JP2024008224A - flying object - Google Patents

Abstract

[Problem] To realize a flying vehicle that can approach and operate in places where ladder fire trucks and helicopters cannot approach, such as balconies of high-rise buildings. [Solution] The flying object includes a power unit that generates lift and propulsion, a first loading unit that loads a payload, a first loading unit moving mechanism that moves the first loading unit, and a weight. a weight moving mechanism that moves the weight; and a control section that controls the first loading section moving mechanism to move the first loading section and controls the weight moving mechanism to move the weight. Be prepared. [Selection diagram] Figure 1

Description

The present invention relates to an aircraft.

Many high-rise buildings, symbolized by so-called tower apartments, are being constructed. Ladder fire trucks are expected to be used for rescue operations in the event of a disaster occurring in a high-rise building. However, ladder fire trucks are limited in the areas in which they can operate due to restrictions on travel routes and installation locations. Furthermore, since the height at which a ladder can be extended is approximately 40 meters (equivalent to the 13th floor of a house), the height at which rescue can be carried out has not kept up with the rise of buildings.

In addition to the ladder fire truck, examples of devices that can be used for rescue operations in high-rise buildings include helicopters and drones (unmanned aerial vehicles). In the case of a helicopter, rescue will be carried out at a helipad or rescue space set up on the roof of a high-rise building. However, there may be cases in which residents cannot reach the roof of a high-rise building and it is necessary to carry out rescue operations from the balcony or window of the high-rise building. I can not cope.

Regarding drones used for rescue operations, for example, Patent Document 1 describes ``a drone body, a person storage part that is detachably stored in the drone body and accommodates a person, and a rope connected to the person storage part. , a rope winder that is attached to the drone body and is capable of storing the person accommodation section in the drone body by winding up the rope, and detaching the person accommodation section from the drone body by winding down the rope; ``A manned drone comprising at least the following means.''

Japanese Patent Application Publication No. 2017-104365

In addition to the manned drone described in Patent Document 1, many other drones have been proposed for accommodating and transporting people in need of rescue. However, both drones have a structure that allows them to lift up and accommodate the person in need of rescue while hovering. For this reason, it is not possible to receive rescuers who are on the balcony or window of a high-rise building from the side of the drone.

In addition, if you make a conventional drone larger and approach the balcony or window of a high-rise building to receive a person in need of rescue from the side of the drone, the weight balance of the drone will be lost and the drone will end up hovering. It is considered that the situation has become unstable and rescue operations cannot be carried out safely.

The present invention has been made in view of this situation, and aims to realize a flying vehicle that can operate close to places where ladder fire engines and helicopters cannot approach, such as balconies of high-rise buildings.

The present application includes a plurality of means for solving at least part of the above problems, examples of which are as follows.

In order to solve the above problems, a flying object according to one aspect of the present invention includes a power unit that generates lift and propulsion, a first loading unit for loading a payload, and a moving body that moves the first loading unit. a first loading part moving mechanism to move the first loading part, a weight, a weight moving mechanism to move the weight, moving the first loading part by controlling the first loading part moving mechanism, and controlling the weight moving mechanism. A control unit that moves the weight.

The control section can control the weight moving mechanism to move the weight as a counterweight corresponding to the movement of the first loading section.

The weight may also be a battery that supplies power to the flying object.

The battery can be detachably attached to the flying object and can have a self-propelled mechanism.

The first loading section can be detachably attached to the flying object and can have a self-propelled mechanism.

The flying object may include a main body and a rail connected to the main body, the rail protruding from the main body and the plurality of power units disposed around the main body, and the rail protruding from the main body and the plurality of power units disposed around the main body, The first loading part moving mechanism can move the first loading part in a first direction along the rail, and the weight moving mechanism can move the weight along the rail in the opposite direction to the first direction. can be moved in a second direction.

The rail may be extendable and retractable.

The flying object may include a first connecting member for mooring the flying object to one end of the rail.

The flying object may include a second connecting member, which connects to a connecting member of another flying object, at the other end of the rail.

The weight may be a second loading section for loading objects, and the control section may control the weight moving mechanism to set the weight as a counter weight corresponding to the movement of the first loading section. 2 The loading section can be moved.

A flying object according to another aspect of the present invention includes a power unit that generates lift and propulsion, an extendable rail, and a first part that is movable along the rail and that is used for loading a payload. A loading section, a first loading section moving mechanism that moves the first loading section, an expansion mechanism that expands and contracts the rail, and a first loading section moving mechanism that controls the first loading section to move the first loading section in a first direction. and a control unit that controls the expansion mechanism to extend the rail in a second direction opposite to the first direction.

The power unit can change the axis of rotation of the power unit by rotating around two orthogonal axes.

