WO2023188265A1 - 航空機、航空機制御方法、及び航空機制御プログラム - Google Patents

航空機、航空機制御方法、及び航空機制御プログラム Download PDF

Info

Publication number
WO2023188265A1
WO2023188265A1 PCT/JP2022/016514 JP2022016514W WO2023188265A1 WO 2023188265 A1 WO2023188265 A1 WO 2023188265A1 JP 2022016514 W JP2022016514 W JP 2022016514W WO 2023188265 A1 WO2023188265 A1 WO 2023188265A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotational speed
aircraft
propeller
main body
predetermined threshold
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/JP2022/016514
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 JP2024511023A priority Critical patent/JPWO2023188265A1/ja
Priority to PCT/JP2022/016514 priority patent/WO2023188265A1/ja
Publication of WO2023188265A1 publication Critical patent/WO2023188265A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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

Definitions

  • the technology of the present disclosure relates to an aircraft, an aircraft control method, and an aircraft control program.
  • JP 2021-193015A discloses a flying vehicle that allows easy loading and unloading of objects and that can be easily and safely operated even by a person without specialized knowledge.
  • the technology of the present disclosure aims to provide an aircraft, an aircraft control method, and an aircraft control program that can reduce the tilt of the main body due to the rotational speed of any propeller becoming below a predetermined threshold. .
  • an aircraft includes a main body, a plurality of arms connected to the main body, a motor provided at one end of each of the plurality of arms, and a motor operated by the motor.
  • a control unit that controls the moving mechanism so that the movement of the main body reduces the inclination of the main body due to the rotational speed becoming equal to or less than a predetermined threshold value.
  • the moving mechanism can move the heavy object one-dimensionally or two-dimensionally.
  • the heavy object is a power source for driving the motor.
  • the heavy object is a plurality of heavy objects disposed on each of the plurality of arms so as to be movable along each arm
  • the moving mechanism is , a plurality of moving mechanisms for moving each of the plurality of heavy objects along each of the arms between the main body side and an end of the arm
  • the heavy object which is movably disposed along the opposite arm provided with the opposite propeller with respect to the main body of the propeller, moves to the end side of the opposite arm.
  • the moving mechanism section corresponding to the arm on the opposite side is controlled so as to.
  • control unit controls the aircraft to The motor is controlled so that the vehicle lands.
  • the rotational speed of one of the propellers is determined to be a predetermined rotational speed based on the detected rotational speed of each of the plurality of propellers driven by motors provided in each of the plurality of arms provided on the main body. a step of determining whether the rotational speed of any propeller has become less than a predetermined threshold, and a step of determining whether the rotational speed of any propeller has become less than a predetermined threshold by moving the heavy object; and controlling the moving mechanism so that the tilting of the body due to the tilting is reduced.
  • An aircraft control program is an aircraft control program that causes a computer to execute an aircraft control process, the aircraft control process being driven by a motor provided at one end of a plurality of arms provided on the main body. a step of determining whether the rotational speed of any one of the propellers has become below a predetermined threshold from the detected rotational speed of each of the plurality of propellers; If it is determined that the rotational speed has become below a predetermined threshold value, the moving mechanism is controlled so that the tilting of the main body due to the rotational speed falling below a predetermined threshold value is reduced by moving the heavy object.
  • the technology of the present disclosure can reduce the tilt of the main body due to the rotational speed of any propeller falling below a predetermined threshold.
  • FIG. 1 is a schematic diagram showing an example of the configuration of an aircraft according to an embodiment of the present disclosure.
  • FIG. 1 is a block diagram of an aircraft control system according to an embodiment of the present disclosure. It is a functional block diagram of CPU30 of an aircraft.
  • 2 is a flowchart illustrating propeller failure detection and response processing in an embodiment of the present disclosure. For example, it is a schematic diagram showing the mode of movement of the battery when the right rear propeller stops.
  • FIG. 3 is a schematic diagram showing a first modification example of the present disclosure. It is a schematic diagram showing a second modification of the present disclosure.
  • the aircraft 10 has a main body 12 which has a substantially rectangular parallelepiped shape and is equipped with a flight controller 26, which is a control device for controlling flight of the aircraft, and a battery 20, and motors 17RU, 17RD, and 17LU at one end.
  • a flight controller 26 which is a control device for controlling flight of the aircraft
  • a battery 20 and motors 17RU, 17RD, and 17LU at one end.
  • 17LD, and propellers 16RU, 16RD, 16LU, 16LD driven by motors 17RU to 17LD, respectively, are fixed at the other end of arms 14RU, 14RD, 14LU, and 14LD.
  • the arms 14RU to 14LD are provided approximately radially with respect to the main body 12.
