same parts are designated by the same reference numerals, and the description of the same parts will not be repeated. The dimensions of the constituent members in each drawing do not faithfully represent the actual dimensions of the constituent members and the dimensional ratio of each constituent member.

Hereinafter, the axial direction of the main body of the flying object 1 will be referred to as the "vertical direction". The direction orthogonal to the axis of the main body of the flying object 1 is defined as the "diameter direction".

[Embodiment 1]
<Overall configuration of flying object 1>
The flying object 1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG. 1 is a plan view of the flying object 1. FIG. 2 is a side view of the flying object 1. FIG. 3 is a partial plan view showing the main body of the flying object 1. FIG. 4 is a partial side view showing the main body of the flying object 1.

As shown in FIGS. 1 to 3, the flying object 1 according to the first embodiment of the present invention is a multicopter flying by a plurality of rotors 22. The flying object 1 is configured to be capable of remote control by radio and independent flight by various sensors. The flight body 1 includes a body frame 2, an engine generator unit 9, a battery 21, six rotors 22, and a flight body control device 25.

The body frame 2 supports the engine generator unit 9, the battery 21, the rotor 22, and the flight body control device 25 constituting the flight body 1. The airframe frame 2 includes a main body 3, a flight body control device support 4, and an arm 7. The airframe frame 2 is made of, for example, a pipe material made of an aluminum alloy.

The main body portion 3 is a portion that supports the arm portion 7, the engine generator unit 9, the battery 21, and the flying object control device 25. The main body 3 is a frame in which the vertices of two hexagonal annular members are connected to each other by a rod-shaped member. That is, the main body 3 is a columnar frame extending in the axis P direction with the center line passing through the center of the two hexagonal annular members as the axis P when the flying object 1 is viewed in the vertical direction. A flying object control device support portion 4 and an arm portion 7 are fixed to the main body portion 3. The flying object control device support portion 4 is arranged on the annular member located above the two annular members with the direction in which the axis P of the main body portion 3 extends in the vertical direction. An arm portion 7 is connected to each apex of one annular member of the main body portion 3 and the other annular member.

The flying object control device support unit 4 supports the flying object control device 25. The flying object control device support portion 4 is attached to an annular member located above the two annular members of the main body portion 3. The flying object control device support portion 4 has a mounting plate 5 for mounting the flying object control device 25, and a plurality of support legs 6 for supporting the mounting plate 5. The mounting plate 5 is supported by a plurality of support legs 6 with respect to the main body portion 3. The mounting plate 5 is located above the main body 3 at a position intersecting the axis P. That is, the mounting plate 5 is supported by a plurality of support legs 6 extending radially and downward about the axis P of the main body 3. The mounting plate 5 is made of, for example, a heat insulating material.

The arm portion 7 supports the rotor 22. The arm portion 7 is composed of a rod-shaped member. The arm portion 7 is provided so as to extend in the radial direction with respect to each apex of the annular member in the main body portion 3. That is, the plurality of arm portions 7 extend radially around the axis P. The arm portion 7 has a rotor 22 located at the center portion in the radial direction.

The engine generator unit 9 is a power generation device powered by an engine. The engine generator unit 9 includes a generator 10, a generator control device (not shown), a generator engine 12, a cooling unit 8, a first fan 19, a second fan 20, a silencer (not shown), and a fuel tank (not shown). It has a control device (not shown) and a control device (not shown). In the engine generator unit 9, the generator 10, the generator engine 12, and the fuel tank are supported by the main body 3. The silencer is supported by the generator engine 12.

The generator 10 generates electricity by power from the outside. The generator 10 is, for example, an alternator. The generator 10 is connected to the crank shaft of the generator engine 12. The generator 10 generates electricity using the generator engine 12 as a power source. The generator control device converts the alternating current output from the generator 10 into a direct current. The generator control device is arranged in the vicinity of the generator 10.

The generator engine 12 is a power source for driving the generator 10. A generator 10 is connected to the crank shaft (output shaft) of the generator engine 12. The generator engine 12 drives the generator 10 by the rotational movement of the crank shaft.