A flying object according to still another aspect of the present invention includes a first loading section for accommodating a payload, and a power section connected to the rear of the first loading section that generates lift and propulsive force. , and a tail rotor provided behind the power section via a tail rotor support member.

The first loading section may be connected to the power section via a connecting section, and may be movable in at least one direction of front and back, up and down, and right and left.

The tail rotor support member may be expandable and retractable.

The aircraft may include a weight provided on the tail rotor support member, and the weight may be movable in a longitudinal direction of the tail rotor support member.

The power unit can change the axis of rotation of the power unit by rotating around two orthogonal axes.

The flying object may include a weight provided on a side surface of the power section, and the weight may be movable on the side surface of the power section.

The weight may be attachable/detachable and at least one of increase/decrease.

The flying object may include an auxiliary power section provided on a side surface of the power section, and the auxiliary power section may be movable on the side surface of the power section.

The auxiliary power section may be capable of being attached/detached and at least one of being increased/decreased.

The tail rotor can change the axis of rotation of the tail rotor by rotating around two orthogonal axes.

The flying object may include a robot arm.

According to the present invention, it is possible to realize a flying object that can operate close to a place where a ladder fire engine or a helicopter cannot approach, such as a balcony of a high-rise building.

Problems, configurations, and effects other than those described above will be made clear by the following description of the embodiments.

FIG. 1 is a diagram showing an example of the configuration of functional blocks of an aircraft according to a first embodiment of the present invention. FIG. 2 is a diagram showing an example of the configuration of the flying object according to the first embodiment. FIG. 3 is a diagram showing a modification of the flying object according to the first embodiment. FIG. 4 is a diagram showing a modification of the flying object according to the first embodiment. FIG. 5 is a diagram showing an example of the configuration of a flying object according to the second embodiment of the present invention. FIG. 6 is a diagram showing an example of the configuration of a flying object according to a third embodiment of the present invention. FIG. 7 is a diagram showing an example of the configuration of a flying object according to a fourth embodiment of the present invention. FIG. 8 is a diagram showing an example of the configuration of a flying object according to a fifth embodiment of the present invention. FIG. 9 is a diagram showing an example of the configuration of a flying object according to a sixth embodiment of the present invention. FIG. 10 is a diagram showing a modification of the flying object according to the sixth embodiment. FIG. 11 is a diagram showing a configuration example of a flying object according to a seventh embodiment of the present invention. FIG. 12 is a diagram showing a modification of the flying object according to the seventh embodiment. FIG. 13 is a diagram showing a configuration example of a flying object according to an eighth embodiment of the present invention. FIG. 14 is a diagram showing a modification of the flying object according to the eighth embodiment. FIG. 15 is a diagram showing a modification of the power section. FIG. 16 is a diagram showing a configuration example of a flying object according to a ninth embodiment of the present invention. FIG. 17 is a diagram showing a modification of the flying object according to the ninth embodiment. FIG. 18 is a diagram showing a configuration example of a flying object according to a tenth embodiment of the present invention. FIG. 19 is a diagram showing a configuration example of a flying object according to an eleventh embodiment of the present invention.

Hereinafter, a plurality of embodiments according to the present invention will be described based on the drawings. In addition, in all the drawings for explaining each embodiment, the same members are given the same reference numerals in principle, and repeated explanations thereof will be omitted. In addition, in the following embodiments, the constituent elements (including elemental steps and the like) are not necessarily essential, except when specifically specified or when it is considered to be clearly essential in principle. In addition, when we say "consisting of A," "consisting of A," "having A," or "containing A," other elements are excluded, unless it is specifically stated that only that element is included. do not. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., the shape, etc. is substantially This shall include things that approximate or are similar to.

<Flying object according to embodiment of the present invention>
The flying object according to the embodiment of the present invention rescues a person in need of rescue who is located in a place where a ladder fire truck cannot move, a high-rise building where the ladder cannot reach, a mountainous area, a cliff, a low place (inside a hole), etc. (accommodate and transport). Although it is assumed that the flying object is operated from the ground or the like without a pilot on board, the pilot or a rescuer who rescues a person in need of rescue may board the flying object. However, the use of the aircraft is not limited to rescuing people in need of rescue, but can also be used for transporting and delivering supplies, transporting personnel, picking up and dropping off passengers, photographing, reconnaissance, monitoring, extinguishing fires, etc.

<Flight object 10 ₁ according to the first embodiment of the present invention>
FIG. 1 shows an example of the configuration of functional blocks of an aircraft ₁₀₁ according to the first embodiment. The flying object ₁₀₁ includes a control unit 11, a communication unit 12, various sensors 13, a power supply unit 14, a cabin movement mechanism 15, a cabin 16, a weight movement mechanism 17, a battery (weight) 18, a rail extension mechanism 19, and a plurality of power units. 20. and a rail 31.