  • the battery 20 is a power source that supplies power to the motors 17RU to 17LD, the flight controller 26, etc., and is, for example, a rechargeable secondary battery such as a nickel-cadmium battery, a nickel-metal hydride battery, or a lithium-ion battery. Since the battery 20 is a heavy object with a relatively large mass, it is placed at the center of gravity of the aircraft 10 in FIG. In this embodiment, the position of the battery 20 arranged as shown in FIG. 1 is referred to as an initial position.
  • Each of the output shafts of the motors 17RU to 17LD that drive the propellers 16RU to 16LD is provided with sensors 18RU, 18RD, 18LU, and 18LD that detect the rotation of the propellers 16RU to 16LD, that is, the rotation of the output shafts.
  • the sensors 18RU to 18LD are, for example, Hall elements that detect the magnetic field of a sensor magnet fixed to the output shaft.
  • the battery 20 is configured to drive moving mechanisms 24C, 24R, and 24L, such as rack and pinions, two-dimensionally in the direction of the arrow in FIG. 1 by driving motors 22A and 22B, which are moving motors. There is.
  • the moving mechanism 24C moves the battery 20 in the lateral direction of the main body 12, and each of the moving mechanisms 24R and 24L moves the battery 20 in the front-back direction of the main body 12.
  • FIG. 2 is an example of a block diagram of the control system of the aircraft 10 according to the present embodiment.
  • Flight controller 26 includes a computer 28.
  • the computer 28 includes a CPU (Central Processing Unit) 30, a ROM (Read Only Memory) 32 which is a non-volatile storage device, and a volatile storage device into which programs and data executed by the CPU 30 are temporarily loaded.
  • Each RAM (Random Access Memory) 34 is configured to be connected to a bus 38.
  • Sensors 18RU to 18LD, motors 22A and 22B for the moving mechanism, and motors 17RU to 17LD are connected to the input/output (I/O) ports.
  • I/O input/output
  • the ROM 32 stores a control program for controlling the flight of the aircraft 10, a propeller failure detection processing program to be described later, and the like.
  • the failure detection and response processing program is an example of an "aircraft control program.”
  • FIG. 2B shows a functional block diagram of the CPU 30 of the aircraft 10.
  • the functions of the CPU 30 include a determination function, a movement control function, and a stop processing function.
  • the CPU 30 functions as a determination unit 31, a movement control unit 33, and a stop processing unit 35 by executing a propeller failure detection and countermeasure processing program.
  • FIG. 3 is a flowchart showing a propeller failure detection and response processing program in this embodiment.
  • the CPU 30 executes the propeller failure detection and handling processing program, the failure detection and handling processing and the failure detection and handling processing method are executed.
  • the failure detection and response processing program starts when the flight starts.
  • the failure detection handling process is an example of the "aircraft control process" of the technology of the present disclosure.
  • step 42 the determining unit 31 determines whether an abnormal signal has been input from any of the sensors 18RU to 18LD, that is, whether the rotational speed of any propeller has fallen below a predetermined threshold.
  • An abnormal signal is detected, for example, when the rotational speed of the output shaft of the propellers 16RU to 16LD to be rotated or the output shafts of the motors 17RU to 17LD, detected by the sensors 18RU to 18LD, falls below a predetermined threshold value.
  • the predetermined threshold value is, for example, a rotation speed at which stable flight of the aircraft 10 may be impaired, and is specifically determined through simulation or experiment using an actual aircraft.
  • step 44 the movement control unit 33 moves the battery 20, which is a heavy object inside the aircraft, so that the tilt of the main body 12 due to the rotational speed of any of the propellers 16RU to 16LD falling below a predetermined threshold value is reduced. It is moved by moving mechanisms 24C to 24L. The direction in which the battery 20 is moved is changed depending on which of the propellers 16RU to 16LD has stopped or its rotational speed has decreased. The mode of movement of the battery 20 will be described later.
  • step 46 the stop processing unit 35 performs a flight stop process for landing the aircraft 10, and ends the process.
  • FIG. 4 is a schematic diagram showing how the battery 20 moves when, for example, the right rear propeller 16RD stops.
  • the aircraft 10 tilts so that the right rear side descends (the left front side rises).
  • the motors 22A, 22B and moving mechanisms 24C to 24L move the battery 20 from the center of gravity position (initial position) shown in FIG. (propeller 16LU side).
  • the aircraft 10 tilts so that the front right side descends (the rear left side rises).
  • the motors 22A, 22B and moving mechanisms 24C to 24L move the battery 20 to the opposite side of the right front propeller 16RU (to the left rear propeller 16LD side).
  • the aircraft 10 tilts so that the front left side descends (the rear right side rises).
  • the motors 22A, 22B and moving mechanisms 24C to 24L move the battery 20 to the opposite side of the left front propeller 16LU (to the right rear propeller 16RD side).
  • the aircraft 10 tilts so that the left rear side descends (the right front side rises).
  • the motors 22A, 22B and moving mechanisms 24C to 24L move the battery 20 to the opposite side of the left rear propeller 16LD (to the right front propeller 16RU side).