The generator engine 12 is, for example, a water-cooled reciprocating engine. The generator engine 12 includes a control device (not shown) that controls the generator engine 12. The generator engine 12 is mounted on the main body 3. The generator engine 12 is supported by the machine frame 2 via an engine mount member 12a, which is a vibration suppressing member that suppresses vibration transmitted to the body frame 2. The engine mount member 12a is, for example, a cylindrical rubber mount member. Further, the generator engine 12 has devices necessary for the generator engine 12 to exert its functions, such as a silencer (not shown) and a fuel tank (not shown) that suppress exhaust noise.

The control device for the engine 12 for the generator and the control device for the generator, which is the control device for the generator 10, are the generator 10 and the generator based on information such as an external power command, the amount of power generation, and the remaining amount of the battery 21. The engine 12 is controlled.

The cooling unit 8 cools the generator 10 and the generator engine 12. The cooling unit 8 has a first radiator 14, a second radiator 15, a first duct 17, and a second duct 18.

The first radiator 14 is a heat exchanger. The first radiator 14 is supported by the flying object control device support portion 4. The first radiator 14 and the water jacket (not shown) of the generator engine 12 are connected by a radiator hose 13. The radiator hose 13 is arranged along the pipe material constituting the machine body frame 2. The first radiator 14 cools the cylinder block and the like of the generator engine 12 by radiating the heat of the cooling water that has passed through the water jacket of the generator engine 12 into the atmosphere. That is, the first radiator 14 cools the generator engine 12 using the cooling water of the generator engine 12 as a heat medium.

The second radiator 15 is a heat exchanger. The first radiator 14 is supported by the flying object control device support portion 4. The second radiator 15 and the water jacket (not shown) of the inverter 11 that controls the generator 10, the generator control device, and the electric motor 23 are connected by a radiator hose 13. The second radiator 15 dissipates the heat of the cooling water that has passed through the water jacket of the generator 10, the generator control device, and the inverter 11 into the atmosphere, whereby the generator 10, the generator control device, and the inverter 11 To cool. The second radiator 15 uses the cooling water of the generator 10 as a heat medium to cool the generator 10, the generator control device, and the inverter 11.

The first radiator 14 and the second radiator 15 are supported by the airframe control device support portion 4 via a radiator mount member 16 which is a vibration suppressing member that suppresses vibration transmitted from the airframe frame 2. The radiator mount member 16 is, for example, a cylindrical rubber mount member.

The first duct 17 allows the flow of air that has passed through a region through which air passes (hereinafter, simply "heat dissipation surface of the first radiator 14") in a portion where heat radiation fins for heat exchange of the first radiator 14 are integrated. , A wall component that guides in a specific direction. The first duct 17 is a tubular member with both ends open. The first duct 17 is supported by the first radiator 14 or the flying object control device support portion 4. At least a part of the first duct 17 is provided with a wall component made of resin. For example, the first duct 17 can be formed of a resin wall component at a portion where the temperature rises only to the allowable temperature of the resin or less. The first duct 17 uses one opening as an inflow port 17a, and discharges the air flowing in from the inflow port 17a from the discharge port 17b, which is the other opening directed in a specific direction. The first duct 17 is located downstream of the first radiator 14 in the direction of air flow passing through the heat dissipation surface of the first radiator 14.

The second duct 18 allows the flow of air that has passed through a region through which air passes (hereinafter, simply “heat dissipation surface of the second radiator 15”) in a portion where heat radiation fins for heat exchange of the second radiator 15 are integrated. , A wall component that guides in a specific direction. The second duct 18 is a tubular member with both ends open. The second duct 18 is supported by the second radiator 15 or the flying object control device support portion 4. At least a part of the second duct 18 is provided with a resin wall component. The second duct 18 uses one opening as the inflow port 18a and discharges the air flowing in from the inflow port 18a from the discharge port 18b which is the other opening directed in a specific direction. The second duct 18 is located downstream of the second radiator 15 in the direction of air flow passing through the heat dissipation surface of the second radiator 15.

The first fan 19 is a device for cooling the first radiator 14. The first fan 19 is supported by the first radiator 14 or the flying object control device support portion 4. The first fan 19 is located near the heat radiation surface of the first radiator 14, and is provided so that air moves toward the heat radiation surface of the first radiator 14. In the present embodiment, the first fan 19 draws air from the heat dissipation surface of the first radiator 14. That is, the first fan 19 is located downstream of the first radiator 14 in the direction of air flow passing through the heat dissipation surface of the first radiator 14. The first fan 19 is arranged so that the rotation axis F of the first fan 19 and the heat radiation surface of the first radiator 14 are orthogonal to each other.

