JP6888219B2 - Drone - Google Patents

Description

The present invention relates to a drone.

The application of small helicopters (multicopters), which are generally called drones, is advancing. One of the important application fields is spraying chemicals such as pesticides and liquid fertilizers on agricultural land (fields) (for example, Patent Document 1). In relatively small farmlands, it is often appropriate to use drones rather than manned planes and helicopters.

Technologies such as the Quasi-Zenith Satellite System and RTK-GPS (Real Time Kinematic --Global Positioning System) have made it possible for drones to accurately know the absolute position of their aircraft in centimeters during flight. Even in the typical narrow and complicated terrain of farmland, it is possible to fly autonomously with minimal manual maneuvering and to spray chemicals efficiently and accurately.

On the other hand, there were cases where it was difficult to say that safety was taken into consideration for autonomous flying drones for agricultural chemical spraying. Since the drone carrying the drug weighs several tens of kilograms, it can have serious consequences in the event of an accident such as falling onto a person. In addition, since the operator of the drone is usually not an expert, a foolproof mechanism is necessary, but consideration for this is insufficient. Until now, there have been drone safety technologies that are premised on human maneuvering (for example, Patent Document 2), but in particular, they address safety issues specific to autonomous flying drones for agricultural chemical spraying. There was no technology to do this.

As shown in FIG. 10, in the counter-rotating drone 300 in which the rotor blades 301-2a and 301-2b, and 301-4a and 301-4b are paired up and down and rotate in opposite directions, respectively, due to the downdraft. Generate thrust. On the other hand, the airflow generated by the rotor blades 301-2a, 301-2b, 301-4a, 301-4b flows inside and outside the radius of gyration of the rotor blades 301-2a, 301-2b, 301-4a, 301-4b. Circulate. Further, a part of the airflow does not circulate, but is blown up from below to above between the rotary blade 301 and the main body 310 of the drone 300 and diffuses. Therefore, there is a need for a drone that can efficiently generate thrust by using the wind force of the upward airflow.

In Patent Document 3, a propulsion propeller is arranged in front of the main wing, and a cylindrical rectifying duct extending from a position surrounding the propulsion propeller to the front edge of the main wing sandwiching both upper and lower edges of the main wing is provided on the trailing edge of the main wing behind the rectifying duct. A fixed-wing aircraft is disclosed in which flaps are arranged to guide the exhaust wake derived from the rectifying duct to both the upper and lower sides of the main wing to the flaps. However, this airplane had a fixed wing configuration, and the wind force of the upward airflow generated by the rotor could not be used for thrust.

Patent Publication Japanese Patent Application Laid-Open No. 2001-120151 Patent Publication Japanese Patent Application Laid-Open No. 2017-163265 Patent Publication Japanese Patent Application Laid-Open No. 58-22796

In a drone having a rotary blade, a drone capable of efficiently generating thrust by utilizing the wind force of an upward airflow is provided.

In order to achieve the above object, the drone according to one aspect of the present invention includes a main body, a plurality of rotary blades arranged around the main body, and the main body generated by the rotary blades from below to above. It is provided with a rectifying plate that guides the traveling airflow to a position where it is sucked into the rotary blade.

At least a part of the straightening vane is arranged between the main body and the rotary blade, and the airflow generated between the main body and the rotary blade and traveling from the lower side to the upper side is sucked into the rotary blade. It may be used as a guide to the position.

The end portion of the straightening vane on the rotary blade side may be arranged above the rotary blade.

A plurality of the rotary blades are arranged in pairs vertically, and the end portion of the straightening vane on the rotary blade side is located between the rotary blade in the upper stage and the rotary blade in the lower stage in the height direction. It may be arranged.

The plurality of the rotary blades are arranged in pairs vertically, and the rectifying plate includes a first rectifying plate whose end on the rotary wing side is arranged above the rotary wing in the upper stage and the rotation plate. The end portion on the blade side includes the second rotor blade arranged between the upper rotor blade and the lower rotor blade in the height direction, and the first rotor blade is directed from the main body side of the first rotor blade to the rotor blade. The size in the width direction may be larger than the size in the width direction from the main body side of the second straightening vane toward the rotor blade.