  • moving the heavy battery 20 to the opposite side of the propeller whose stop or rotational speed has become below a predetermined threshold means to move the heavy battery 20 to the opposite side of the propeller whose stop or rotational speed has fallen below a predetermined threshold.
  • the battery 20 which is a heavy object, is moved by the failure detection and response processing program.
  • the center of gravity of the aircraft By changing the center of gravity of the aircraft, the attitude of the aircraft 10 during flight can be stabilized.
  • the failure detection and response processing program automatically shifts to control for landing the aircraft 10, so even if any of the propellers 16RU to 16LD is malfunctioning, it is possible to prevent the aircraft 10 from crashing.
  • FIG. 5 is a schematic diagram showing a first modification of this embodiment. 5 is different from the case of FIG.
  • FIG. 1 in that it includes a moving mechanism 22 such as a rack and pinion that moves the battery 20 in the left-right direction, and a motor 24A that moves the battery 20 with the moving mechanism 22, but the other configuration is , are the same as those in FIG. 1, so the same components in FIG. 4 are given the same reference numerals and detailed explanations will be omitted.
  • the balance of the aircraft 10 is maintained to some extent by moving the battery 20 one-dimensionally (linearly). In other words, control is performed to stop the heavy battery 20 or move it away from the propeller whose rotational speed has become below a predetermined threshold.
  • FIG. 6 is a schematic diagram showing a second modification of this embodiment.
  • the heavy objects 50RU to 50LD are movably arranged in each of the arms 14RU to 14LD, and the motors 22A and 22B for moving the battery 20 within the main body 12 and the moving mechanisms 24C to 24L are not provided.
  • the other configurations are the same as the case of FIG. 1, so the same components in FIG.
  • the heavy objects 50RU, 50RD, 50LU, and 50LD are provided near the ends of the arms 14RU, 14RD, 14LU, and 14LD on the main body 12 side, respectively, and the heavy objects 50RU, 50RD, 50LU, and 50LD are connected to motors 24RU and 24RD that constitute the moving mechanism.
  • 24LU, and 24LD are configured to be movable from near the end on the main body 12 side to near the end where motors 17RU, 17RD, 17LU, and 17LD are provided.
  • the heavy object 50LU placed on the arm 14LU is moved by the driving force of the motor 24LU to the outside of the arm 14LU, that is, to the motor 17LU side of the arm 14LU.
  • the aircraft 10 tilts so that the front right side descends (the rear left side rises).
  • the heavy object 50LD placed on the arm 14LD is moved by the driving force of the motor 24LD to the outside of the arm 14LD, that is, to the motor 17LD side of the arm 14LD.
  • the aircraft 10 tilts so that the front left side descends (the rear right side rises).
  • the heavy object 50RD placed on the arm 14RD is moved by the driving force of the motor 24RD to the outside of the arm 14RD, that is, to the motor 17RD side of the arm 14RD.
  • the heavy object 50RU placed on the arm 14RU is moved by the driving force of the motor 24RU to the outside of the arm 14RU, that is, to the motor 17RU side of the arm 14RU.
  • the mechanism for moving the heavy objects 50RU to 50LD is, for example, a rack and pinion, but may also be a linear motor.
  • the motors 17RU to 17LD move the heavy objects 50RU to 50LD near the target position from near the end of the main body 12 through the propeller that has stopped or whose rotational speed has become below a predetermined threshold and the main body 12. Move it close to the provided end.
  • the flight attitude of the aircraft 10 is monitored using a gyro sensor, etc., and the moving mechanism is controlled so that the flight attitude is as stable as possible. ⁇ 50LD movement may be optimized.
  • the technology of the present disclosure is not limited thereto.
  • a drone other unmanned aircraft, such as a radio-controlled airplane and a radio-controlled unmanned helicopter, or even a manned aircraft, such as a radio-controlled helicopter that can carry a person, may be used. good.
  • each component may exist as long as there is no contradiction.
  • failure detection and response processing is realized by a software configuration using a computer, but the technology of the present disclosure is not limited to this.
  • failure detection and response processing may be performed only by a hardware configuration such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). Good.
  • Part of the failure detection and response processing may be executed by a software configuration, and the remaining processes may be executed by a hardware configuration.
  • Non-transitory computer-readable media includes various types of tangible storage media.
  • Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, and CDs. - R/W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)).
  • the program may also be provided to the computer on various types of temporary computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves.
  • the temporary computer-readable medium can provide the program to the computer via wired communication channels, such as electrical wires and fiber optics, or wireless communication channels.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
PCT/JP2022/016514 2022-03-31 2022-03-31 航空機、航空機制御方法、及び航空機制御プログラム Ceased WO2023188265A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2024511023A JPWO2023188265A1 (https=) 2022-03-31 2022-03-31
PCT/JP2022/016514 WO2023188265A1 (ja) 2022-03-31 2022-03-31 航空機、航空機制御方法、及び航空機制御プログラム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/016514 WO2023188265A1 (ja) 2022-03-31 2022-03-31 航空機、航空機制御方法、及び航空機制御プログラム