The second fan 20 is a device for cooling the second radiator 15. The second fan 20 is supported by the second radiator 15 or the flying object control device support portion 4. The second fan 20 is located in the vicinity of the heat radiating surface of the second radiator 15, and is provided so that air moves toward the radiating surface of the second radiator 15. In the present embodiment, the second fan 20 draws air from the heat dissipation surface of the second radiator 15. That is, the second fan 20 is located downstream of the second radiator 15 in the direction of air flow passing through the heat dissipation surface of the second radiator 15. The second fan 20 is arranged so that the rotation axis F of the second fan 20 and the heat dissipation surface of the second radiator 15 are orthogonal to each other.

The battery 21 stores the electric power generated by the generator 10. The battery 21 is, for example, a lithium ion battery. Two batteries 21 are arranged in the main body 3. The engine generator unit 9 is located between the two batteries 21. That is, the two batteries 21 are arranged so that the center of gravity of the engine generator unit 9 is located substantially in the center between the two batteries 21. Further, the two batteries 21 are arranged close to the engine generator unit 9.

In this way, the battery 21 is arranged at a position where the weight balance of the flying object 1 is even. Further, the battery 21 is arranged at a position where it can be warmed by the radiant heat of the generator engine 12 even when the temperature of the battery 21 is low at the time of starting and at a low temperature. This makes it possible to improve the low temperature discharge characteristics of the battery 21 at low temperatures. The battery 21 supplies electric power to the engine generator unit 9, the electric motor 23 of the rotor 22, the vehicle body control device 25, and the like.

The rotor 22 is a device that generates lift by rotating the propeller 24 (blade). The rotor 22 is arranged in each of the arm portions 7. The six rotors 22 include an inverter 11, an electric motor 23, and a propeller 24.

The inverter 11 is a control device that supplies a current corresponding to a control signal to the electric motor 23. The inverter 11 is provided for each electric motor 23. The inverter 11 is supported by each arm portion 7.

The electric motor 23 is a rotary electric machine that rotates the propeller 24 (blade). Each electric motor 23 is controlled by the inverter 11. Each electric motor 23 is supported by each arm portion 7 so that the output shaft faces in the axis P direction of the main body portion 3. A propeller 24 is connected to the output shaft of each electric motor 23. The rotor 22 generates lift in the downward direction of the axis P of the main body 3 by rotating the propeller 24 by the electric motor 23.

The flight body control device 25 is a device that controls the position, attitude, speed, flight direction, etc. of the flight body 1 based on a control signal or the like from the outside. The flight object control device 25 may be configured such that a CPU, ROM, RAM, HDD and the like are connected by a bus, for example. Further, the flying object control device 25 may be configured by, for example, a one-chip LSI or the like. The flying object control device 25 includes an inertial measurement unit, a directional sensor, and an altitude sensor. The inertial measurement unit is a device that measures the angular velocity and the angular acceleration of the three axes of the flying object 1.

The flying object control device 25 is arranged on the mounting plate 5 of the flying object control device support portion 4. The airframe control device 25 is supported by a mounting plate 5 via a mount member 25a for an airframe control device, which is a vibration suppression member that suppresses vibration transmitted from the airframe frame 2. The vehicle body control device 25 is electrically connected to the generator control device of the generator 10, the control device of the generator engine 12, and the inverter 11 of each rotor 22. The vehicle body control device 25 stores various programs and data for controlling the operation of the engine generator unit 9, each inverter 11, various measuring devices, and the like.

The flying object control device 25 can transmit a control signal to the generator control device of the generator 10, the control device of the generator engine 12, and the inverter 11. The flying object control device 25 is electrically connected to the inertial measurement unit, the directional sensor, and the altitude sensor. The flight object control device 25 can acquire the measured values of each velocity and the angular acceleration from the inertial measurement unit, acquire the directional measurement values by the directional sensor, and acquire the altitude measured values by the altitude sensor. The flying object control device 25 can generate a control signal for the generator of the generator 10, the control device of the generator engine 12, and the inverter 11 from the acquired measured values. In order to accurately measure each speed and angular acceleration of the flying object 1 in flight, the flying object control device 25 including the inertial measurement unit needs to suppress the vibration and temperature applied to the flying object control device 25 below the threshold value. be.