The straightening vane may extend obliquely upward with respect to the rotating surface of the rotary blade in the direction from the main body side toward the rotary blade.

A chemical nozzle for spraying the chemical may be further provided, and the end portion of the straightening vane on the rotary blade side may be arranged above the rotary blade arranged in the vicinity of the chemical nozzle.

The straightening vane may be connected to the main body and configured to dissipate heat generated from the main body.

In a drone having rotor blades, the wind force of the upward airflow can be used to efficiently generate thrust.

It is a top view which shows the 1st Embodiment of the drone which concerns on this invention. It is a front view of the said drone. It is a right side view of the above drone. It is a rear view of the said drone. It is a perspective view of the said drone. It is the whole conceptual diagram of the drug spraying system which the said drone has. It is a schematic diagram which showed the control function of the said drone. It is a schematic vertical sectional view which shows the positional relationship of the main body, a rotary blade, and a straightening vane which the drone has. Configurations other than the main body, rotor blades, and current plate are omitted. It is a perspective view which shows the 2nd Embodiment of the drone which concerns on this invention. It is a schematic vertical sectional view which shows the positional relationship of the main body, a rotary blade, and a straightening vane which a drone of a related technology has. Configurations other than the main body, rotor blades, and current plate are omitted.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. All figures are illustrations. In the following detailed description, certain details are given for illustration purposes and to facilitate a complete understanding of the disclosed embodiments. However, embodiments are not limited to these particular details. Also, to simplify the drawings, well-known structures and devices are outlined.

In the specification of the present application, the drone is regardless of the power means (electric power, prime mover, etc.) and the maneuvering method (wireless or wired, autonomous flight type, manual maneuvering type, etc.). It refers to all air vehicles with multiple rotor blades.

As shown in FIGS. 1 to 5, the rotors 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also referred to as rotors) are It is a means to fly the drone 100, and considering the balance of flight stability, aircraft size, and battery consumption, 8 aircraft (4 sets of 2-stage rotor blades) are installed around the main body 110. ing. Each rotor 101 is arranged on all sides of the main body 110 by an arm 120 protruding from the main body 110 of the drone 100. That is, the rotors 101-1a and 101-1b are on the left rear side in the traveling direction, the rotor blades 101-2a and 101-2b are on the left front side, the rotor blades 101-3a and 101-3b are on the right rear side, and the rotor blades 101- are on the right front side. 4a and 101-4b are arranged respectively. In addition, the drone 100 has the traveling direction facing downward on the paper in FIG.

Motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotary blades 101-1a, 101-1b, 101-2a, 101- It is a means to rotate 2b, 101-3a, 101-3b, 101-4a, 101-4b (typically an electric motor, but it may also be a motor, etc.), and one machine is provided for one rotary blade. Has been done. Motor 102 is an example of a thruster. The upper and lower rotors (eg, 101-1a and 101-1b) in one set, and their corresponding motors (eg, 102-1a and 102-1b), are used for drone flight stability, etc. The axes are on the same straight line and rotate in opposite directions. Although some rotors 101-3b and motor 102-3b are not shown, their positions are self-explanatory and are in the positions shown if there is a left side view. As shown in FIGS. 2 and 3, the radial member for supporting the propeller guard provided so that the rotor does not interfere with foreign matter has a rather wobbling structure rather than a horizontal structure. This is to encourage the member to buckle outside the rotor in the event of a collision and prevent it from interfering with the rotor.

The drug nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the drug downward, and four of them are provided. In the specification of the present application, the term "pharmaceutical" generally refers to a liquid or powder sprayed in a field such as a pesticide, a herbicide, a liquid fertilizer, an insecticide, a seed, and water.

The drug tank 104 is a tank for storing the sprayed drug, and is provided at a position close to the center of gravity of the drone 100 and at a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 1053, 105-4 are means for connecting the drug tank 104 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above material and also serve to support the drug nozzle. The pump 106 is a means for discharging the drug from the nozzle.