The control unit 11 controls the entire flying object ₁₀₁ based on sensor values from various sensors 13 in accordance with control signals transmitted from a wireless controller (not shown) operated by a user. For example, the control unit 11 controls the cabin moving mechanism 15, the weight moving mechanism 17, and the power unit 20 to move the cabin 16, and also uses a counterweight to suppress movement of the center of gravity of the flying object ₁₀₁ due to the movement of the cabin 16. As a result, the battery 18 is moved and the output of the power section 20 is controlled. However, the control unit 11 can also control the cabin moving mechanism 15 and the weight moving mechanism 17 to move the cabin 16 and the battery 18 independently. Note that a computer (not shown) such as a PC (Personal Computer) or a server sends an action program including the flight route to the destination to the control unit 11 in advance, and the control unit 11 autonomously operates according to the action program. Alternatively, the flying object ₁₀₁ may be controlled automatically.

The communication unit 12 communicates with the wireless controller according to a predetermined wireless communication standard, receives a control signal transmitted from the wireless controller, and outputs it to the control unit 11. Note that communication between the communication unit 12 and the wireless controller, computer, etc. may be performed via wireless communication equipment such as a base station.

Various sensors 13 detect various sensor values necessary for controlling the movement of the flying object ₁₀₁ and output them to the control unit 11. The various sensors 13 include, for example, a gyro sensor that detects the amount of change in the inclination of the flying object ₁₀₁ , an acceleration sensor that detects the amount of change in speed, a barometric pressure sensor that detects the altitude, a magnetic azimuth sensor that detects the direction, latitude, and longitude. It includes a position sensor such as a GPS (Global Positioning System) sensor that detects a location, an image sensor that captures an image, and the like.

The power supply unit 14 supplies power to each part of the aircraft ₁₀₁ from a battery 18 that is a power source. Note that the electrical connection between the power supply unit 14 and the battery 18 may be made by using a general cable, or by forming a rail 31 (FIG. 2), which will be described later, from a conductive member and connecting it through the rail 31. Alternatively, the battery 18 may be electrically connected to the battery 18.

The cabin moving mechanism 15 moves the cabin 16 placed on the rail 31 on the rail 31. The cabin moving mechanism 15 is, for example, a linear motion mechanism using an actuator such as a hydraulic cylinder, an air cylinder, or a motor, and is driven and controlled by the control unit 11 . The cabin moving mechanism 15 corresponds to the first loading section moving mechanism of the present invention.

The cabin 16 has a capacity that can accommodate at least one person in need of rescue. More preferably, it is possible to secure a capacity that can accommodate two people, including a rescuer who assists in accommodating the person in need of rescue. Note that the cabin 16 can be loaded with a person in need of rescue, a rescuer, and any other cargo. The cabin 16 has entrances and exits on both sides in the direction of movement (upper and lower sides in FIG. 2(A)). A door may be provided at the entrance/exit. The cabin 16 may be detachable from the rail 31 (details will be described later as a modification). The cabin 16 corresponds to the first loading section of the present invention.

The weight moving mechanism 17 moves the battery 18 suspended under the rail 31 so that it can be attached to, detached from, and moved. The weight moving mechanism 17 is, for example, a linear motion mechanism using an actuator such as a hydraulic cylinder, and is driven and controlled by the control unit 11 .

The battery 18 is a power source for the flying object ₁₀₁ and is suspended below the rail 31. The battery 18 is preferably a secondary battery. The battery 18 is removable and movable with respect to the rail 31. The battery 18 also serves as a counterweight for suppressing or reducing a change in the center of gravity of the flying object ₁₀₁ caused by the movement of the cabin 16 or the accommodation of a person in need of rescue by the weight movement mechanism 17. Therefore, the battery 18 needs to have a mass that is sufficiently large compared to the empty cabin 16 so that the battery 18 can accommodate the cabin 16 that accommodates a person in need of rescue.

Note that the battery 18 may be constructed from a plurality of separable cells so that each cell can be moved individually or separated from the aircraft ₁₀₁ and dropped. Furthermore, a separate weight may be provided instead of or in addition to the battery 18. For example, a separately provided weight may be filled with a fire extinguisher so that the fire extinguisher can be injected from the aircraft ₁₀₁ .

The rail expansion/contraction mechanism 19 expands/contracts the rail 31 when the rail 31 is expandable/contractable. The rail expansion/contraction mechanism 19 is, for example, a linear motion mechanism using an actuator such as a hydraulic cylinder, and is driven and controlled by the control unit 11 .

The power unit 20 is, for example, a ducted fan, and generates lift and propulsion to the flying object ₁₀₁ . The power section 20 is driven and controlled by the control section 11 . Details of the power unit 20 will be described later with reference to FIG. 2(C). Although four power units 20 are illustrated in FIG. 1 etc., the number of power units 20 is not limited to four, and may be three or less (including one), The number may be 5 or more.