The flying object 1 configured in this way drives the flying object control device 25, the engine generator unit 9, the rotor 22, various sensors, and the like by the electric power supplied by the battery 21. The aircraft 1 charges the battery 21 by the engine generator unit 9 based on an external power command, the amount of power generation, the remaining amount of the battery 21, and the like. The flying object 1 can move in an arbitrary direction at an arbitrary speed by independently changing the rotation speeds of the six rotors 22 by the flying object control device 25.

<Arrangement of radiators and ducts>
Next, the arrangement of the first radiator 14, the first duct 17, and the first fan 19 and the arrangement of the second radiator 15, the second duct 18, and the second fan 20 in the flying object 1 will be described with reference to FIG. FIG. 5 is a partial side view showing the flow of air passing through the first radiator 14 and the second radiator 15 in the aircraft 1.

The first radiator 14 is supported by the support legs 6 of the flight object control device support portion 4 that supports the flight object control device 25 above the main body portion 3. The first radiator 14 is located between the engine generator unit 9 including the engine for the generator 12 and the flight object control device 25. The heat dissipation surface of the first radiator 14 is substantially orthogonal to the axis P of the main body 3. Further, the first radiator 14 is located outside the rotation region A (see FIGS. 1 and 3) of the propeller 24 when viewed in the rotation axis direction of the rotor 22. As a result, the air flow (downwash) generated by the rotation of the propeller 24 does not pass through the heat dissipation surface of the first radiator 14. That is, the first radiator 14 is not cooled by the downwash of the propeller 24.

The first fan 19 is located above the engine generator unit 9 and below the first radiator 14. The first fan 19 moves the air located above the first radiator 14 below the first radiator 14. As a result, the first fan 19 allows air to pass through the heat radiating surface of the first radiator 14.

The first duct 17 is located above the engine generator unit 9 and below the first radiator 14. That is, the first duct 17 is located downstream of the first radiator 14 in the direction of air flow passing through the heat radiation surface of the first radiator 14. The first duct 17 is a wall component constituting an exhaust passage that guides the exhaust air of the first fan 19 that has passed through the heat radiation surface of the first radiator 14 in a predetermined direction.

The inflow port 17a of the first duct 17 has a size sufficient to surround the heat radiation surface of the first radiator 14. The inflow port 17a of the first duct 17 is located so as to overlap substantially the entire heat dissipation surface of the first radiator 14 when viewed in the direction of air flow passing through the first radiator 14. Further, the inflow port 17a of the first duct 17 is arranged close to the heat radiation surface of the first radiator 14. At this time, the inflow port 17a of the first duct 17 is located so as to surround the first fan 19. That is, the first fan 19 is located inside the first duct 17. As a result, the first duct 17 suppresses the exhaust air of the first fan 19 that has passed through the heat radiation surface of the first radiator 14 from flowing out of the first duct 17. The discharge port 17b of the first duct 17 is open toward the engine generator unit 9.

The first duct 17 guides the exhaust air of the first fan 19 that has passed through the heat radiation surface of the first radiator 14 toward the engine generator unit 9. Further, the first duct 17 suppresses the exhaust air of the first fan 19 passing through the heat radiation surface of the first radiator 14 from flowing in a direction other than the direction toward the engine generator unit 9. That is, the first duct 17 is configured so that the exhaust air of the first fan 19 does not flow toward the flying object control device 25 but flows toward the generator engine 12 of the engine generator unit 9.

The second radiator 15 is supported by the support legs 6 of the air vehicle control device support unit 4 that supports the air vehicle control device 25 above the main body unit 3. Further, the second radiator 15 is arranged above the first radiator 14. Therefore, the second radiator 15 is located above the engine generator unit 9 and below the air vehicle control device 25. That is, the second radiator 15 is located between the engine generator unit 9 including the generator engine 12 and the flying object control device 25. The heat dissipation surface of the second radiator 15 is substantially orthogonal to the axis P of the main body 3 in the machine frame 2. Further, the second radiator 15 is arranged vertically with the first radiator 14 so that the heat radiation surface of the first radiator 14 and the heat radiation surface of the second radiator 15 are substantially parallel to each other. Further, the second radiator 15 is located outside the rotation region A of the propeller 24 when viewed in the rotation axis direction of the rotor 22 (see FIGS. 1 and 3). As a result, the air flow (downwash) generated by the rotation of the propeller 24 does not pass through the heat dissipation surface of the second radiator 15. The second radiator 15 is not cooled by the downwash of the propeller 24.

