JP7186474B2 - flying object - Google Patents

Description

The present invention relates to aircraft.

In recent years, flying objects have been proposed that are small, lightweight, easy to maneuver, less affected by wind, and capable of maintaining a stable attitude (for example, Patent Document 1).

In addition, when an aircraft having a plurality of rotor blades travels in a direction including the horizontal direction, an aircraft has been proposed that can reduce the difference in the number of rotations of the rotor blades on the front and rear sides of the flight direction ( For example, Patent Document 2).

JP 2013-79034 A WO2016/185572A1

Conventional flying objects sway due to air currents such as side winds generated between high-rise apartment buildings and high-rise buildings. Due to this rolling, the flying object loses its flight attitude and tilts. Then, due to the rolling motion, the flying object largely deviates from the premises of the tower condominium or the high-rise condominium and flies in the outer area of the premises.

Usually, when the flying object flies outside the premises of a high-rise apartment building, an attempt is made to restore the flight posture by pulling the mooring rope attached to the flying object. However, pulling on the tethering rope provided by the vehicle further deteriorates the flight attitude of the vehicle. Ultimately, the flying object loses its flight posture, deviates greatly from the premises of the tower apartment or high-rise apartment, flies in the outer area of the premises, and then crashes in the outer area of the premises. In addition, if the GPS device mounted on the flying object is interrupted during flight, the flying object becomes uncontrollable and the flying object flies from the premises of the tower condominium or high-rise condominium to the outside of the premises. .

Furthermore, when a conventional flying object lands, if the rotation of the motor that drives the rotor blades of the flying object is stopped, the flight section equipped with the rotor blades cannot be kept horizontal. As a result, the flight portion of the aircraft is inclined. When the flight portion of the flying object inclines, the flying object cannot maintain its attitude and overturns.

In addition, since the position of the camera necessary for photographing the target object is close to the rotor blades of the conventional flying object, the rotor blades of the flying object, etc. appear on the camera screen when photographing. A situation occurs where it is reflected. If the rotor blades of an aircraft are reflected on the camera screen, it will not only be impossible to adequately photograph the object, but also, if the object is to be filmed as a video, the value of the previously photographed images will be lost. end up

In addition, conventional flying objects are subject to air currents such as side winds generated between high-rise apartment buildings and high-rise buildings, and sway. In this case, the aircraft hovers with one of its rotors tilted. When the aircraft is hovering, the rotor blades are tilted. Therefore, when the flying object takes a picture, the rotor blades become an obstacle to the shooting, and the rotor blades of the flying object are reflected on the camera screen. There is a problem.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a flying object that maintains a more stable flight attitude.

According to the present invention, a flight section including at least a plurality of rotor blades and a motor for driving the rotor blades;
a loading unit capable of loading an object;
a connecting portion connecting the flying portion and the loading portion to each other so as to be displaceable;
is obtained.

According to the present invention, it is possible to provide an aircraft having more stable flight performance by devising the positional relationship among the flight section, the loading section, and the connection section of the aircraft.

1 is a conceptual diagram showing the configuration of an aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. FIG. 2 is a conceptual diagram showing the configuration of the flight section of the aircraft of FIG. 1; FIG. 2 is a conceptual diagram showing a configuration of a loading section of the aircraft of FIG. 1; 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 3 is another conceptual diagram showing the configuration of the aircraft of the present invention; FIG. 1 is a perspective view showing a configuration of an aircraft; FIG. 1 is a schematic view of an aircraft viewed from directly above; FIG. It is a side view of an aircraft. 1 is a model diagram showing a flight attitude of an aircraft; FIG. FIG. 11 is a side view of another flying object; FIG. 11 is a perspective view of another flying object; FIG. 11 is another perspective view of another flying object;