In the case of a typical flying object, the attitude of the flying object is stabilized by individually controlling the outputs (lift and propulsive forces) of the plurality of power units 20. In the case of the flying object ₁₀₁ of this embodiment, in addition to controlling the output of the power unit 20, the attitude of the flying object can be stabilized by moving the battery 18 as a counterweight. Furthermore, the attitude of the aircraft can be stabilized by moving the cabin 16 or extending or contracting the rails 31 depending on the situation. This makes it possible for the flying object ₁₀₁ to cope with changes in the center of gravity that cannot be dealt with by controlling the output of the power section 20 alone.

Next, FIG. 2 shows an example of the configuration of the flying object ₁₀₁ . Figure (A) is a top view of the flying object ₁₀₁ . Figure (B) is a side view of the flying object ₁₀₁ . FIG. 2C is a detailed diagram of the power section 20. FIG. 1D shows the moving direction of the cabin 16 and the battery (weight) 18.

As shown in FIGS. 1A and 2B, the flying object ₁₀₁ includes a main body 30 in which the above-mentioned control section 11, communication section 12, various sensors 13, power supply section 14, etc. are accommodated. A plate-shaped rail 31 that protrudes from the main body 30 and each power section 20 is provided on the upper and lower surfaces of the main body 30, respectively. Note that the shape of the rail 31 may be a ladder shape. A plurality of (four in the figure) power part support members 21 are connected to the main body 30 at equal intervals around the main body 30, and a power part 20 is arranged at the tip of each power part support member 21. . Legs 32 are provided at the bottom of the main body 30.

As shown in FIG. 2C, the power unit 20 includes a motor 201, a rotor 202, a motor support member 203, and a rotor guard 204. The motor 201 is fixed to a rotor guard 204 by a motor support member 203. In other words, the rotation axis of the motor 201 (and the rotor 202) is fixed, and in the case of FIG. 2C, is parallel to the Z axis.

The cabin 16 placed on the rail 31 is moved from the initial state directly above the main body 30 shown in FIG. 31 and can be guided to both ends and returned to the initial state. Note that, as shown in the figure, it is desirable that the cabin 16 can be moved to a position where its end protrudes further than the end of the rail 31. Thereby, the cabin 16 can be brought close to or in contact with a balcony or the like without having to bring the end of the rail 31 close to or in contact with the balcony or the like.

Similarly, the battery 18 suspended below the rail 31 can be moved from an initial state located directly below the main body 30 to both ends of the rail 31 by the weight moving mechanism 17, and can return to the initial state. . Note that the battery 18 may be movable to a position where its end protrudes further than the end of the rail 31, as shown in the figure.

<About rescue work using flying object ₁₀₁ >
Next, an example of a rescue operation using the flying object ₁₀₁ will be described. When rescuing a person in need of rescue who is on the balcony of a high-rise building, the flying object ₁₀₁ is flown close to the balcony and hovered so that one end of the rail 31 approaches or contacts the balcony. At this time, since the rail 31 of the flying object ₁₀₁ protrudes from the main body 30 and the power section 20, the power section 20 does not interfere with the high-rise building.

Next, the cabin 16 is moved to one end of the rail 31 on the high-rise building side, the person in need of rescue is accommodated in the cabin 16, and then the cabin 16 is returned to the initial position directly above the main body 30. At this time, changes in weight, center of gravity, etc. occur in the flying object ₁₀₁ that hinder stable hovering. Therefore, in order to maintain stable hovering, the control unit 11 causes the weight moving mechanism 17 to move the battery 18 based on the inclination of the flying object ₁₀₁ detected by the various sensors 13 (gyro sensor), etc. The output (rotation) of each power section 20 is individually controlled.

Thereafter, the flying object ₁₀₁ is landed and the person in need of rescue is carried out. With this, the series of rescue operations is completed.

As explained above, according to the flying object ₁₀₁ , not only can the output (rotation) of each power section 20 be controlled individually, but also the battery 18 can be moved as a counterweight, so more stable hovering can be achieved. realizable. Moreover, since the cabin 16 can be brought closer to the balcony or the like where the person in need of rescue is present, the work of accommodating the person in need of rescue in the cabin 16 can be carried out more safely.

Note that, for example, a fire-resistant cabin is placed in advance on the balcony of a high-rise building, and in the event of a fire, the person in need of rescue waits for rescue inside the cabin, and the aircraft ₁₀₁ retrieves the cabin. You may also do so.

<Modified example of flying object ₁₀₁ >
3 and 4 show modified examples of the flying object ₁₀₁ .