The second fan 20 is located above the first radiator 14 and below the second radiator 15. The second fan 20 moves the air located above the second radiator 15 below the second radiator 15. As a result, the second fan 20 allows air to pass through the heat radiating surface of the second radiator 15. Further, the second fan 20 moves air toward the heat dissipation surface of the first radiator 14 located below the second radiator 15.

The second duct 18 is located above the first radiator 14 and below the second radiator 15. That is, the second duct 18 is located downstream of the second radiator 15 in the direction of air flow passing through the heat radiation surface of the second radiator 15. The second duct 18 is a wall component constituting an exhaust passage that guides the exhaust air of the second fan 20 that has passed through the heat radiation surface of the second radiator 15 in a predetermined direction.

The inflow port 17a of the second duct 18 has a size sufficient to surround the heat radiation surface of the second radiator 15. The inflow port 17a of the second duct 18 is located so as to overlap substantially the entire heat dissipation surface of the second radiator 15 when viewed in the direction of air flow passing through the second radiator 15. Further, the inflow port 17a of the second duct 18 is arranged close to the heat radiation surface of the second radiator 15. At this time, the inflow port 17a of the second duct 18 is located so as to surround the second fan 20. That is, the second fan 20 is located inside the second duct 18. As a result, the second duct 18 suppresses the exhaust air of the second fan 20 that has passed through the heat radiation surface of the second radiator 15 from flowing out of the second duct 18. The discharge port 17b of the second duct 18 is open toward the first radiator 14.

The second duct 18 guides the exhaust air of the second fan 20 that has passed through the heat radiation surface of the second radiator 15 toward the first radiator 14. The second duct 18 suppresses the exhaust air of the second fan 20 that has passed through the heat radiation surface of the second radiator 15 from flowing in a direction other than the direction toward the engine generator unit 9. Further, the exhaust air of the second fan 20 that has passed through the heat radiation surface of the first radiator 14 is guided in the direction toward the engine generator unit 9 by the first duct 17. That is, in the second duct 18, the exhaust air of the second fan 20 does not flow toward the flying object control device 25 but passes through the heat radiation surface of the first radiator 14 to the generator engine 12 of the engine generator unit 9. It is configured to flow toward you.

As described above, the flying object 1 has a first radiator 14 and a second radiator 15 having appropriate capacities for the generator engine 12 and the generator 10 having different calorific values. The size of the first radiator 14 and the second radiator 15 is smaller than the radiator capable of cooling the engine generator unit 9 including the generator engine 12 and the generator 10 by itself. Therefore, the degree of freedom in arranging the first radiator 14 and the second radiator 15 with respect to the airframe frame 2 is improved.

Since the first radiator 14 and the second radiator 15 are supported by the airframe frame 2, they can be freely arranged with respect to the airframe frame 2 without being affected by the position of the generator engine 12. Further, since the first radiator 14 and the second radiator 15 are cooled by the first fan 19 and the second fan 20 that can be arranged at arbitrary positions of the airframe frame 2, they are freely arranged with respect to the airframe frame 2. ..

Further, the radiator mount member 16 and the air vehicle control device mount member 25a suppress the transmission of vibration from the generator engine 12 to the first radiator 14, the second radiator 15, and the air vehicle control device 25. Therefore, the first radiator 14, the second radiator 15, and the airframe control device 25 can be freely arranged with respect to the airframe frame 2 without being affected by the vibration generated by the generator engine 12.

Therefore, the degree of freedom in arranging the first radiator 14, the second radiator 15, and the airframe control device 25 with respect to the airframe frame 2 in the airframe 1 is improved. As a result, the first radiator 14 and the second radiator 15 can be arranged close to the generator engine 12 until the first fan 19 and the second fan 20 do not interfere with the generator engine 12.

The first radiator 14 and the second radiator 15 included in the cooling unit 8 are located between the vehicle body control device 25 and the generator engine 12. Similarly, the first fan 19 and the second fan 20 are located between the flying object control device 25 and the generator engine 12. Therefore, the first fan 19 and the second fan 20 allow the air including the air around the flying object control device 25 to flow toward the generator engine 12 through the first radiator 14 and the second radiator 15. Inhale and drain. As a result, it is possible to suppress the air that has passed through the first radiator 14 and the second radiator 15 from flowing toward the flying object control device 25.