The contents of the embodiments of the present invention are listed and explained. An aircraft according to an embodiment of the present invention has the following configuration.
[Item 1]
a flight section including at least a plurality of rotor blades and a motor for driving the rotor blades;
a loading unit capable of loading an object;
a connecting portion connecting the flying portion and the loading portion to each other so as to be displaceable;
Air vehicle with
[Item 2]
The aircraft according to item 1,
the connecting portion is above the center of gravity or the center of the flying portion;
Airplane.
[Item 3]
The aircraft according to item 2,
The connecting portion is vertically above or substantially above the center of gravity or the center of the flying portion.
Airplane.
[Item 4]
The aircraft according to item 1,
the connecting portion coincides or substantially coincides with the center of gravity or the center of the flight portion;
Airplane.
[Item 5]
The aircraft according to item 1,
the connecting portion is below the center of gravity or center of the flying portion;
Airplane.
[Item 6]
The aircraft according to item 5,
The connecting portion is located directly below or substantially below the center of gravity or the center of the flying portion in the vertical direction,
Airplane.
[Item 7]
The aircraft according to item 1,
the joint is at a different position in the horizontal direction than the center of gravity or center of the aircraft;
Airplane.
[Item 8]
The aircraft according to any one of items 1 to 7,
the connecting portion is at the center of gravity or center of the loading portion;
Airplane.
[Item 9]
The aircraft according to item 1,
wherein the connection portion has two or more rotation shafts,
Airplane.
[Item 10]
The aircraft according to item 1 or item 2,
An aircraft characterized in that said payload includes an adjustment mechanism for extending its length.
[Item 11]
a plurality of rotor blades;
an arm portion that supports the plurality of rotor blades;
a mounting portion for mounting an object;
a connecting portion that connects the mounting portion to the arm portion in a state in which the mounting portion is movable within a predetermined range;
the position of the connection portion is above the center of gravity of the arm portion;
Airplane.
[Item 12]
12. The aircraft according to item 11,
wherein the connecting portion comprises a biaxial gimbal structure;
Airplane.
[Item 13]
The aircraft according to item 11 or item 12,
An aircraft, wherein said mounting portion is provided with an adjustment mechanism for extending its length.
[Item 14]
14. The aircraft according to any one of items 1 to 13,
A rope is attached to the mounting portion,
Airplane.
[Item 15]
The aircraft according to any one of items 1 to 4,
The position of the connecting portion is above the point of action of the lift generated on the aircraft by the rotation of the plurality of rotor blades.
Airplane.
[Item 16]
The aircraft according to any one of items 1 to 5,
the position of the connecting portion is above the center of gravity of the aircraft;
Airplane.

<Embodiment 1>
Hereinafter, the flying object 1 of the present invention will be described with appropriate reference to the drawings.

(Basic structure of flying object)
As shown in FIGS. 1 to 4, a flying object according to an embodiment of the present invention includes a flying section including a propeller, a motor for rotating the propeller, and a frame, a support section, and a support section. A loading section with an upper object and a lower object provided at opposite ends.

In the flying object shown in FIG. 2, the gimbal (connecting part) according to the present embodiment connects the flying part and the loading part so that they can be displaced in the horizontal direction (X-axis and Y-axis).

In the aircraft shown in FIG. 3, the gimbal coincides or substantially coincides with the center of gravity Gr or center Cr of the loading section. The illustrated drawing shows the case where the center of gravity of the loading unit and the center of the stacking unit are aligned. Cr does not always match. Even in this case, the gimbal is provided at a position that coincides or substantially coincides with the center of gravity Gr.

In the flight vehicle shown in FIG. 5, the gimbal is above the center of gravity Gf or center Cf of the flight section.

According to such a configuration, in the illustrated example, for example, when the user grabs the lower object from the left side of the figure with a hand catch, the flying part tilts in the direction away from the user, and the propeller It can protect the user from rotation.

In the flying object shown in FIG. 6, the gimbal is vertically above or substantially above the center of gravity Gf or center Cf of the flight section.

According to such a configuration, the flying part can be self-leveled by the same principle as a bull's-eye even when it is stopped.

In the flying object shown in FIG. 7, the gimbal coincides or substantially coincides with the center of gravity Gf or center Cf of the flight section.

According to this configuration, even if the flying section is blown by the wind or makes a sharp turn, the flying section rotates around the center of gravity, so the displacement of the flying section does not affect the displacement of the loading section. .

In the flight vehicle shown in FIG. 8, the gimbal is below the center of gravity Gf or center Cf of the flight section.