FIG. 3A shows a modification example in which the rail 31 of the flying object ₁₀₁ is extendable and retractable when it is stationary (not in flight). FIG. 3(B) shows a modification in which the distance from the main body ₃₀ to the power section 20 is variable by making the power section support member 21 (FIG. 2(A)) of the flying object 101 extendable or foldable. This is an example. These modifications can reduce the transportation space required when the flying object ₁₀₁ is mounted on a truck or the like and transported. Furthermore, in the case of the modification shown in FIG. 3(B), by extending the power unit support member 21 to increase the distance between the main body 30 and the power unit 20, the flight of the flying object ₁₀₁ can be stabilized. Note that the modified example of FIG. 3(A) and the modified example of FIG. 3(B) may be combined. In that case, the transportation space for transporting the flying object ₁₀₁ can be further reduced.

FIG. 3C shows a modification in which the positions of the cabin 16 and the battery 18 are swapped, the cabin 16 is suspended below the rail 31, and the battery 18 is placed on the rail 31. In the case of this modification, the work of attaching and detaching the battery 18 becomes easy. Moreover, the work of carrying out the person in need of rescue who is housed in the cabin 16 becomes easier.

4(A) and 4(B) show a modification in which the cabin 16 is provided with a self-propelling mechanism 160 having, for example, a motor and tires, so that the cabin 16 can be self-propelled. Thereby, after the flying object ₁₀₁ has landed, the person requiring rescue can be accommodated in the cabin 16 and transported to a predetermined location (for example, an ambulance, a hospital, etc.). Note that the cabin 16 may be provided with an attachment/detachment mechanism that can automatically attach/detach it to/from the rail 31.

FIG. 4C shows a modification in which the battery 18 is provided with a self-propelling mechanism 180 having, for example, a motor and tires, so that the battery 18 can be self-propelled. Thereby, after the aircraft ₁₀₁ has landed, the battery 18 can be driven to the charger by itself, for example. Furthermore, the fully charged battery 18 can be driven to the aircraft ₁₀₁ by itself. Note that the battery 18 may be provided with an attachment/detachment mechanism that can automatically attach/detach it to/from the rail 31.

<Flight object 10 ₂ according to the second embodiment of the present invention>
Next, FIG. 5 shows an example of the configuration of the flying object ₁₀₂ according to the second embodiment of the present invention. Figure (A) is a top view of the flying object ₁₀₂ . Figure (B) is a side view of the flying object ₁₀₂ . FIG. 2C shows the moving direction of the cabin 16 and the battery (weight) 18.

The flying object 10 ₂ includes a main body 40 that integrates the main body 30 and the rail 31 in the flying object 10 ₁ (FIG. 2). The main body of the main body 40 is integrally included in a single rail, and the cabin 16 and the battery 18 are arranged above and below the main body 40, respectively. Components of the flying object ₁₀₂ other than the main body 40 are the same as those of the flying object ₁₀₁ , so the same reference numerals are given and the explanation thereof will be omitted. Further, since the operations and rescue operations of the flying object ₁₀₂ are the same as those of the flying object ₁₀₁ , a description thereof will be omitted.

Since the flying object 10 ₂ has fewer constituent parts than the flying object 10 ₁ , the number of work steps during disassembly and assembly can be reduced, for example.

<Flight object 10 ₃ according to the third embodiment of the present invention>
Next, FIG. 6 shows a configuration example of a flying object ₁₀₃ according to a third embodiment of the present invention. Figure (A) is a top view of the flying object ₁₀₃ . Figure (B) is a side view of the flying object ₁₀₂ . FIG. 2C shows the direction of movement of the cabin 16.

The flying object 10 ₃ includes a main body 50 that is integrated with the main body 30 by extending the rails 31 of the flying object 10 ₁ (FIG. 2) into a cross shape. The main body of the main body 50 is integrally included in a single rail, and the cabin 16 and the battery 18 are disposed above and below the main body 50, respectively. Components of the flying object ₁₀₃ other than the main body 50 are the same as those of the flying object ₁₀₁ , and are given the same reference numerals and explanations thereof will be omitted.

As shown in FIG. 3C, the flying object ₁₀₃ can move the cabin 16 in four directions (up, down, left and right directions in the figure) from the center of the main body 50 at the initial position. Although not shown, the battery 18 can also be moved in four directions from the center of the main body 50 at its initial position so as to serve as a counterweight for the cabin 16. Note that the rescue work for the flying object ₁₀₃ is the same as that for the flying object ₁₀₁ , so a description thereof will be omitted.

Since the flying object ₁₀₃ has more freedom in the movement direction of the cabin 16 than the flying object ₁₀₁ , it is possible to increase the success of rescue operations at rescue sites where there are severe obstacles and restrictions regarding the flight of the flying object ₁₀₃ . can.

