JP2019127090A - Flight device and flight vehicle - Google Patents

Abstract

To provide a flight vehicle and a flight device which are advantageous for securing a flight duration and a load capacity.SOLUTION: A flight device 10 is formed including a flight vehicle 12, a compression air supply hose 14, a control communication cable 16, a camera communication cable 18, an electric power supply cable 20, a power supply device 22, a compressor 24, an operation control section 26, and the likes. The flight device 10 is provided with: propellers 30; rotation drive sections 32, each of which is supplied with compression air to rotationally drive the propeller 30; and a compression air supply section 36 which supplies compression air to the rotation drive sections 32. In the structure, a battery having a heavy weight can be omitted compared to a case where a motor for rotationally driving propellers 30 and a battery for supplying electric power to the motor are provided as in a conventional flight device.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a flight device and an aircraft.

In recent years, various flying objects called drone have been provided.
Conventionally, this type of flying body includes a plurality of propellers, a plurality of motors that drive the propellers, and a battery that supplies power to the motors. It is configured to control the moving direction, moving speed, posture, and the like.

JP 2017-132378 A

In the above prior art, the flight time of the flying object is restricted by the capacity of the battery, and the flight time is, for example, about 20 minutes to 30 minutes.
In addition, it is conceivable to mount a large-capacity battery on the aircraft in order to secure a long airtime, but the larger the battery, the heavier the battery, and therefore the payload of the flight device decreases. There is a disadvantage that equipment such as a camera mounted on the flying device is restricted.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a flying device and a flying body that are advantageous in securing a flight time and a loadable weight.

In order to achieve the above-described object, the present invention is a flying device, and includes a plurality of propellers and a rotation driving unit that is provided corresponding to each of the propellers and rotationally drives the propellers. It is characterized by comprising: a flying body for rotationally driving the propeller by being supplied with compressed air; and a compressor for supplying the compressed air to the rotary drive unit disposed on the ground via a compressed air supply hose. .
Further, according to the present invention, the flying body includes an airframe that supports the propeller and the rotation driving unit, and the airframe is provided with a branch pipe connected to each rotation driving unit, and the compressed air supply hose is provided. Is characterized in that the compressor and the branch pipe are connected.
Further, the present invention is characterized in that a compressed air supply valve is provided for each of the branch pipes, and a valve control unit for controlling an opening degree of each of the compressed air supply valves.
Further, according to the present invention, there is provided an aircraft comprising a propeller and a rotational drive unit for rotationally driving the propeller, wherein the rotational drive unit is configured to rotationally drive the propeller by being supplied with compressed air. It is characterized by

According to the present invention, the flying device and the flying body are configured to rotationally drive the propeller 30 when supplied with compressed air.
Therefore, since a heavy battery for supplying electric power to the motor can be omitted as in the prior art, the weight of the flying object can be reduced, which is advantageous in securing the flight time and the portable weight of the flying object.
Further, according to the present invention, since the flying device can continuously supply the compressed air to the rotation drive unit, various operations using the flying object such as shooting with the camera using the flying object are long. It is advantageous to perform efficiently over time.
Further, according to the present invention, compressed air can be reliably supplied to each rotation drive unit, which is advantageous in reliably performing attitude control and movement control of the flying object.
Further, according to the present invention, the structure of the flying body can be simplified, which is more advantageous in reducing the weight of the flying body, and more advantageous in securing the flight time and the payload of the flying body.

It is an explanatory view showing the whole flight device composition concerning an embodiment. It is a top view of a flying body. It is a side view of a flight body. It is a side view of a flying object, and shows a state in which a control communication cable, a camera communication cable, and a compressed air supply hose around which a power supply cable is wound are extended. FIG. 6 is an enlarged view of a compressed air supply hose around which a control communication cable, a camera communication cable, and a power supply cable are wound. It is explanatory drawing which shows the structure of a rotation drive part. It is a block diagram which shows the whole structure of the flying apparatus which concerns on embodiment. It is a block diagram showing composition of an operation control part.

Hereinafter, embodiments of a flight device and an aircraft according to the present invention will be described using the drawings.
As shown in FIG. 1, the flying device 10 includes a flying object 12, a compressed air supply hose 14, a control communication cable 16, a camera communication cable 18, a power supply cable 20, and a power supply device 22. , A compressor 24, an operation control unit 26, and the like.

