WO2023062690A1 - 飛行体 - Google Patents

飛行体 Download PDF

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Publication number
WO2023062690A1
WO2023062690A1 PCT/JP2021/037596 JP2021037596W WO2023062690A1 WO 2023062690 A1 WO2023062690 A1 WO 2023062690A1 JP 2021037596 W JP2021037596 W JP 2021037596W WO 2023062690 A1 WO2023062690 A1 WO 2023062690A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight
main body
aircraft
mounting portion
heavy object
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2021/037596
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
誠 野村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sankyo Mokko Co Ltd
Original Assignee
Sankyo Mokko Co Ltd
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 Sankyo Mokko Co Ltd filed Critical Sankyo Mokko Co Ltd
Priority to JP2023553766A priority Critical patent/JP7805656B2/ja
Priority to PCT/JP2021/037596 priority patent/WO2023062690A1/ja
Publication of WO2023062690A1 publication Critical patent/WO2023062690A1/ja
Anticipated expiration legal-status Critical
Priority to JP2024202813A priority patent/JP2025019162A/ja
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

Definitions

  • the technology of the present disclosure relates to flying objects.
  • Japanese Patent Application Laid-Open No. 2021-145586 discloses a drone that includes a body body, a plurality of arms extending from the body body, and propellers and motors arranged at the ends of the arms.
  • the weight of the main body is larger than the weight of the multiple arms, so the inertial force around the center of gravity of the main body is small, and the flight stability against disturbances such as crosswinds to the main body. is bad.
  • the technology of the present disclosure aims to provide a flying object with improved flight stability against disturbances.
  • a flying object includes a plurality of arms having one end connected to a main body, an attachment section provided at the other end of each of the plurality of arms, and the attachment.
  • An aircraft comprising a propeller mounted on a section and a motor for rotating the propeller, wherein the mounting section is provided with a heavy object.
  • the heavy object is at least one of an electric device other than the propeller and the motor, luggage, and a person.
  • the electrical equipment is a power source for motors.
  • a flying object includes a moving mechanism for moving the heavy object between the mounting portion and the main body, and the flight of the flying object is in a stability-oriented mode that emphasizes flight stability. , and a maneuverability-oriented mode that emphasizes flight maneuverability, and the moving mechanism moves the heavy object to the mounting portion when the flight of the flying object is the stability-oriented mode, and the flight When the body flight is in a maneuverability-oriented mode, the heavy object is moved to the body.
  • the first to fourth aspects of the technique of the present disclosure can improve flight stability against disturbances.
  • a fourth aspect of the technology of the present disclosure can improve flight stability in the stability-oriented mode and improve maneuverability in the maneuverability-oriented mode.
  • FIG. 1 is an overall perspective view showing the configuration of an unmanned air vehicle;
  • FIG. 1 is a block diagram of an electrical configuration of an unmanned air vehicle;
  • FIG. 10 is a diagram showing how the movement mechanism moves the heavy object to the mounting portion when the flight of the unmanned air vehicle is in the stability emphasizing mode.
  • FIG. 10 is a diagram showing how the movement mechanism moves the heavy object to the main body when the flight of the unmanned air vehicle is in the maneuverability-emphasized mode.
  • the unmanned flying object 10 has a configuration for flying as an aircraft and a configuration for flying as a four-propeller multicopter.
  • the number of propellers is not limited to four, and may be, for example, three, five, six, seven, eight, or the like.
  • the configuration of the unmanned air vehicle 10 as an aircraft includes a pair of fixed wings 14L, 14R provided on the left and right sides of the main body 12, and a pair of fixed wings 14L, 14R provided at the tip of each of the fixed wings 14L, 14R.
  • the configuration of the unmanned aerial vehicle 10 as a multicopter includes multicopter propellers 20L and 20R provided on the lower (or upper) tip ends of front support columns 16L2 and 16R2 provided on the front side of mounting portions 16L1 and 16R1, and mounting Multi-copter propellers 24L, 24R provided at the ends of extension support columns 16L4, 16R4 extending upward (or downward) from the respective rear portions of the rear side support columns 16L3, 16R3 of the portions 16L1, 16R1, and these multi-copter propellers and multicopter motors 18L, 18R, 22L and 22R for rotating 20L, 20R, 24L and 24R.
  • the electrical configuration of the unmanned flying object 10 is shown in FIG. As shown in FIG. 2, the electrical configuration of the unmanned air vehicle 10 includes a flight controller FC provided in the main body 12 of the unmanned air vehicle 10, and a battery b that supplies power to the flight controller FC.
  • a flight controller FC provided in the main body 12 of the unmanned air vehicle 10
  • a battery b that supplies power to the flight controller FC.
  • a battery 52L for supplying power to the aircraft motor 26L and the multicopter motors 18L and 22L is attached to the mounting portion 16L1 provided at the tip of the fixed wing 14L provided on the left side with respect to the direction of travel of the unmanned air vehicle 10. I have. That is, the battery 52L is provided, that is, attached to the attachment portion 16L1.
  • the battery 52L, the multicopter motors 18L and 22L, and the aircraft motor 26L are connected via power lines 54L1, 54L2, and 54L3.