<Flight object 10 ₄ according to the fourth embodiment of the present invention>
Next, FIG. 7 shows an example of the configuration of a flying object ₁₀₄ according to a fourth embodiment of the present invention. FIG. 2A is a top view of the flying object ₁₀₄ . FIG. 2B is a side view of the flying object ₁₀₄ . FIG. 2C shows the moving direction of the cabin 16 and the battery 18.

The flying object 10 ₄ has the battery 18 suspended under the lower rail 31 in the flying object 10 ₁ (FIG. 2) placed on the upper rail 31 alongside the cabin 16. The lower rail 31 is omitted. Note that the constituent elements of the flying object ₁₀₃ are the same as those of the flying object ₁₀₁ , so the same reference numerals are given and the explanation thereof will be omitted.

The flying object ₁₀₄ can improve the workability of attaching and detaching the battery 18 compared to the flying object ₁₀₁ in which the battery 18 is suspended on the rail 31.

<Flight object 10 ₅ according to the fifth embodiment of the present invention>
Next, FIG. 8 shows an example of the configuration of a flying object ₁₀₅ according to a fifth embodiment of the present invention. Figure (A) is a top view of the flying object ₁₀₅ . Figure (B) is a side view of the flying object ₁₀₅ . Figure (C) shows an example of how the flying object ₁₀₅ is used.

The flying object 10 ₅ has a connecting member 33A provided at one end of the upper rail 31 of the flying object 10 ₁ (FIG. 2). The connecting member 33A corresponds to the first connecting member of the present invention. The connecting member 33A has, for example, a convex portion 331 formed downward so as to straddle a handrail 60 provided on a balcony of a high-rise building. The connecting member 33A can moor the flying object ₁₀₅ to the handrail 60 by the protrusion 331 being caught on the handrail 60. In the case of the aircraft ₁₀₅ , it is desirable that the cabin 16 can be moved to a position where its end protrudes further than the connecting member 33A, as shown.

The connecting member 33A may be detachably attached to one end of the rail 31. In addition to the above-described shape, the connecting member 33A may be formed of a suction cup, a magnet, an adhesive, or a manipulator capable of gripping. Furthermore, the connecting members 33A may be provided at both ends of the rail 31.

Components of the flying object ₁₀₅ other than the connecting member 33A are the same as those of the flying object ₁₀₁ , and are given the same reference numerals and explanations thereof will be omitted.

The flying object ₁₀₅ can be moored to the balcony handrail 60 by the connecting member 33A, and the flying object ₁₀₅ can be prevented from lowering when a person in need of rescue is accommodated in the cabin 16. As a result, safety during rescue can be improved, and a sense of psychological security can be given to the person in need of rescue.

<Flight object 10 ₆ according to the sixth embodiment of the present invention>
Next, FIG. 9 shows an example of the configuration of a flying object ₁₀₆ according to a sixth embodiment of the present invention. Figure (A) is a top view of the flying object ₁₀₆ . Figure (B) is a side view of two flying objects ₁₀₆ connected together. Figure (C) shows an example of the use of the connected flying objects ₁₀₆ .

The flying object 10 ₆ has a connecting member 33A provided at one end of the rail 31 and a connecting member 33B provided at the other end of the rail 31, similarly to the flying object 10 ₅ (FIG. 8). The connecting member 33B corresponds to the second connecting member of the present invention. The connecting members 33A and 33B may be removably attached to the end of the rail 31. The connecting member 33B has a shape that can be connected to the connecting member 33A of another flying object 10 ₆ (or the flying object 10 ₅ ). For example, the connecting member 33B has an upward concave portion 332 that can engage with the downward convex portion 331 of the connecting member 33A.

As shown in FIG. 3B, the flying object ₁₀₆ can be connected to another flying object ₁₀₆ (or the flying object ₁₀₅ ) by connecting members 33A and 33B. Note that the flying objects ₁₀₆ may be connected to each other before flight or during hovering. Thereby, in addition to the same effect as the flying object 10 ₅ , the flying object 10 ₆ can increase the carrying weight by connecting the two aircraft.

Further, as shown in FIG. 2C, the flying object ₁₀₆ can bring the cabins 16 of the connected flying object ₁₀₆ (or the flying object ₁₀₅ ) closer to each other. Thereby, for example, a person in need of rescue can be delivered.

<Modified example of flying object ₁₀₆ >
FIG. 10 shows a modification of the flying object ₁₀₆ . FIG. 5A shows a modification in which the cabin 16 can be moved between two connected flying objects ₁₀₆ . Opposing ends of the rails 31 of the two flying objects ₁₀₆ are close to or in contact with each other so that the cabins 16 can be transferred. Thereby, for example, the person in need of rescue can be delivered to a location closer to the rescue location, such as a balcony. FIG. 2B shows a modification in which the battery 18 can be moved between two connected flying objects ₁₀₆ . This makes it possible to replace the battery 18, for example, while hovering. The used battery 18 may be separated and dropped.