FIG. 6 shows an overall conceptual diagram of a system using an embodiment of the drone 100 for chemical spraying according to the present invention. This figure is a schematic view, and the scale is not accurate. The operator 401 is a means for transmitting a command to the drone 100 by the operation of the user 402 and displaying information received from the drone 100 (for example, position, amount of medicine, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that runs a computer program. The drone 100 according to the present invention is controlled to perform autonomous flight, but may be capable of manual operation during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, an emergency operation device (not shown) having a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button or the like so that a quick response can be taken in an emergency. It may be a dedicated device equipped with). The actuator 401 and the drone 100 perform wireless communication by Wi-Fi or the like.

Field 403 is a rice field, a field, or the like that is the target of chemical spraying by the drone 100. In reality, the terrain of field 403 is complicated, and the topographic map may not be available in advance, or the topographic map and the situation at the site may be inconsistent. Normally, field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railroads, and the like. In addition, obstacles such as buildings and electric wires may exist in the field 403.

The base station 404 is a device that provides a master unit function for Wi-Fi communication, etc., and may also function as an RTK-GPS base station so that it can provide an accurate position of the drone 100 (Wi-). The base unit function of Fi communication and the RTK-GPS base station may be independent devices). The farming cloud 405 is typically a group of computers and related software operated on a cloud service, and may be wirelessly connected to the actuator 401 by a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the growing condition of the crop, and perform a process for determining the flight route. In addition, the topographical information of the stored field 403 may be provided to the drone 100. In addition, the history of the flight and captured images of the drone 100 may be accumulated and various analysis processes may be performed.

Normally, the drone 100 takes off from the departure / arrival point 406 outside the field 403 and returns to the departure / arrival point 406 after spraying the chemicals on the field 403 or when the chemicals need to be replenished or charged. The flight route (approach route) from the departure / arrival point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the user 402 before the start of takeoff.

FIG. 7 shows a block diagram showing a control function of an embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and may be an embedded computer including a CPU, memory, related software, and the like. The flight controller 501 uses motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on the input information received from the controller 401 and the input information obtained from various sensors described later. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b to control the flight of the drone 100. The actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the flight controller 501, and normal rotation is performed. It is configured so that it can be monitored. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501.

The software used by the flight controller 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, etc., or through communication means such as Wi-Fi communication or USB. In this case, protection is performed by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by malicious software is not performed. In addition, a part of the calculation process used by the flight controller 501 for control may be executed by another computer located on the controller 401, the farming cloud 405, or somewhere else. Due to the high importance of the flight controller 501, some or all of its components may be duplicated.

The battery 502 is a means of supplying power to the flight controller 501 and other components of the drone and may be rechargeable. The battery 502 is connected to the flight controller 501 via a fuse or a power supply unit including a circuit breaker or the like. The battery 502 may be a smart battery having a function of transmitting its internal state (storage amount, total usage time, etc.) to the flight controller 501 in addition to the power supply function.

The flight controller 501 communicates with the actuator 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives necessary commands from the actuator 401, and receives necessary information from the actuator 401. Can be sent to 401. In this case, the communication may be encrypted so as to prevent fraudulent acts such as interception, spoofing, and device hijacking. The base station 404 has the function of an RTK-GPS base station in addition to the communication function by Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 makes it possible to measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since GPS module 504 is so important, it may be duplicated / multiplexed, and each redundant GPS module 504 should use a different satellite to cope with the failure of a specific GPS satellite. It may be controlled.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body in three directions orthogonal to each other (further, a means for calculating the velocity by integrating the acceleration). The 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone aircraft in the above-mentioned three directions, that is, the angular velocity. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The barometric pressure sensor 507 is a means for measuring barometric pressure, and can also indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of the laser light, and may be an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone aircraft and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected according to the cost target and performance requirements of the drone. In addition, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind sensor for measuring wind power, and the like may be added. Further, these sensors may be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, it may switch to an alternative sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor 510 is a means for measuring the flow rate of the drug, and is provided at a plurality of locations on the path from the drug tank 104 to the drug nozzle 103. The liquid drain sensor 511 is a sensor that detects that the amount of the drug has fallen below a predetermined amount. The multispectral camera 512 is a means of photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle, and is a device different from the multispectral camera 512 because the image characteristics and the orientation of the lens are different from those of the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard part, has come into contact with an obstacle such as an electric wire, a building, a human body, a standing tree, a bird, or another drone. .. The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are in the open state. The drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is in an open state. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. Further, a sensor may be provided at the base station 404, the actuator 401, or some other place outside the drone 100, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404 to transmit information on the wind and wind direction to the drone 100 via Wi-Fi communication.