The flying object 12 flies in the air by remote control.
As shown in FIG. 2, FIG. 3, FIG. 4, FIG. 6, and FIG. 7, the flying object 12 includes an airframe 28, four propellers 30 (rotating wings), a rotational drive unit 32, and a flight control unit 34; A compressed air supply unit 36, a camera 38, and a camera control unit 40 are included.
In the present embodiment, the case where the flying object 12 includes four propellers 30 will be described. However, the number of the propellers 30 may be three or more so that the aircraft 28 can fly stably.
As shown in FIG. 2, the aircraft body 28 is configured to include a frame 2802 located at the center and an arm 2804 in plan view.
The outer periphery of the frame 2802 is provided with four protrusions 2806 that protrude at an interval of 90 degrees in the circumferential direction of the frame 2802, and the arm 2804 is located from the position of the frame 2802 located between the adjacent protrusions 2806. Therefore, four arms 2804 are provided.

As shown in FIGS. 2, 3, and 6, the shaft 3002 of the propeller 30 is rotatably supported by propeller cases 3004 at the tips of the four arms 2804. In FIG. 6, reference numeral 3006 indicates a bearing portion of the shaft 3002.
As shown in FIG. 6, the rotation drive unit 32 is provided corresponding to each propeller 30 and drives the propeller 30 to rotate.
The rotational drive unit 32 includes a turbine 42 and a power transmission mechanism 44.
The turbine 42 includes a turbine case 4202 and an impeller 4204.
The turbine case 4202 is supported by a tip portion of an arm 2804. A branch pipe 46 and a compressed air supply valve 48, which will be described later, are connected to one end of the turbine case 4202, and the other end of the turbine case 4202 is directed downward. .
The impeller 4204 includes an output shaft 4210 that is rotatably supported in the turbine case 4202 via two bearing portions 4206 and 4208, and a plurality of blade bodies provided at intervals in the circumferential direction of the output shaft 4210. 4212, and is rotated at high speed by compressed air flowing in a turbine case 4202.
The power transmission mechanism 44 includes a first bevel gear 4402 attached to an output shaft 4210 protruding from the turbine case 4202, a second bevel gear 4404 attached to the lower end of the shaft 3002 of the propeller 30, and the first and second And a gear mechanism 4406 for connecting the bevel gears 4402 and 4404. The rotational force of the output shaft 4210 rotating at high speed is transmitted to the shaft 3002 via the power transmission mechanism 44, and the propeller 30 rotates at high speed.
The impeller 4204 is arranged at the center of the compressed air flow to rotate the impeller 4204, or the compressed air flow is made to collide with individual blade bodies 4212 of the impeller 4204 to cause the impeller 4204 to move. Various conventionally known structures that convert fluid energy into rotational force can be used for the rotation drive unit 32, such as a rotating type.

As shown in FIGS. 2, 3, and 4, the camera 38 captures the periphery of the flying device 10 and generates image information (still image, moving image). In the present embodiment, the camera 38 is Attached to the lower surface of one of the four protrusions 2806 is the protrusion 2806.
The camera 38 has pan, tilt, and zoom functions, and the direction and magnification (angle of view) of imaging are controlled by the control of the camera control unit 40.
The number of cameras 38 and the arrangement position of the cameras 38 are not limited.
For example, a plurality of cameras 38 may be provided so that their shooting directions are different, thereby simultaneously shooting in different directions. Furthermore, providing a plurality of cameras 38 is advantageous because the situation around the flying device 10 can be reliably captured even if some of the cameras 38 fail.

As shown in FIGS. 1 and 7, the compressed air supply hose 14 has a proximal end connected to a discharge port 2402 of the compressor 24 and a distal end connected to a branch pipe 46 described later.
As shown in FIG. 1, the compressed air supply hose 14 has elasticity and is spirally wound, and in a state where no tension is applied to the compressed air supply hose 14, the compressed air supply hose is provided. 14 are stacked in a spiral shape by the elasticity of 14, and are configured to return to the storage state with the shortest overall length.
Therefore, as shown in FIG. 4, the compressed air supply hose 14 is expanded by the application of tension by the ascent of the flying object 12, and as shown in FIG. 1, the tension is reduced by the lowering of the aircraft 12. Contract with. Therefore, the compressed air supply hose 14 is designed to be less likely to sag due to expansion and contraction according to the elevation of the flying object 12, and to prevent the compressed air supply hose 14 from being entangled.