The cooling unit 8 has a first duct 17 which is a wall component constituting the exhaust passage of the first fan 19, and a second duct 18 which is a wall component constituting the exhaust passage of the second fan 20. The first duct 17 and the second duct 18 guide the exhaust air of the first fan 19 and the second fan 20 toward the engine generator unit 9. The first duct 17 and the second duct 18 regulate so that a part of the exhaust air in the first fan 19 and the second fan 20 does not go toward the flying object control device 25. As a result, it is possible to suppress the temperature rise of the flying object control device 25 due to the exhaust air of the first fan 19 and the second fan 20. Further, when at least a part of the wall parts of the first duct 17 and the second duct 18 is made of resin, the weight of the flying object 1 increases even if the first duct 17 and the second duct 18 are provided. It is suppressed.

Further, the exhaust air from the first fan 19 and the second fan 20 is guided to the generator engine 12 by the first duct 17 and the second duct 18. That is, in the exhaust air of the first fan 19 and the second fan 20, the first fan 19 and the second fan 20 are arranged so that the rotation axis F of the first fan 19 and the second fan 20 faces the generator engine 12. Even if it is not, the first duct 17 and the second duct 18 flow toward the generator engine 12. Therefore, the first radiator 14 and the second radiator 15 can be freely arranged with respect to the machine frame 2 without being affected by the position of the generator engine 12.

Therefore, the engine generator unit 9 moves the flying object control device 25 to a position where the radiant heat from the generator engine 12 cooled by the first radiator 14 and the generator 10 cooled by the second radiator 15 does not affect. Can be placed close to. As a result, the engine generator unit 9 including the flying object control device 25 and the cooling unit 8 is compactly arranged with respect to the body frame 2 while satisfying the performance of the flying object control device 25 and the performance of the engine generator unit 9. As a result, it is possible to realize an air vehicle 1 capable of reducing the size and weight of the body frame 2.

Further, the rotation axis F of the first fan 19 extends toward the first radiator 14 and the engine generator unit 9. As a result, the first fan 19 is arranged closer to the first radiator 14 and the engine generator unit 9 than in the case where the rotation axis F extends toward other than the first radiator 14 and the engine generator unit 9. be able to.

Similarly, the second fan 20 is arranged so that the rotation axis F of the second fan 20 extends toward the first radiator 14 and the second radiator 15 in order to allow the exhaust air to flow toward the first radiator 14. .. The second fan 20 can be arranged closer to the first radiator 14 and the second radiator 15 as compared with the case where the rotation axis F extends toward other than the first radiator 14 and the second radiator 15.

Therefore, the degree of freedom in arranging the first fan 19 and the second fan 20 with respect to the machine frame 2 is improved. Therefore, the first fan 19 and the second fan 20 can be brought close to the generator engine 12 to a position where they do not interfere with the generator engine 12. As a result, while satisfying the performance of the flight object control device 25 and the performance of the engine generator, the flight object control device 25, the first fan 19, the second fan 20, and the engine engine 12 for the generator are attached to the body frame 2. By arranging it compactly, it is possible to realize an air vehicle 1 capable of reducing the size and weight of the body frame 2.

[Embodiment 2]
Next, the flying object 1A according to the second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a partial side view showing the flow of air passing through the radiator in the flying object 1A. In the following description, the same components as those in the first embodiment are designated by the same reference numerals, the description thereof will be omitted, and only the parts different from the first embodiment will be described.

<Arrangement of radiators and ducts>
The arrangement of the first radiator 26, the first duct 27, and the first fan 28 and the arrangement of the second radiator 29, the second duct 30, and the second fan 31 in the flying object 1A according to the second embodiment will be described.

The first radiator 26 is located between the engine generator unit 9 including the engine for the generator 12 and the flying object control device 25. The first radiator 26 is arranged at an angle with respect to the axis P so as to be along the support leg 6 of the flight object control device support portion 4 that supports the flight object control device 25 above the main body portion 3. .. Specifically, the first radiator 26 is arranged so as to be inclined so as to extend from the outer peripheral portion of the annular member of the main body 3 toward the direction intersecting the axis P. That is, when the flying object 1A is viewed in a direction orthogonal to the direction of the axis P of the main body 3, which is the direction in which the flying object control device 25 and the generator engine 12 are arranged, the first radiator 26 is the flying object control device 25. It is arranged so as to be inclined away from the generator engine 12 toward the generator engine 12.