In the flying object shown in FIG. 9, the gimbal is located directly below or substantially below the center of gravity Gf or center Cf of the flight section in the vertical direction.

In the aircraft shown in FIG. 10, the gimbal is at a different position in the horizontal direction than the center of gravity Gf or center Cf of the aircraft. According to such a configuration, for example, when a power supply cable or the like is attached to the lower object, when the cable is pulled, the flying part inclines to the left (that is,
Lean so that the left propeller is lower than the right propeller). Therefore, it can be guided to return to the user's hand.

As shown in FIG. 11, the gimbal according to the present embodiment is positioned within a virtual sphere S having a radius of a predetermined distance from the center of gravity Gr or the center Cr of the flying section.

The gimbal according to this embodiment is a monoaxial gimbal having two pivot shafts.

In addition, the supporting portion of the loading portion may be provided with an adjusting mechanism for extending its length.

FIGS. 12 to 17 show structures in which the upper object and the supporting portion for supporting the upper object are eliminated from the structures shown in FIGS. 5 to 11 described above.

As can be seen, the gimbal shown in Figures 12-17 is not at the center of gravity of the payload. That is, the gimbal is provided at a position different from the center of gravity of the loading section.

In the aircraft shown in FIG. 18, the gimbal is provided at the center of gravity of the loading section. In addition, the gimbal is provided at a position different from the center of gravity of the flight section in the horizontal direction.

According to this configuration, by using cameras or the like as the upper and lower objects, a configuration suitable for bridge inspection can be achieved.

FIG. 19 provides more information than the center of gravity Gr or center Cr of the gimbal flight section in FIG.

Some examples of the structures according to the above-described embodiments will be illustrated and described below.

FIG. 210 is a perspective view showing an outline of the aircraft 1 of the present invention. As shown in FIG. 210, the aircraft 1 has a plurality of rotor parts 10A-10D. The rotary blade sections 10A-10D are composed of rotary blades 12A-12D and power sections 14A-14D. The rotor blades 12A-12D rotate in a predetermined direction using power units 14A-14D as drive sources. The power units 14A to 14D are not particularly limited as long as they can drive the rotor blades 12A to 12D, and examples thereof include electric motors and small engines. The number of rotor blades 10 included in the flying object of the present invention is not particularly limited, and can be set as appropriate. In Embodiment 1, an aircraft 1 having four rotary wings will be described as an example.

The aircraft 1 has a plurality of arm portions 16A to 16D that support a plurality of rotor portions 10A to 10D.
, an annular flight member 162 that is the base of the flight portion 18, and the flight member 18
and a support member 30 for connecting the flight member 18 and the imaging unit 20 . The flight member 18 and the imaging unit 20 are connected to the lower end 3 of the support member 30.
4 are connected. The photographing unit 20 is composed of a storage box 22 and a photographing camera body 26 , and the storage box 22 has a box shape for storing the photographing camera body 26 .

In the aircraft 1 shown in FIG. 210, the lower end portion 34 of the support member 30 is connected to the storage box mounting portion 24 installed on the upper surface of the imaging portion 20 having a box shape. The flying object 1 has a fixing support member 28 for fixing a photographing camera main body 22 inside the box-shaped photographing unit 20 which communicates with the lower surface of the photographing unit 20 . The support member 30 and the fixing support member 28 are positioned on the same straight line.

A tether rope 60 for controlling the flight position and flight configuration of the aircraft 1 is attached to the end 282 of the fixing support member 28 . The mooring rope 60 stabilizes the flying condition of the flying object 1 in the same way as a so-called "kite leg". By stably flying the aircraft 1,
The imaging unit 20 can be held horizontally.
The flying object 1 is most suitable for observation shots of tower apartments, high-rise apartments, etc., and is premised on flying over the site of tower apartments, high-rise apartments, and the like. For this reason, the mooring rope 60 is provided from the viewpoint of avoiding the flying object 1 from flying above the premises of tower apartments, high-rise apartments, and the like. In addition, the form in which the mooring rope 60 is attached is not particularly limited as long as it is attached below the photographing unit 20 . For example, the photographing unit 20 can be
may be attached directly to the bottom of the

The aircraft 1 includes arm portions 16A to 16D that support the rotary wing portions 10A to 10D. In the first embodiment, the arm portion 16 constituting the flight portion 18 includes arm portions 16A to 1
6D, but the number of arms 16 is not limited to this. For example, 6, 8, 10, 12, or the like arm portions may be appropriately provided as the arm portions 16 of the aircraft 1 . When the aircraft 1 flies stably, is heavy, and is equipped with a high-precision camera, the number of arms 16 may be six or more, for example, in accordance with the number of rotors 10. good.