  • a battery 52R for supplying power to the aircraft motor 26R and the multicopter motors 18R and 22R is attached to the mounting portion 16R1 provided at the tip of the fixed wing 14R provided on the right side of the unmanned air vehicle 10 in the traveling direction. I have. That is, the battery 52R is provided, that is, attached to the attachment portion 16R1.
  • the battery 52R, the multicopter motors 18R and 22R, and the aircraft motor 26R are connected via power lines 54R1, 54R2, and 54R3.
  • the batteries 52L and 52R are examples of "heavy objects" of the technology of the present disclosure.
  • the aircraft motor 26R and the multicopter motor 18R are attached to the mounting portion 16R1 provided at the tip of the fixed wing 14R provided on the right side with respect to the traveling direction of the unmanned air vehicle 10. , 22R.
  • the mounting portion 16L1 provided at the tip of the fixed wing 14L provided on the left side with respect to the traveling direction of the unmanned air vehicle 10 includes an aircraft motor 26L and multicopter motors 18L and 22L. It has a battery 52L that supplies power to. Therefore, in this embodiment, compared to the case where the main body 12 is provided with the batteries 52R and 52L, the weight of the arm side is increased and the weight of the main body 12 side is reduced.
  • the weight of the arm side is increased and the weight of the main body 12 side is reduced, so that the arm supports the main body 12 side. It is possible to reduce the force required to move the arm, thereby weakening the strength of the arm. Therefore, the weight of the arm can be reduced. Therefore, the total power consumption of the batteries 52R, 52L can be reduced compared to when the batteries 52R, 52L are provided in the main body 12.
  • the main body 12 of the unmanned air vehicle 10 is provided with the battery b that supplies power to the flight controller FC, but the technology of the present disclosure is not limited to this.
  • the battery b may be omitted and power may be supplied to the flight controller FC from the batteries 52L and 52R.
  • the mounting portion 16R1 provided at the tip of the stationary wing 14R is provided with a battery 52R for supplying power to the aircraft motor 26R and the multicopter motors 18R and 22R.
  • a battery 52L for supplying power to the aircraft motor 26L and the multicopter motors 18L and 22L is provided in the mounting portion 16L1 provided at the tip.
  • the mounting portions 16R1 and 16L1 may be provided with at least one of electric equipment (other than batteries) other than propellers and motors, luggage, and people.
  • the load may be agricultural chemicals
  • the electrical equipment may be equipment for spraying agricultural chemicals.
  • the mounting portions 16R1 and 16L1 are provided with holding portions such as chairs for holding people.
  • Electric devices other than propellers and motors other than batteries
  • luggage, and people are examples of the "heavy objects" of the technology of the present disclosure.
  • the battery 52R is always provided on the mounting portion 16R1 and the battery 52L is provided on the mounting portion 16L1, but the technology of the present disclosure is not limited to this.
  • FIG. 3 shows how the movement mechanism moves the heavy object to the mounting portion when the flight of the unmanned air vehicle is in the stability emphasizing mode
  • FIG. In the mode the moving mechanism is shown moving a heavy object to the main body.
  • the unmanned air vehicle 10 includes a moving mechanism 60R that moves the battery 52R between the mounting portion 16R1 and the main body 12, and a moving mechanism 60R that moves the battery 52L between the mounting portion 16L1 and the main body 12. and a moving mechanism 60L for causing the movement.
  • the moving mechanism includes a moving mechanism that employs a rack-and-pinion system.
  • the flight controller FC controls the movement mechanisms 60L and 60R as shown in FIG. , 52R to the mounting portions 16L1, 16R1.
  • the flight controller FC controls the movement mechanisms 60L and 60R as shown in FIG. , 52R to the body 12 . Maneuverability can be improved by reducing the inertial force around the center of gravity of the main body 12 .
  • the battery 52R is moved to the mounting portion 16R1 side and the battery 52L is moved to the main body 12 side.
  • the battery 52R may be moved to the main body 12 side while being moved to the mounting portion 16L1 side. Maneuverability can be further improved.
  • the aircraft propellers 28L and 28R are attached to the mounting portions 16L1 and 16R1 provided at the tips of the pair of fixed wings 14L and 14R, respectively, and the support columns 16L3 and 16R3 provided on the rear end side. is located at the rear end of the
  • the technology of the present disclosure is not limited to this.
  • one aircraft propeller 28L, 28R may be provided at the tip of the main body 12 of the aircraft 10 .
  • an unmanned flying object was taken as an example, but the technology of the present disclosure is not limited to this, and a manned flying object may be used.
  • the pair of fixed wings 14L, 14R provided on the left and right sides of the main body 12 are provided with mounting portions 16L1, 16R1 in the shape of a quadrangular prism at the respective tips.
  • the technology of the present disclosure is not limited to this.
  • a plurality of cylindrical arms that are not fixed wings may be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
PCT/JP2021/037596 2021-10-11 2021-10-11 飛行体 Ceased WO2023062690A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2023553766A JP7805656B2 (ja) 2021-10-11 2021-10-11 飛行体
PCT/JP2021/037596 WO2023062690A1 (ja) 2021-10-11 2021-10-11 飛行体
JP2024202813A JP2025019162A (ja) 2021-10-11 2024-11-20 飛行体