<Flight object 10 ₇ according to the seventh embodiment of the present invention>
Next, FIG. 11 shows an example of the configuration of a flying object ₁₀₇ according to a seventh embodiment of the present invention. Figure (A) is a side view of the flying object ₁₀₇ . Figures (B) and (C) show examples of how the flying object ₁₀₇ is used.

The flying object ₁₀₇ accommodates the battery 18 of the flying object ₁₀₁ (FIG. 1) inside the main body 30, and the rail 31 is extendable and retractable, similar to the modified example of the flying object ₁₀₁ shown in FIG. 3(A). That is. However, whereas in the modified example of FIG. 3(A) the rails 31 can be extended and contracted when stationary (not in flight), the flying object ₁₀₇ can extend and contract the rails 31 even while hovering. To achieve this, in the aircraft ₁₀₇ , as shown in FIG. 11(B), for example, when extending the rail 31 to the left side of the figure, at the same time, the cabin is used as a counterweight for the extended rail 31. 16 to the right side of the figure. On the other hand, when the cabin 16 is moved for some purpose, the rail 31 can also be expanded and contracted at the same time as a counterweight for the cabin 16. Thereby, the flying object ₁₀₇ can prevent the center of gravity from shifting due to the expansion and contraction of the rail 31 or the movement of the cabin 16, and can achieve more stable hovering.

The flying object ₁₀₇ is expected to be used under the following circumstances. When a person is dispatched to the scene of an apartment fire and a person in need of rescue who has failed to escape is to be accommodated in the flying object ₁₀₇ from the balcony, the flying object ₁₀₇ first moves to the balcony, as shown in Figure (B). While hovering in front of the rail 31, the rail 31 is extended until the end of the rail 31 rests on the balcony handrail 60 (FIG. 9), and at the same time, the cabin 16 is moved rearward. Thereby, the flying object ₁₀₇ can maintain its attitude horizontally.

Next, as shown in FIG. 3C, the cabin 16 is moved along the rail 31 to the balcony side with the end of the rail 31 resting on the handrail 60, and the person in need of rescue is accommodated in the cabin 16. do. After that, if the cabin 16 is moved to the right side of the center of the rail 31, then the cabin 16 is returned to the center of the rail 31, and at the same time, the extension of the rail 31 is returned to its _original state. It is possible to return from the field with the plane held horizontally.

<Modified example of the flying object ₁₀₇ according to the seventh embodiment>
Next, FIG. 12 shows a modification of the flying object ₁₀₇ according to the seventh embodiment. In this modification, the battery 10 is suspended below the rail 31, similar to the flying objects 10 ₁ to 10 ₆ . This modification has a function of extending and contracting the rail 31, moving the cabin 16, and moving the battery 18 as mutual counterweights. In the case of this modification, more stable hovering can be achieved compared to the flying object ₁₀₇ in FIG. 11.

<Flight object 10 ₈ according to the eighth embodiment of the present invention>
Next, FIG. 13 shows a configuration example of a flying object ₁₀₈ according to an eighth embodiment of the present invention. FIG. 2A is a side view of the flying object ₁₀₈ . Figure (B) shows an example of how the flying object ₁₀₈ is used.

The flying object ₁₀₈ is an embodiment particularly suitable for delivering and collecting parcels such as parcels from the balcony of an apartment building. The flight object ₁₀₈ houses the battery 18 of the flight object ₁₀₁ (FIG. 1) in the main body 30, omits the cabin 16 from the flight object ₁₀₁ , and has a first loading section 161, a second loading section 162, and each A moving mechanism (not shown) is added.

The first loading section 161 and the second loading section 162 are suspended below the rail 31, and are moved along the rail 31 by their respective movement mechanisms. The first loading section 161 and the second loading section 162 function as a counterweight, one of which corresponds to the movement of the other.

The first loading section 161 accommodates packages to be delivered or packages 163 that have been collected. The second loading section 162 has a space for accommodating luggage 163, and is equipped with a luggage moving mechanism (not shown) such as a robot arm, for example. Note that the cargo moving mechanism is not limited to a robot arm, and may be a cart or the like. The second loading section 162 has, for example, a door on its side for loading and unloading the luggage 163. The second loading section 162 uses a luggage moving mechanism to take out the luggage 163 to be delivered loaded on the first loading section 161 and load it onto itself. Further, the second loading section 162 loads the collected luggage 163 loaded thereon onto the first loading section 161 using the luggage moving mechanism.