The flight controller 501 transmits a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge. The current status of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.

The LED 107 is a display means for informing the drone operator of the state of the drone. As the display means, a display means such as a liquid crystal display may be used instead of the LED or in addition to the LED. The buzzer 518 is an output means for notifying the state of the drone (particularly the error state) by an audio signal. The Wi-Fi slave unit function 503 is an optional component for communicating with an external computer or the like for transferring software, for example, in addition to the actuator 401. Instead of or in addition to the Wi-Fi slave function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection You may use it. The speaker 520 is an output means for notifying the state of the drone (particularly the error state) by means of recorded human voice, synthetic voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight. In such cases, voice communication is effective. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (particularly the error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated / multiplexed.

Here, the state of the air flow generated by the rotary blade in the drone 300 of the related technology shown in FIG. 10 will be described. In the drone 300, each rotary wing 301 is arranged on all sides of the main body 310 by an arm protruding from the main body 310. In this figure, only the front rotors 301-2a, 301-2b, 301-4a, 301-4b are shown. The rotor blades 301-2a and 301-2b and 301-4a and 301-4b are paired with each other and have a two-stage configuration.

The rotor blades 301-2a and 301-2b rotate in opposite directions to generate a downdraft below the rotor blades 301-2b. The drone 300 flies by this downdraft. At the same time, the rotor blades 301-2a and 301-2b generate a circulating airflow 360a that circulates in a cylindrical region so as to cover the outer circumference of the rotor blades 301-2a and 301-2b. The circulating airflow 360a is discharged downward from the inside of the rotor blades 301-2a and 301-2b in the radial direction, rises on the outer circumference of the rotor blades 301-2a and 301-2b, and is sucked from above the rotor blades 301-2a. Similarly, the rotary blades 301-4a and 301-4b generate a circulating airflow 360b. Further, a part of the circulating airflows 360a and 360b becomes diffused airflows 361a and 361b that are blown up and diffused above the main body 310. In the drone for spraying chemicals, the diffused airflows 361a and 361b may blow up the chemicals to be sprayed, making it difficult to spray the chemicals at the intended concentration, or causing the chemicals to reach an unintended area. .. In addition, the main body 310 is exposed to chemicals, which may cause stains.

As shown in FIGS. 1 to 5, rectifying plates 21a, 21b, 22a, 22b are arranged on the left and right sides of the main body 110 of the drone 100. The straightening vanes 21a, 21b, 22a, and 22b are all flat plates elongated in the traveling direction. The straightening vanes 21a and 21b and the straightening vanes 22a and 22b are arranged vertically in this order, respectively. The straightening vanes 21a and 21b are examples of the first straightening vane, and the straightening vanes 22a and 22b are examples of the second straightening vanes.

The straightening vanes 21a, 21b, 22a, 22b extend obliquely upward with respect to the rotating surface of the rotary blade 101 in the direction from the main body 110 toward the rotary blade 101, that is, in the width direction.

The length of the straightening vanes 21a, 21b, 22a, 22b in the front-rear direction is longer than the distance between the front-back rotation centers. Therefore, the straightening vanes 21a, 21b, 22a, and 22b extend from the main body 110 to the extent that they exceed the rotation center of the rotor 101.

The straightening vanes 21a, 21b, 22a, 22b may be physically connected to the main body 110 of the drone 100, that is, the housing in which the flight controller 501 and other internal components are stored. It can also be realized by a structure in which a part of the housing of the main body 110 is projected toward the rotary blade side. Further, the straightening vanes 21a, 21b, 22a, 22b may be connected to an arm 120 connecting the main body 110, the rotor blade 101, and the motor 102.