Publications (1)

Publication Number Publication Date
WO2023188265A1 true WO2023188265A1 (ja) 2023-10-05

Family

ID=88199862

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/016514 Ceased WO2023188265A1 (ja) 2022-03-31 2022-03-31 航空機、航空機制御方法、及び航空機制御プログラム

Country Status (2)

Country Link
JP (1) JPWO2023188265A1 (https=)
WO (1) WO2023188265A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025186251A1 (en) * 2024-03-04 2025-09-12 Danmarks Tekniske Universitet Unmanned aerial vehicle with center of mass displacement
CN121650894A (zh) * 2026-02-06 2026-03-13 思翼科技（深圳）有限公司 基于调整电池位置的防炸机方法、系统、无人机及介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016067489A1 (ja) * 2014-10-29 2016-05-06 ヤンマー株式会社 ヘリコプター
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
US20180229833A1 (en) * 2017-02-16 2018-08-16 Amazon Technologies, Inc. Maintaining attitude control of unmanned aerial vehicles by varying centers of gravity
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
JP2020111181A (ja) * 2019-01-11 2020-07-27 株式会社エンルート 無人飛行体、無人飛行体の制御方法及びコンピュータプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016067489A1 (ja) * 2014-10-29 2016-05-06 ヤンマー株式会社 ヘリコプター
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
US20180229833A1 (en) * 2017-02-16 2018-08-16 Amazon Technologies, Inc. Maintaining attitude control of unmanned aerial vehicles by varying centers of gravity
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
JP2020111181A (ja) * 2019-01-11 2020-07-27 株式会社エンルート 無人飛行体、無人飛行体の制御方法及びコンピュータプログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025186251A1 (en) * 2024-03-04 2025-09-12 Danmarks Tekniske Universitet Unmanned aerial vehicle with center of mass displacement
CN121650894A (zh) * 2026-02-06 2026-03-13 思翼科技（深圳）有限公司 基于调整电池位置的防炸机方法、系统、无人机及介质

Also Published As

Publication number Publication date
JPWO2023188265A1 (https=) 2023-10-05

Similar Documents

Publication Publication Date Title
US11970281B2 (en) Integrated feedback to flight computer for adjusting power distribution to rotorcraft motors
JP7846945B2 (ja) ティルティングファンアッセンブリを備えた航空機
CN113508078B (zh) 配有碰撞容错推进和控制器的无人机
US11094146B1 (en) Intelligent electrical system for vehicle
US11040768B2 (en) Method and a device for moving the center of gravity of an aircraft
CN105517902B (zh) 无人机电机驱动智能功率控制系统和方法以及无人机
CN110062735B (zh) 分布式飞行控制系统
US10775784B2 (en) Unmanned aerial vehicle with decentralized control system
WO2023188265A1 (ja) 航空機、航空機制御方法、及び航空機制御プログラム
JP7246192B2 (ja) 特定の飛行状態を支援するために航空機の複数のエンジンによって生成される推力を制御するための方法及びシステム
CN110174906A (zh) 无人机降落控制方法、装置，存储介质及电子设备
US20190291883A1 (en) Flying vehicle emergency procedures
KR102299637B1 (ko) 벽면 이동형 드론 유닛의 자율 운용 방법 및 시스템
KR101824183B1 (ko) 추락방지 기능을 갖는 무인비행체
US20250051024A1 (en) Flight control device, computer readable medium, and flight control method
KR102298107B1 (ko) 드론 프로펠러 파손 감지와 착륙 유도 제어 방법, 드론 프로펠러 파손 감지와 착륙 유도를 위한 드론 운행 제어 장치 및 그 장치를 포함하는 드론.
KR101807161B1 (ko) 천음속 비행 영역의 오버 지 현상 제어 방법
JP2021084464A (ja) 飛行体
KR102640847B1 (ko) 추락방지 멀티콥터 및 멀티콥터 제어방법
AU2025200657B2 (en) Aircraft with tilting fan assemblies
CN121990158A (zh) 具有倾转风扇组件的飞行器
KR20250018348A (ko) 나노 쿼드콥터를 이용한 공격적 기동에서의 자동 비행 회복 방법
WO2026058716A1 (ja) 飛行ロボット、及び飛行ロボット用の支持機構
CN117092995A (zh) 机器人的控制方法、装置、系统、机器人、设备以及介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22935410

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2024511023

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22935410

Country of ref document: EP

Kind code of ref document: A1