In FIG. 210, the four arm portions 16A to 16D are provided in four directions so as to be evenly spaced in an annular shape. That is, the four arm portions 16A to 16D are provided so that the interval between adjacent arm portions is 90°. In addition, the arm portions 16A to 16D
may have a linear shape, or may have a bent shape based on a linear shape from a design point of view.

The arm portions 16A to 16D extend outward from a ring R provided on the outer periphery of the support member 30 at regular intervals. The support member 30 communicates with the ring R and extends upward. The upper end 32 of the support member 30 has a connecting portion 40 for connecting the flight portion 18 and the support member 30 .

FIG. 21 is a schematic diagram of the aircraft 1 of Embodiment 1 as seen from directly above. As shown in FIG. 21, the aircraft 1 may have a structure in which the bottom end portions of the rotor portions 10A to 10D of the arm portions 16A to 16D are connected by a flight member 162. As shown in FIG. A plurality of arm portions 16
When the rotors 10A to 10D located at the ends of A to 16D are connected by the flight member 162, the adjacent rotors 10A to 10D are connected, and the external shape of the flight member 162 seen from directly above the aircraft 1. has a toric shape.

The shape of the flight member 162 is not particularly limited as long as it can connect the adjacent rotary wing portions 10, and may be an annular, elliptical, or rectangular frame. By connecting the rotor portions 10 located at the ends of the arm portions 16 by the flight members 162, the flight portions 18 are structurally more stable. A light-emitting body 164 such as a light-emitting diode may be provided on the outer side surface of the flight member 162 to serve as a mark when the aircraft 1 flies at night.

Aircraft 1 shown in FIG. A connecting member 50 is provided for connecting. The connecting member 50 is driven synchronously with the connecting portion 40 provided at the support member upper end 32 of the support member 30 . The connection member 50 is tilted or rotated by driving the connection part 40 . Since the connecting member 50 is connected to the flight portion 10 , the flight portion 10 tilts or rotates when the connecting portion 40 is driven. The flight portion 10 tilts or rotates depending on the direction and magnitude in which the connection portion 40 is driven. The flight body 1 can tilt or rotate the flight portion 10 around the support member 30 .

Specifically, the flying object 1 is set at an intermediate point 181 of the flight member 18 set between the rotor blades 10A and 10D, and between the rotor blades B and C. A connecting member 50 that bridges the midpoint 182 of the flight member 18 is provided. Since the connecting member 50 passes through the connection portion 40 provided at the upper end portion 32 of the support member 30, the flight portion 18
can tilt with the connecting portion 40 as the vertex by driving the connecting portion 40 . Similarly, the flight portion 18 can rotate with the connecting portion 40 as the apex when the connecting portion 40 is driven.

The connecting portion 40 is not particularly limited as long as it is a mechanism capable of tilting or rotating the flight portion 10 . It can be appropriately set according to the function of the aircraft. For example, the connecting portion 40 may employ a uniaxial gimbal structure, a biaxial gimbal structure, or a triaxial gimbal structure. The gimbal structure may or may not be provided with a driving device such as a motor.

When the flying object of the present invention is used as a flying object for the purpose of photographing the view of tower apartments, high-rise apartments, etc., the flight mode is mainly for vertical ascent, so the connecting part 40 has a two-axis gimbal structure. And it is sufficient. By driving the connecting portion 40, the connecting member 50 can be tilted and rotated. By tilting or rotating the connecting member 50, the flight portion 18 connected to the connecting member 50 tilts or rotates. frame 18
By tilting or rotating, the rotor blades 12A to 12 mounted on the flight section 18
D can be tilted or rotated.