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/037596 WO2023062690A1 (ja) 2021-10-11 2021-10-11 飛行体

Publications (1)

Publication Number Publication Date
WO2023062690A1 true WO2023062690A1 (ja) 2023-04-20

Family

ID=85988173

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/037596 Ceased WO2023062690A1 (ja) 2021-10-11 2021-10-11 飛行体

Country Status (2)

Country Link
JP (2) JP7805656B2 (https=)
WO (1) WO2023062690A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0585488A (ja) * 1991-09-24 1993-04-06 Nec Corp 飛翔体の姿勢制御装置
JP2007261414A (ja) * 2006-03-28 2007-10-11 Nec Corp 自動姿勢制御装置、自動姿勢制御方法及び自動姿勢制御プログラム
JP2018507814A (ja) * 2015-03-10 2018-03-22 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ マルチローターヘリコプタードローンのための調整可能な重量配分
JP2018191156A (ja) * 2017-05-08 2018-11-29 アルパイン株式会社 マルチコプタ
WO2020012996A1 (ja) * 2018-07-12 2020-01-16 ソニー株式会社 無人航空機および駆動方法、並びにプログラム

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130092799A1 (en) 2011-10-17 2013-04-18 Yu Tian Fixed-wing and electric multi-rotor composite aircraft
JP2018144732A (ja) 2017-03-08 2018-09-20 株式会社Ｓｏｋｅｎ 飛行装置
US11174016B2 (en) 2018-05-03 2021-11-16 Jaunt Air Mobility, Llc Compound rotorcraft with propeller
JP7608063B2 (ja) 2020-03-26 2025-01-06 エアロセンス株式会社 飛行体

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0585488A (ja) * 1991-09-24 1993-04-06 Nec Corp 飛翔体の姿勢制御装置
JP2007261414A (ja) * 2006-03-28 2007-10-11 Nec Corp 自動姿勢制御装置、自動姿勢制御方法及び自動姿勢制御プログラム
JP2018507814A (ja) * 2015-03-10 2018-03-22 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ マルチローターヘリコプタードローンのための調整可能な重量配分
JP2018191156A (ja) * 2017-05-08 2018-11-29 アルパイン株式会社 マルチコプタ
WO2020012996A1 (ja) * 2018-07-12 2020-01-16 ソニー株式会社 無人航空機および駆動方法、並びにプログラム

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Publication number Publication date
JPWO2023062690A1 (https=) 2023-04-20
JP2025019162A (ja) 2025-02-06
JP7805656B2 (ja) 2026-01-26

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