As shown in FIGS. 2 and 8, the straightening vanes 21a, 21b, 22a, 22b are arranged in the flow path of the air flow generated by the rotor 101. More specifically, in FIG. 2, the end of the upper right rectifying plate 21a on the rotary blade 101 side is arranged above the rotary blades 101-1a and 101-2a, and the upper left rectifying plate 22a The end on the rotary blade 101 side is arranged above the rotary blades 101-3a and 101-4a. The end of the lower right rectifying plate 21b on the rotor 101 side is below the rectifying plate 21a, and the rotor blades 101-1a, 101-2a and the rotor blades 101-1b, 101-2b in the height direction. It is placed in between. The end of the lower left straightening vane 22b on the rotary blade 101 side is below the straightening vane 22a, and the rotary blades 101-3a and 101-3a and the rotary blades 101-4b and 101-4b in the height direction. It is placed in between.

As shown in FIG. 8, the circulating airflows 60a and 60b that pass between the main body 110 and the rotor 101 and travel upward to the main body 110 are reflected by the straightening vanes 21a, 21b, 22a and 22b and become an obliquely downward airflow. , Rotor blade 101 is guided upward. The upper part of the rotary blade 101 is a position where the rotary blade 101 is sucked, that is, the suction regions 71a, 71b, 72a, 72b. Therefore, the airflow reflected by the straightening vanes 21a, 21b, 22a, 22b is sucked into the rotor 101 in the suction regions 71a, 71b, 72a, 72b and discharged as a downdraft. Since the airflow reflected by the straightening vanes 21a, 21b, 22a, 22b is a downward airflow, it can contribute to the downdraft wind force and generate a larger downdraft. That is, according to the straightening vanes 21a, 21b, 22a, 22b, it is possible to recover the upward airflow and generate thrust more energy-efficiently.

Further, the straightening vanes 21a, 21b, 22a, 22b can reflect the diffused airflows 361a and 361b toward the rotor blades and suppress the diffused airflows 361a and 361b from being blown upward. That is, in the drug spraying drone, the drug can be sprayed accurately with respect to the area where the drug is sprayed and the spray concentration. In addition, it is possible to reduce the contamination of the main body 110 by the drug.

As shown in FIGS. 2 and 8, the straightening vanes 21a, 21b, 22a, 22b are a part of the rotary blade 101 from the vicinity of the main body 110 when viewed from the plane direction, and do not reach the rotation center of the rotary blade 101. It is the size of. In the region farther from the main body 110 than the center of rotation, the directions of the circulating airflows 60a and 60b are reversed, so even if the rectifying plates 21a, 21b, 22a and 22b are large enough to cover the center of rotation, they are upward. This is because the airflow cannot be guided to the suction regions 71a, 71b, 72a, 72b.

According to the configuration in which the straightening vanes 21a, 21b, 22a, 22b extend diagonally upward with respect to the rotating surface of the rotary blade 101 in the direction from the main body 110 toward the rotary blade 101, the outer circumference of the rotary blade 101 is upward. Since the circulating airflows 60a and 60b and the diffused airflows 361a and 361b traveling toward the inside of the rotor 101 can be guided toward the inside, the suction regions 71a and 72a can be guided more efficiently. Even if the straightening vanes 21a, 21b, 22a, and 22b are parallel to the rotating surface of the rotary blade 101, the desired effect can be obtained.

The plane size of the upper straightening vanes 21a and 22a is larger than the flat plane width of the lower straightening vanes 21b and 22b. According to this configuration, the area of the upper straightening vanes 21a and 22a can be increased without being restricted by the propeller guard, and the circulating airflows 60a and 60b and the diffused airflows 61a and 61b can be more efficiently sucked in the suction region 71a. Can guide you to, 72a.

The lower straightening vanes 21b and 22b project to the inside of the rotor 101 in the radial direction. In this case, the propeller guard on the main body 110 side may have a non-uniform shape. For example, on the main body 110 side, the distance between the plurality of columns connecting the upper ring portion and the lower ring portion of the propeller guard may be large.

As shown in FIG. 9, the length of the straightening vane in the traveling direction is arbitrary. In the drone 200 showing the second embodiment of the present invention shown in the figure, the ends of the straightening vanes 221a and 222a are only above the rotary blades 101-1, 101-4 arranged in the vicinity of the drug nozzle 103. It may be arranged. According to this configuration, the scattering of the chemicals is particularly suppressed, and the chemicals can be sprayed with high accuracy with a simpler and lighter configuration. In addition, it is possible to reduce the contamination of the main body 210 by the chemical.