22 is a side view of the aircraft 1. FIG. A technical feature of the aircraft 1 is that the upper end 32 of the support member 30 is provided with a connecting portion 40, the flight portion 18 can tilt or rotate with the connecting portion 40 as the apex, and the connecting portion 40 can: It is located above the center point U of the lift force generated in the aircraft by the rotation of the plurality of rotor blades 12A to 12D. In the aircraft 1 shown in FIG. 22 , the support member 30 overlaps the connecting member 50 . For this reason, Figure 2
2, the connecting member 50 and the supporting member 30 are on the same straight line.

As shown in FIG. 22, the connecting portion 40(1) is located above the center point U(2) of the lift force generated in the aircraft by the rotation of the plurality of rotor blades 12A-12D. In a conventional flying object, the connecting portion between the flight portion and the support member coincides with the center point U (2) of the lift force generated in the flying object due to the rotation of the plurality of rotor blades. It is set at a position lower than the center point U2) of the generated lift force.

The flying object of the present invention adopts the above-described positional relationship between the center point G of the connection part 40 and the center point U of the lift force generated in the flying object. Even so, by pulling the mooring rope 60 attached to the flying body 1, the flight attitude can be reorganized and the original flight state can be restored.

On the other hand, in the conventional flying object, the center of gravity G of the connecting portion 40 between the flight portion 18 and the support member 30 is located below the center point U of the lift generated in the flying object 1 . Therefore, even if the conventional flying object loses its flight attitude due to strong winds such as crosswinds, even if the mooring rope of the flying object is pulled in order to return to the original attitude, a downward force is further applied. As a result, the conventional flying object deteriorates the flight attitude of the flying object from the attitude in which the flight attitude is disturbed by strong winds such as crosswinds. Ultimately, the conventional flying object leaves the sky range within the premises of a high-rise condominium or the like, flies over the premises outside the premises, and sometimes falls from a high-rise floor.

(Flight Mode of Aircraft)
FIG. 24 is a model diagram showing the flight mode of the aircraft 1. FIG. Based on FIG. 24, the flight mode of the aircraft 1 of Embodiment 1 will be described. The flight mode of the aircraft 1 is (a) a process of taking off from the ground within the premises of a high-rise condominium, high-rise condominium, etc., and (b) rising vertically and starting flight, and moving to a tower condominium, high-rise condominium, etc. Step of photographing high-rise floors, (c
) After photographing the upper floors, the process of landing will be explained separately.

(a) Process of taking off from the ground within the premises of a high-rise condominium, etc. As shown in Fig. 24(a), the photographing unit of the aircraft 1 at the starting point within the premises of a tower condominium, high-rise condominium, etc. A storage box 22 constituting the camera 20 is equipped with a camera body 26 for photographing. An operator of the aircraft 1 operates a radio control transmitter having an operation unit to increase the output of the power units 14A to 14D of the rotary wing units 10A to 10D,
The rotational speeds of the rotor blades 12A-12D are increased. Rotation of the rotor blades 12A to 12D generates a vertically upward lift force necessary to levitate the aircraft 1 . When the lift exceeds the gravitational force acting on the aircraft 1, the aircraft 1 leaves the ground and takes off from the starting point. In addition, the rotor blades facing each other in the flight portion 18 rotate in the same direction. Specifically, in the aircraft 1, the rotor blades 12A and 12C rotate leftward, and the rotor blades 12B and 12D rotate rightward.

(b) The process of ascending vertically and starting flight, and photographing high-rise apartment buildings such as tower apartments, high-rise apartments, etc. As shown in FIG. By increasing , it rises vertically toward the sky in the premises of tower apartments, high-rise apartments, and the like. After that, the flying object 1 continues to climb and reaches a certain altitude. After reaching a certain altitude, the flying object 1 hovers in the air at that altitude. The altitude is appropriately determined according to the flight route of the flying object 1, the height of buildings such as tower apartments and high-rise apartments, the aviation law applied to the flying object 1, and the like. The operator may set in advance the altitude at which the aircraft 1 hovers in the air, taking various conditions into account.

Since the weight applied to the flying object 1 and the lift generated in the flying object 1 by the rotation of the rotor blades 12A to 12D are in a dynamic balance, the flying object can hover in the air. . The rotational speeds of the rotor blades 12A-12D are maintained at a constant level. The air stop (hovering) is performed so that the flying object 1 uses the photographing camera body 26 to start photographing tower apartments, high-rise condominiums, and the like.