The first fan 28 is located above the engine generator unit 9, below the first radiator 26, and inward in the radial direction. The first fan 28 moves the air located above the first radiator 26 below the first radiator 26. As a result, the first fan 28 allows air to pass through the heat radiating surface of the first radiator 26.

The first duct 27 is located above the engine generator unit 9, below the first radiator 26, and inward in the radial direction. The inflow port 27a of the first duct 27 is arranged close to the heat radiation surface of the first radiator 26. The discharge port 27b of the first duct 27 is open toward the engine generator unit 9. That is, the first duct 27 is arranged so as to be inclined so as to extend from the outer peripheral portion of the annular member of the main body portion 3 toward the axis P of the main body portion 3.

The second radiator 29 is located between the engine generator unit 9 including the engine for the generator 12 and the flying object control device 25. The second radiator 29 is arranged at an angle with respect to the axis P so as to be along the support leg 6 of the flight object control device support portion 4 that supports the flight object control device 25 above the main body portion 3. .. Specifically, the first radiator 26 is arranged to be inclined so as to extend from the outer peripheral portion of the annular member of the main body 3 toward the direction intersecting the axis P. That is, when the flying object 1A is viewed in a direction orthogonal to the direction of the axis P of the main body 3, which is the direction in which the flying object control device 25 and the generator engine 12 are arranged, the second radiator 29 is the flying object control device 25. It is arranged so as to be inclined away from the generator engine 12 toward the generator engine 12. Further, the second radiator 29 is positioned so as to face the first radiator 26 in the radial direction of the main body portion 3. In this way, the first radiator 26 and the second radiator 29 are arranged so that the weight balance in the flying object 1A is even.

The second fan 31 is located above the engine generator unit 9, below the second radiator 29, and inward in the radial direction. The second fan 31 moves the air located above the second radiator 29 below the second radiator 29. As a result, the second fan 31 allows air to pass through the heat radiating surface of the second radiator 29.

The second duct 30 is located above the engine generator unit 9, below the second radiator 29, and inward in the radial direction. The inflow port 29a of the second duct 30 is arranged close to the heat radiation surface of the second radiator 29. The discharge port 29b of the second duct 30 is directed to the engine generator unit 9. That is, the second duct 30 is arranged so as to be inclined so as to extend from the outer peripheral portion of the annular member of the main body portion 3 toward the axis P of the main body portion 3.

By arranging the first radiator 26 and the second radiator 29 along the airframe frame 2 in this way, the range in which the radiator can be arranged in the airframe frame 2 is expanded. Further, by providing the first radiator and the second radiator 29, which have an improved degree of freedom of arrangement with respect to the airframe frame 2, along the outer peripheral portion of the main body portion 3 or the flight body control device support portion 4, the main body portion 3 can be provided. It is possible to secure a space in which various devices can be placed above. Therefore, the flying object 1A makes the aircraft frame 2 smaller and lighter by arranging the radiator compactly while satisfying the performance of the flying object control device 25 and the performance of the engine generator. can do.

(Other embodiments)
Although the embodiment of the present invention has been described above, the above-described embodiment is merely an example for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiment, and the above-described embodiment can be appropriately modified and implemented within a range that does not deviate from the gist thereof.

In each of the above embodiments, the main body 3 has a hexagonal columnar shape. However, the main body may have a shape other than the hexagonal column shape.

In each of the above embodiments, the airframe frame 2 has a flight body control device support portion 4. However, the airframe frame does not have to have an airframe control device support. In this case, the flying object control device, the first radiator and the second radiator may be directly supported by, for example, the main body portion.

In each of the above embodiments, the generator engine 12 is cooled by the

first radiators

14 and 26, and the generator 10 is cooled by the

second radiators

15 and 29. However, the generator engine 12 and the generator 10 may be cooled by one radiator.

In each of the above embodiments, the radiator hoses 13 of the

first radiators

14 and 26 and the

second radiators

15 and 29 are arranged along the outside of the pipe material constituting the machine body frame 2. However, the radiator hose may be arranged inside the pipe material constituting the airframe frame.

In each of the above-described embodiments, the radiator hose 13 of the

first radiators

14 and 26 and the

second radiators

15 and 29 is a pipe through which the cooling water of the generator engine 12 and the cooling water of the generator control device of the generator 10 pass. Is functioning as. However, the radiator hose may function as a vibration suppressing member by fixing the first radiator and the second radiator to the airframe frame via the radiator hose.