In the first embodiment shown in FIGS. 1 to 5, the straightening vanes 21a, 21b, 22a, and 22b have the same length with respect to the traveling direction, but may be different. The planar shape of the straightening vane may be a rectangle with rounded corners, an ellipse, an oval, a polygon, or the like. Further, a configuration having only the upper straightening vanes 21a and 22a or only the lower straightening vanes 21b and 22b also belongs to the technical scope of the present invention. Further, the upper straightening vanes 21a and 22a may be integrated.

The straightening vanes 21a, 21b, 22a, 22b may be curved surfaces in which the plane facing the rotor 101 in the cross section is curved. Since the circulating airflows 60a and 60b are sucked while curving toward the center of rotation of the rotor 101, the straightening vanes 21a, 21b, 22a and 22b are curved along the circulating airflows 60a and 60b to circulate. The airflows 60a and 60b can be more efficiently guided to the suction regions 71a and 72a.

The straightening vanes 21a, 21b, 22a, 22b also have the effect of improving the cooling efficiency of the main body 110 by being coupled to the main body 110. In order to further improve this function, the straightening vanes 21a, 21b, 22a, 22b may be formed of a material having high heat dissipation, for example, metal. On the upper surface of the straightening vanes 21a, 21b, 22a, 22b, a configuration such as unevenness for facilitating heat dissipation may be arranged.

The positions of the rectifying plates 21a, 21b, 22a, and 22b do not necessarily have to be between the main body 110 and the rotor 101, and an airflow generated by the rotor 101 traveling upward from below is generated. It may be arranged at a position, and may be arranged around the rotor 101 other than between the main body 110 and the rotor 101. For example, the straightening vanes 21a, 21b, 22a, 22b may be arranged between the rotors 101, or the main body 110 is arranged outside the rotors 101, that is, around the rotors 101. It may be located on the opposite side of the position.

According to this configuration, in a drone having rotary blades, it is possible to efficiently generate thrust by utilizing the wind force of the upward airflow.

In this description, a drone for spraying chemicals has been described as an example, but the technical idea of the present invention is not limited to this, and can be applied to all air vehicles having rotary wings. This flying object may be capable of autonomous flight or may be manually controllable.

(Technically remarkable effect of the present invention)
In the drone according to the present invention, in a drone having rotary blades, thrust can be efficiently generated by utilizing the wind force of the upward airflow.

Claims (8)

With the main body
A plurality of rotor blades arranged around the main body and
A second straightening vane that guides the airflow generated by the rotor blades that travels from the lower side to the upper side of the main body to a position where it is sucked into the rotary blades.
Equipped with a,
The plurality of rotor blades are arranged in pairs vertically.
The end portion of the second straightening vane on the rotary blade side is arranged between the rotary blade in the upper stage and the rotary blade in the lower stage in the height direction.
Drone.
At least a part of the second straightening vane is arranged between the main body and the rotary blade, and sucks the airflow generated between the main body and the rotary blade and traveling from the lower side to the upper side into the rotary blade. Guide to the position to be
The drone according to claim 1.
Further comprising a first straightening vanes ends before Symbol rotary blade side is disposed above said rotary blades of the upper,
The size of the first straightening vane in the width direction from the main body side toward the rotary blade is larger than the size of the second straightening vane in the width direction from the main body side toward the rotary blade.
The drone according to claim 1 or 2.
The end portion of the first straightening vane on the rotary blade side is arranged above the rotary blade.
The drone according to claim 3.
The first straightening vane extends obliquely upward with respect to the rotating surface of the rotary blade in the direction from the main body side toward the rotary blade.
The drone according to claim 3 or 4.
The second straightening vane extends obliquely upward with respect to the rotating surface of the rotary blade in the direction from the main body side toward the rotary blade.
The drone according to any one of claims 1 to 5.
Further equipped with a drug nozzle to spray the drug,
The end portion of the second straightening vane on the rotary blade side is arranged above the rotary blade arranged in the vicinity of the chemical nozzle.
The drone according to any one of claims 1 to 6.
The second straightening vane is connected to the main body and dissipates heat generated from the main body.
The drone according to any one of claims 1 to 7.

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