As shown in FIG. 24(b), when the flying object 1 moves horizontally at the altitude from the hovering state, the flight section 18 is tilted. When the aircraft 1 moves horizontally, the rotation speeds of the rotor blades 12A to 12D constituting the flight section 18 are adjusted to be substantially the same. The flying object 1 can start photographing at the horizontally moved position while maintaining the altitude. The flying object 1 takes an image of a high-rise apartment building, such as a high-rise apartment building, at a predetermined position while hovering at a predetermined altitude. In addition, the flying object 1 can fly in the horizontal direction and change the photographing position as necessary. Also, the flying object 1 can fly vertically and change the photographing position.

(c) Step of Landing after Photographing High-rise Floors As shown in FIG. 24(c), the flying object 1 lands at a destination within the site of a high-rise apartment building or the like. In FIG. 24(c), the destination may be the surface of the earth or a heliport dedicated to the aircraft 1 provided in a high-rise condominium, a high-rise condominium, or the like. The flying object 1 reduces the number of revolutions of the rotor blades 12A to 12D in the air above the destination. The aircraft 1 lowers its altitude and enters a landing posture. When the aircraft 1 is ready for landing, the flight section 18 is maintained horizontally with respect to the ground surface. When the flight portion 18 is inclined,
The rotation speeds of the rotor blades 12A to 12D are adjusted so that the flight portion 18 is horizontal with respect to the ground surface.

The aircraft 1 stops rotating the rotor blades 12A to 12D of the flight section 18 immediately before landing. By stopping the rotation of the rotor blades 12A-12D, the flight section 18 becomes horizontal with respect to the ground surface due to its own weight. Specifically, the aircraft 1 shown in FIG.
From the state in which the flight portion 18 is tilted as indicated by the dashed line, the rotor blade portions 12A to 12D are brought into the non-energized state, so that the flight portion 1 is shifted as indicated by the solid line.
8 is horizontal. The rotor blades 12A-12D are naturally horizontal under the influence of gravity. As described above, in the aircraft 1 of the present invention, the upper end portion 32 of the support member 30 is provided with the connecting portion 40 to the flight portion 18. Therefore, when the aircraft 1 is deenergized immediately before landing, A stable landing state can be ensured by the flight portion 18 being horizontal.

As described above, the flying object 1 of Embodiment 1 can ensure stable flight in the premises of tower apartments, high-rise apartments, etc., and the camera main body 26 for photographing is less shaken when photographing, so it is suitable for night scene photographing. can also be preferably used. The flying object 1 of Embodiment 1 can hold the photographing unit 20 horizontally as long as the flying object is hovering.
The imaging unit 20 does not shake greatly. Therefore, the flying object 1 can sufficiently cope with the shutter speed required for photographing a night scene.

<Embodiment 2>
The flying object 2 of Embodiment 2 is characterized in that the center point U of the lift force generated in the flying object and the point of action G of gravity between the support member 30 and the imaging unit 20 are coincident. Since the flying object 2 is designed so that the center point U of lift and the point G of action of gravity coincide, no rotational moment due to gravity is generated by the support member 30 and the photographing unit 20 . Therefore, in the aircraft 2 of Embodiment 2, when traveling in the horizontal direction, the number of rotations of the rotor blades in front and the number of rotations of the rotor blades in the rear can be substantially equalized with respect to the traveling direction.

The flying object 2 rises almost vertically from the mooring point of the mooring rope, and is suitable for long-time shooting while hovering in a narrow range. Furthermore, the flying object 2 is more convenient when it moves in the horizontal direction within the site of a high-rise condominium or a high-rise condominium. That is, the flying object 2 is suitable for photographing a view of tower apartments, high-rise apartments, etc., and its basic operation is to fly vertically (directly above) from the mooring point of the mooring rope. however,
When the flying object 2 photographs the surroundings of tower apartments, high-rise apartments, etc., and when inspecting the outer walls, it is necessary to fly not only vertically (directly above) but also horizontally. When the aircraft 2 flies horizontally, the flight section 18 must be tilted.