In the first embodiment, the first radiator 14 is supplied with air by the first fan 19, and the second radiator 15 is supplied with air by the second fan 20. However, the first radiator and the second radiator located side by side in the vertical direction may be supplied with air by one fan.

In each of the above embodiments, the

first fans

19 and 28 are located downstream of the

first radiators

14 and 26, and the

second fans

20 and 31 are located downstream of the

second radiators

15 and 29. However, the first fan may be located upstream of the first radiator and the second fan may be located upstream of the second radiator. In this case, the first fan and the second fan supply the exhaust to the first radiator or the second radiator.

In each of the above embodiments, the

first fans

19 and 28 are located downstream of the

first radiators

14 and 26, and the

second fans

20 and 31 are located downstream of the

second radiators

15 and 26. However, the first fan may be located upstream of the first radiator and the second fan may be located upstream of the second radiator. In this case, the first fan and the second fan supply the exhaust to the first radiator or the second radiator.

In each of the above embodiments, the

first radiators

14 and 26 and the

second radiators

15 and 26 are arranged on the machine frame 2. However, the radiator may form part of the airframe frame. For example, the support leg of the flight object control device support portion may be composed of a first radiator and a second radiator.

In each of the above embodiments, the

first radiators

14 and 26 and the

second radiators

15 and 26 are arranged on the support legs 6 of the flight body control device support portion 4. However, the first radiator and the second radiator may be arranged at arbitrary positions on the airframe frame.

In each of the above-described embodiments, in the cooling unit 8, the exhaust air of the

first fans

19, 28 and the

second fans

20, 31 that have passed through the heat dissipation surfaces of the

first radiators

14, 26 and the

second radiators

15, 26 is first. The

ducts

17 and 27 and the

second ducts

18 and 30 are configured to flow toward the engine generator unit 9. However, the cooling unit may be configured so that the exhaust air of the fan that has passed through the heat dissipation surface of the radiator flows toward the generator engine without passing through the duct.

1, 1A Aircraft 2 Aircraft frame 3 Main body 7 Arm 9 Engine generator unit 10 Generator 12 Generator engine 13 Engine mount member 26 1st radiator 29 2nd radiator 27 1st duct 30 2nd duct 29th 1 fan 31 2nd fan 32 rotor 24 propeller 4 flying object control device support 13 engine mount member for flying object control device P axis

Claims

Airframe frame and
A plurality of rotors that generate lift, including an electric motor and a propeller rotated by the electric motor.
A generator that supplies electric power to the electric motor,
The generator engine that drives the generator and
An air vehicle control device that controls the electric motor and the engine for the generator,
A cooling unit having a radiator that cools at least one of the generator and the engine for the generator and is located outside the rotation region of the propeller when viewed in the direction of the rotation axis of the rotor.
With a fan that cools the radiator,
It is an air vehicle equipped with
The cooling unit is
It is configured so that the exhaust air of the fan that has passed through the radiator does not flow toward the flying object control device but flows toward the generator engine.
Flying body.
In the flying object according to claim 1,
The radiator is
Supported by the airframe frame,
Flying body.
In the flying object according to claim 1 or 2.
At least one of the generator engine, the radiator and the flying object control device
It is supported by the airframe through a vibration suppressing member that suppresses the vibration transmitted from the airframe and the vibration transmitted to the airframe.
Flying body.
In the aircraft according to any one of claims 1 to 3,
The cooling unit has a wall component constituting an exhaust passage for guiding the exhaust air of the fan that has passed through the radiator to the engine for the generator.
Flying body.
In the flying object according to claim 4,
At least a part of the wall component is made of resin.
Flying body.
In the flying object according to any one of claims 1 to 5.
The radiator is
It comprises at least one of a first radiator that cools the generator engine and a second radiator that cools the generator.
The fan
A first fan for cooling the first radiator and a second fan for cooling the second radiator are included.
Flying body.
In the flying object according to any one of claims 1 to 6.
The radiator is
Located between the flying object controller and the generator engine,
Flying body.
In the aircraft according to claim 7,
The radiator is
The flying object is viewed in a direction orthogonal to the direction in which the flying object control device and the generator engine are arranged, and is separated from the generator engine as the flying object control device toward the generator engine. Arranged at an angle,
Flying body.