As shown in FIG. 7, the flight control unit 34 is based on control information supplied from the operation control unit 26 described later via the control communication cable 16 and power supplied via the power supply cable 20. By controlling the compressed air supply unit 36, the flying object 12 is caused to fly, and the attitude control of the flying object 12, the movement control of the flying object 12, and the like are performed.
Control of the flying object 12 by the flight control unit 34 is performed using various conventionally known sensors such as a GPS positioning device and a gyro sensor, and various conventionally known configurations can be used as the flight control unit 34.

The compressed air supply unit 36 supplies compressed air to the rotation drive unit 32 based on control information supplied from the operation control unit 26 described later via the control communication cable 16.
In the present embodiment, the compressed air supply unit 36 includes the compressor 24, the branch pipe 46, the compressed air supply hose 14, the compressed air supply valve 48, and the valve control unit 50.

The branch pipe 46 is supported by the machine body 28 and connected to each rotation drive unit 32, specifically, connected to the turbine case 4202 via the compressed air supply valve 48.
The compressed air supply hose 14 connects the compressor 24 and the branch pipe 46.
The compressed air supply valve 48 is configured by an electromagnetic valve and is provided in each branch pipe 46, and controls the amount of compressed air supplied to the rotation drive unit 32 (turbine case 4202) by controlling the opening degree. .

The valve control unit 50 controls the opening of each compressed air supply valve 48 based on the valve control signal supplied from the flight control unit 34.
Thus, the valve control unit 50 individually controls the injection amount of the compressed air supplied to the rotation drive unit 32 (turbine case 4202).
That is, by individually controlling the injection amount of compressed air supplied from the flight control unit 34 to the rotation drive units 32 via the valve control unit 50, the rotation amount of each turbine 42, that is, each propeller 30. The amount of rotation is individually controlled, whereby the attitude control of the flying object 12, the movement control of the flying object 12, and the like are performed.

  The camera control unit 40 performs on / off control, pan control, tilt control, zoom control, etc. of the camera 38 based on control information supplied from the operation control unit 26 to be described later via the camera communication cable 18. The image information picked up in the above is supplied to the operation control unit 26 via the communication cable.

The control communication cable 16 connects an operation control unit 26, which will be described later, and a flight control unit 34, and communicates control information to be supplied to the flight control unit 34.
The camera communication cable 18 connects an operation control unit 26 (to be described later) and a camera control unit 40, communicates control information to be supplied to the camera control unit 40, and supplies the control information to the operation control unit 26. Communication of image information of the camera 38 to be performed is performed.

The power supply cable 20 supplies power from the power supply device 22 to the flight control unit 34, the valve control unit 50, and the camera control unit 40, and the power supplied to the valve control unit 50 supplies each compressed air. The power supplied to the valve 48 and the power supplied to the camera control unit 40 is supplied to the camera 38.
The control communication cable 16, the camera communication cable 18, and the power supply cable 20 have a diameter smaller than that of the compressed air supply hose 14 and have flexibility.
As shown in FIG. 5, the control communication cable 16, the camera communication cable 18, and the power supply cable 20 are bundled as if they were one cable. Various known structures can be used for the bundling structure. For example, the control communication cable 16, the camera communication cable 18, and the power supply cable 20 may be twisted together, or for each predetermined dimension. It is optional such as bundling with bundling bands.
In the present embodiment, the control communication cable 16, the camera communication cable 18, and the power supply cable 20 that are bundled are wound around the outer periphery of the compressed air supply hose 14 in a spiral shape.
Therefore, when the compressed air supply hose 14 expands and contracts with the flight of the flying object 12, the cables 20, 16, and 18 are prevented from being entangled.

  As described above, the power supply device 22 supplies power to the flight control unit 34, supplies power to each compressed air supply valve 48 via the valve control unit 50, and also supplies via the camera control unit 40. Power is supplied to the camera 38. For example, the camera 38 is configured by a power generator installed on the ground, or is configured by a commercial power source.

  The compressor 24 supplies compressed air to the rotary drive units 32 via the compressed air supply hose 14.