Even if the flight section 18 has to be tilted in order to travel in the horizontal direction, the aircraft 2 of Embodiment 2 has the rotation speed of the front rotor blades and the rotation speed of the rear rotor blades with respect to the direction of travel. power section 1 for driving the rotor blades 12A-12D by being able to approximately equalize the number of
Outputs of 4A to 14D can be suppressed.

<Embodiment 3>
The aircraft 3 of Embodiment 3 has an adjustment mechanism for extending the length of the support member 30 . The adjustment mechanism includes arms 16A to 16A provided on the outer periphery of the support member 30.
With reference to the ring R that engages with 16D, it may be provided above or below. The adjustment mechanism extends the length of support member 30 .

When the flying object 3 lands on the site of a high-rise apartment building, high-rise building, or the like, the support member 30 is extended vertically downward by the adjustment mechanism. By extending the support member 30 vertically downward, the center of gravity of the aircraft 3 moves downward, and a stable landing state can be ensured.

The flying object of the present invention is assumed to be used in the premises of tower apartments, high-rise apartments, and the like. Therefore, even if the flying object 3 is affected by an updraft generated in the vicinity of tower apartments, high-rise buildings, etc., the center of gravity of the flying object 3 is moved downward by the adjustment mechanism at the same time as it enters the landing posture. As a result, it is possible to maintain a stable flight state against the updraft as appropriate.

The adjustment mechanism is not particularly limited as long as it can extend the length of the support member 30 . As the adjustment mechanism, for example, a rack-and-pinion mechanism or a steering gear mechanism used for focusing in optical equipment may be employed. again,
The adjustment mechanism may comprise an elastic tubular structure. The adjustment mechanism includes a support member 3
0 may be composed of a support member serving as an outer cylinder and a support member serving as an inner cylinder.

Since the flying object 3 of Embodiment 3 has an adjustment mechanism, the distance between the flight section 18 and the photographing section 20 can be increased as much as possible. Therefore, in the flying object 3 of the third embodiment, the flight part 18 is not reflected in the imaging field of view of the imaging camera body 26 mounted on the imaging part 20, and a deep vertical viewing angle can be secured.

Furthermore, in the flying object 3 of Embodiment 3, the distance between the flight unit 18 and the photographing unit 20 is greater than that of a normal flying object, and the photographing unit 20 located below can be used to view low-rise apartment buildings such as tower apartments and high-rise apartments. At the same time as being able to photograph, it is also possible to photograph the high floors of tower apartments, high-rise condominiums, etc., viewed from the lower floors.

<Embodiment 4>
As shown in FIGS. 24 to 26, the flying object 5 of Embodiment 5 has a plurality of rotor blades 12A to 1
2D, power units (motors) 14A to 14D that rotate the rotor blades 12A to 12D, an arm unit 16 that supports the power units (motors) 14A to 14, and a mounting unit 20′ for mounting an object such as a camera. and a connecting portion 40' for connecting the mounting portion 20' to the arm portion 16 in a state in which the mounting portion 20' can move (displace) within a predetermined range (for example, two axes in the X direction and the Y direction). there is The rotor blades 12A to 12D, the power units (motors) 14A to 14D, and the arm portion 16 constitute a flight portion 18. FIG. The mounting portion 20' of this embodiment includes a frame extending downward from the connecting portion 40' and a mounting portion attached to the tip of the frame.

As shown in FIG. 24, the flying object 5 of the present embodiment has, in order from the bottom, the center of gravity (aircraft center of gravity) G _B of the entire flying object 5 at rest, the center of gravity of the flight section 18 (flight center of gravity) G _F , the rotation The point of action (buoyant center of gravity) G _L of the lift generated in the airframe by the rotation of the wings 12A to 12D on the aircraft 5 is aligned with the connecting portion 40′. That is, the connecting portion 40' of the present embodiment is
It is located above (in the Z direction) the aircraft center of gravity G _B , the flight center of gravity G _F , and the buoyancy center of gravity G _L .

As shown in FIG. 25, the connecting portion 40' is configured such that the flight portion 18 can be displaced in the θx and θy directions in the figure on two axes of the x direction and the y direction with the connecting portion 40' as the center. .

Thus, the flying object 5 of Embodiment 4, like the flying objects of Embodiments 1 to 3,
A stable flight can be ensured in the site of a high-rise condominium or a high-rise condominium, and since the mounting portion 20' is less shaken, for example, it can be suitably used for photographing a night view with a camera. In addition, as long as the aircraft 5 of the fourth embodiment is hovering, the mounting portion 20' can be held horizontally, and the mounting portion 40' does not shake greatly. Therefore, it is possible to sufficiently cope with the shutter speed required for night scene photography.

Further, when the flying object 5 lands on the site of a tower apartment, a high-rise building, or the like, the adjusting mechanism 50 extends the mounting portion 20' supporting member 30 vertically downward. By extending the support member 30 vertically downward, the center of gravity of the aircraft 3 moves downward, and a more stable landing state can be ensured.

The flying object of the present invention is assumed to be used in the premises of tower apartments, high-rise apartments, and the like. Therefore, even if the flying object 3 is affected by an updraft generated in the vicinity of tower apartments, high-rise buildings, etc., the center of gravity of the flying object 3 is moved downward by the adjustment mechanism at the same time as it enters the landing posture. As a result, it is possible to maintain a stable flight state against the updraft as appropriate.

As shown in FIGS. 25 and 26, the adjustment mechanism 50 is not particularly limited as long as it can extend the length of the support member 30. FIG. As a regulation mechanism, for example,
A rack-and-pinion mechanism or a steering gear mechanism used for focusing in optical equipment may be employed. The adjustment mechanism may also have a tubular structure with elasticity. In the adjustment mechanism, the support member 30 may be composed of a support member serving as an outer cylinder and a support member serving as an inner cylinder.

Since the aircraft 3 of Embodiment 3 has an adjustment mechanism, the distance between the flight portion 18 and the mounting portion 20' can be increased as much as possible. Therefore, the flying object 3 of Embodiment 3 can ensure a deep vertical viewing angle without the flight part 18 being reflected in the imaging field of view of the imaging camera body mounted on the mounting part 20'.

As described above, according to the embodiment of the present invention, self-leveling of the flight portion is possible when power is not supplied (during stoppage).

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all modifications of conditions without departing from the scope of the present invention are within the scope of the present invention.

INDUSTRIAL APPLICABILITY The flying object of the present invention can be suitably used for shooting for a long time while hovering in a narrow range in the sky above the premises of tower apartments, high-rise apartments, and the like. In addition, the flying object of the present invention can be expected to be used in surveying sites at construction sites of low-rise condominiums and construction sites of high-rise buildings, such as tower apartments and high-rise buildings.・It can also be used in various industries such as construction/building-related fields, security fields, agriculture, and infrastructure monitoring.

1-5 Airplane

10A to 10D Rotor blade parts 12A to 12D Rotor blades 14A to 14D Power part 16A to 16D Arm part 18 Instruction arm 162 Flight member 164 Light emitter (light emitting diode)
18 flight part 181 flight member intermediate point (between AD)
182 Midpoint of flight member (Between BC)
20 photographing part 20' mounting part 22 storage box 24 storage box mounting part 26 camera main body 28 fixing support member 282 fixing support member end 30 support member 32 support member upper end 34 support member lower end 40, 40 'connecting portion 50 adjusting portion U lift center point G gravity center point 70A-D landing legs (support members)
72 Orthogonal member (between leg support members AD)
74 orthogonal members (between leg support members BC)

Claims (1)

a flight section including at least a plurality of rotor blades and a motor for driving the rotor blades;
a loading unit capable of loading an object;
a connecting portion connecting the flying portion and the loading portion to each other so as to be displaceable, and allowing the flying portion to rotate relative to the loading portion about a rotation axis only on one axis;
with
The rotation shaft extends at least from the front side to the back side when the flying portion is viewed from one side, Vertically above or nearly above the center of gravity of the flying partcoincides or substantially coincides with the center of gravity or the center of the loading section,
SaidconnectionWhen the flying portion is tilted in a direction orthogonal to the one axis,the loading sectionhorizontalTomaintain, flying body.

Images