The operation control unit 26 exchanges control information and receives image information with the flight control unit 34 and the camera control unit 40 via the control communication cable 16 and the camera communication cable 18.
As shown in FIG. 8, in the present embodiment, the operation control unit 26 is configured by a computer 52.
The computer 52 includes a CPU 5202, a ROM 5204, a RAM 5206, a hard disk device 5208, a keyboard 5210, a mouse 5212, a joystick 5214, a display 5216, an interface 5218, and the like connected via an interface circuit (not shown) and a bus line.
A ROM 5204 stores a control program and the like, and a RAM 5206 provides a working area.
The hard disk drive 5208 stores a control program for transmitting and receiving control information to and from the flight control unit 34 and the camera control unit 40, and the like.
The keyboard 5210, the mouse 5212, and the joystick 5214 receive operation input by the operator.
In the present embodiment, the flight of the aircraft 12 is remotely controlled via the flight control unit 34 by operating any of the keyboard 5210, the mouse 5212 and the joystick 5214, or by combining the operations. The pan, tilt and zoom of the camera 38 are remotely controlled.
The display 5216 displays and outputs data.
In the present embodiment, an image obtained by capturing the situation around the flying object 12 based on the image information of the camera 38 of the flying object 12 is displayed on the display.
The interface 5218 is for exchanging data and signals with an external device. In this embodiment, the interface 5218 is connected to the flight control unit 34 and the camera via the control communication cable 16 and the camera communication cable 18. It is connected to the control unit 40.

  When the CPU 5202 executes a control program stored in the hard disk drive 5208, the computer 52 exchanges control information with the flight control unit 34 and the camera control unit 40 and receives image information.

Next, how to use the flight device 10 will be described.
In the following, a case will be described in which the flying object 12 takes a picture of the state of the ground and the state of the air with the camera 38 while flying in the air.
First, as shown in FIG. 1, the compressor 24, the power supply device 22, the operation control part 26, and the flying body 12 are installed on the ground.
The flying object 12 and the compressor 24 are connected by the compressed air supply hose 14, the flying object 12 and the power supply device 22 are connected by the power supply cable 20, and the flying object 12 and the operation control unit 26 are connected by the control communication cable 16. , It connects by the control cable 18 for cameras.
Since the flying body 12 is still installed on the ground, the compressed air supply hose 14 has a power supply cable 20, a control communication cable 16, and a camera control cable 18 wound around the outer periphery of the compressed air supply hose 14. In a contracted state, it is in a contracted state.

Next, when the operator operates the operation control unit 26, each compressed air is supplied to each rotation drive unit 32 via the compressed air supply unit 36, whereby each propeller 30 is driven to rotate, and the flying object 12 is When rising from the ground, as shown in FIGS. 4 and 5, the compressed air supply hose 14 around which the power supply cable 20, the control communication cable 16, and the camera control cable 18 are wound up is the height of the flying object 12. Follow the extension.
The operator operates the keyboard 5210 and the joystick 5214 of the operation control unit 26 based on the image information from the camera 38 displayed on the display 5216 of the operation control unit 26, and pans each camera 38 via the camera control unit 40. The position and posture of the flying object 12 are controlled while controlling the tilt and zoom, and the camera 38 takes a picture.
At this time, the power supply cable 20, the control communication cable 16, and the compressed air supply hose 14 around which the camera control cable 18 is wound follow the height of the flying object 12 and extend or contract, resulting in a slack. Maintain the condition that does not occur.

When shooting by the camera 38 is completed, the operator operates the operation control unit 26 and the flight control unit 34 lowers the landing body 12 to land.
Thereby, the compressed air supply hose 14 returns to the original storage state, and a series of photographing operations is completed.

In the present embodiment, although the case where the flying object 12 performs imaging using the camera 38 has been described, the application of the flying object 12 is optional, for example, the flying object 12 disperses the liquid to the object to be sprayed. It may be one.
In this case, a tank for storing the liquid in the machine body 28, a nozzle for dispersing the liquid from the tank may be provided, and a pump for pumping the liquid from the tank may be provided for the nozzle.
Further, the liquid to be sprayed may be paint, mortar, pesticide, insecticide, fire extinguisher, or water.
When the paint is sprayed, the objects to be sprayed are the walls and roof of the building.
When spraying mortar, the objects to be sprayed are the wall and roof of the structure.
In this case, by previously mixing a mortar with a coagulant that promotes the hardening of the mortar, the mortar can be sprayed and hardened quickly, which is advantageous in a construction site that requires an urgent response.
In the case of spraying pesticides and insecticides, the objects to be sprayed are, for example, agricultural land and a part of a building where harmful insects are present.
When applying a fire extinguisher, the object to be sprayed is the fire site.
When water is to be sprayed, the objects to be sprayed are, for example, walls or rooftops of buildings or structures that require cleaning.

As described above, according to the present embodiment, the flying device 10 and the flying body 12 are configured to rotationally drive the propeller 30 when supplied with compressed air.
Therefore, a heavy battery can be omitted as compared with a conventional case where a motor for rotating the propeller 30 and a battery for supplying electric power to the motor are provided.
Therefore, since the weight of the flying object 12 can be reduced, it is advantageous in securing the flight time and the portable weight of the flying object 12.
In addition, since it is not necessary to charge the battery, it is possible to save time and effort for charging the battery one by one, which is advantageous in improving the handling of the flying object 12.
In addition, since electric power for driving the propeller 30 to rotate is not necessary, it is advantageous in saving power.
Moreover, since an expensive battery can be omitted, it is needless to say that it is advantageous for reducing the manufacturing cost of the flight device 10 and the flying object 12 because there is no risk of deterioration depending on the number of times of charging like a battery. Since the replacement of the battery is not necessary, it is also advantageous in reducing the running cost.

  In the present embodiment, the flying device 10 includes the flying body 12 and the compressor 24 that supplies the compressed air supply hose 14 to the rotary drive unit 32 disposed on the ground. Since the supply of the compressed air to the rotary drive unit 32 can be continuously performed, there is no restriction of the flight time of the flying object 12 due to the capacity of the battery as in the prior art. Therefore, it is advantageous to efficiently perform various operations using the flying body 12 for a long time, such as photographing with the camera 38 using the flying body 12.

  Further, in the present embodiment, the flying body 12 is provided with a branch pipe 46 connected to each rotation drive unit 32 in the airframe, and the compressed air supply hose 14 connects the compressor 24 and the branch pipe 46. Therefore, compressed air can be reliably supplied to each rotary drive unit 32, which is advantageous in reliably performing attitude control and movement control of the flying object 12.

  Further, in the present embodiment, the compressed air supply valve 48 is provided for each branch pipe 46, and the valve control unit 50 for controlling the opening degree of each compressed air supply valve 48 is provided. It is more advantageous in reducing the weight of the flying object 12 and more advantageous in securing the flight time and the payload of the flying object 12.

In the embodiment, the operation control unit 26 and the flight control unit 34 are connected by the control communication cable 16, the operation control unit 26 and the camera 38 are connected by the camera communication cable 18, and the power supply device 22 and the flight are connected. The case where the control unit 34, the valve control unit 50, and the camera control unit 40 are connected by the power supply cable 20 has been described.
However, the operation control unit 26, the flight control unit 34, and the camera 38 are connected by a wireless line, and a battery is mounted on the aircraft 28 of the flying object 12, and the flight control unit 34, valve control unit 50, camera control is performed from this battery. Electric power may be supplied to the unit 40.
In this case, since the battery does not need to supply power to the motor for driving the propeller 30, it is sufficient that the battery can supply relatively small power to be supplied to the flight control unit 34, the valve control unit 50, and the camera control unit 40. Therefore, a battery with a small capacity and light weight is sufficient.
Therefore, although the weight of the flying object 12 is slightly increased compared to the first and second embodiments, the weight reduction of the flying object 12 is made as compared with the case of mounting a large capacity battery for driving a motor as in the prior art. It is advantageous in planning.
Further, the operation control unit 26, the flight control unit 34, and the camera 38 are connected by a wireless line, and the flying object 12 and the power supply device 22 are connected to the power supply cable 20 as in the first and second embodiments. And the power may be supplied to the flight control unit 34, the valve control unit 50, and the camera control unit 40 via the power supply cable 20.
In this case, since the battery can be omitted from the airframe 28 of the flying object 12, it is more advantageous in reducing the weight of the flying object 12.

DESCRIPTION OF SYMBOLS 10 Flight apparatus 12 Aircraft 14 Compressed air supply hose 24 Compressor 28 Airframe 30 Propeller 32 Rotation drive part 46 Branch pipe 48 Compressed air supply valve 50 Valve control part

Claims (4)

A plurality of propellers and a rotation drive unit that is provided corresponding to each of the propellers and rotationally drives the propellers, and the rotation drive unit is a flying body that rotationally drives the propellers by being supplied with compressed air;
A compressor for supplying compressed air to the rotary drive unit disposed on the ground via a compressed air supply hose;
A flight device comprising: The aircraft has an airframe supporting the propeller and the rotary drive,
A branch pipe connected to each rotary drive unit is provided in the airframe,
The compressed air supply hose connects the compressor and the branch pipe.
The flight device according to claim 1, characterized in that: A compressed air supply valve is provided for each branch pipe, and a valve control unit for controlling the opening degree of each compressed air supply valve is provided,
The flight device according to claim 2, characterized in that: An aircraft comprising a propeller and a rotational drive unit for rotationally driving the propeller,
The rotational drive unit is configured to rotationally drive the propeller by being supplied with compressed air.
An aircraft characterized by

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