When the cargo 163 is to be delivered by the flying object ₁₀₈ , the flying object ₁₀₈ first loads the second loading section 162 onto the first loading section 161 by the cargo moving mechanism while hovering in front of the balcony. The user takes out the luggage 163 and stores it in himself/herself. Next, as shown in the figure (B), the second loading section 162 containing the luggage 163 is moved to the end (left side in the figure) under the rail 31, and at the same time, the counter of the second loading section 162 is moved. As a weight, the first loading section 161 is moved to the opposite side (right side in the figure). Thereby, the hovering attitude of the flying object ₁₀₈ can be stabilized. The baggage 163 loaded on the second loading section 162 may be taken out by a baggage moving mechanism, or may be taken out by a person at the delivery destination. After the cargo 163 is taken out from the second loading section 162, if the second loading section 162 and the first loading section 161 are returned to their original positions while maintaining balance with each other, the aircraft ₁₀₈ returns to the base in a stable posture. can do.

<Modified example of the flying object ₁₀₈ according to the eighth embodiment>
Next, FIG. 14 shows a modification of the flying object ₁₀₈ according to the eighth embodiment.

FIG. 2A shows a first modification of the flying object ₁₀₈ , in which a first loading section 161 and a second loading section 162 are arranged on the rail 31.

FIG. 2B shows a second modification of the flying object ₁₀₈ , in which a cabin 16 is provided on the rail 31. In this case, the luggage 163 can be loaded not only on the first loading section 161 but also on the cabin 16, so that the loading capacity of the entire aircraft can be increased. However, in this case, the cargo moving mechanism of the second loading section 162 allows the cargo 163 loaded in the cabin 16 to be taken out and stored therein.

<Modified example of power unit 20>
FIG. 15 shows a modification of the power section 20. In this modification, the inclination of the rotating shaft of the power unit 20 (rotor 202 thereof) is made variable. FIG. 2A is a top view of the power unit 20 in an initial state in which the axis of rotation is not tilted. FIG. 2B is a side view of the power unit 20 in an initial state in which the axis of rotation is not tilted. FIG. 2C is a top view of the power unit 20 with its rotation axis tilted. FIG. 1D is a side view of the power unit 20 with its rotation axis tilted.

In this modification, an annular power section guard 22 is provided around the power section 20. In this case, the power part guard 22 is fixed to the power part support member 21 (FIG. 2). The power part 20 is attached to the inside of the power part guard 22 so as to be rotatable about the power part rotation support member 23 . The power unit rotation support member 23 is rotatably attached to the inside of the power unit guard 22 in the XY plane. Note that the mechanism for changing the inclination of the rotation axis can be realized by, for example, an actuator such as a motor and a cylinder controlled by the control unit 11, and mechanical elements such as gears, belts, rollers, and rails.

In the case of this modification, the power part rotation support member 23 is rotated about the Z axis on the XY plane inside the power part guard 22, and the power part 20 is further rotated about the power part rotation support member 23 as an axis. Can be done. That is, in the case of the modification, the entire power unit 20 can be rotated around two orthogonal axes, so the rotation axis of the power unit 20 (rotor 202 thereof) can be changed in any direction. Therefore, when the modified example is used in the power unit 20 of the above-mentioned flying objects 10 ₁ to 10 ₈ , lift and propulsive force can be adjusted with higher accuracy, and more stable flight and hovering can be achieved.

<Flight object 10 ₉ according to the ninth embodiment of the present invention>
Next, FIG. 16 shows a configuration example of a flying object ₁₀₉ according to a ninth embodiment of the present invention. FIG. 2A is a top view of the flying object ₁₀₉ . Figure (B) is a side view of the flying object ₁₀₉ .

As shown in FIGS. 1A and 2B, the flying object ₁₀₉ includes a cabin 71, a power section 72, a tail rotor support member 73, a tail rotor 74, and legs 75.

The cabin 71 is provided at the head of the flying object ₁₀₉ . The cabin 71 has a size that can accommodate at least one person in need of rescue. Preferably, the space should be large enough to accommodate two people, including a rescuer who assists in accommodating the person in need of rescue. The cabin 71 has an entrance on the front side (the surface opposite to the surface in contact with the power section 72). A door may be provided at the entrance/exit.

A power section 72 is provided at the rear of the cabin 71. The power unit 72 is, for example, a ducted fan, and generates lift and propulsion to the flying object ₁₀₉ . Although the power unit 72 in the figure is a single rotor with a fixed rotating shaft, a counter-rotating rotor may also be used. Further, as in a modified example of the power unit 20 shown in FIG. 15, the inclination of the rotation axis may be changed.

A tail rotor 74 is provided behind the power section 72 via a tail rotor support member 73. The power unit 72 also serves as a main body, and includes therein a control unit 11, a communication unit 12, various sensors 13, a power supply unit 14, and a battery 18 (FIG. 1) (all not shown).

The tail rotor 74 is provided for the purpose of preventing the entire flying object ₁₀₉ from rotating due to the rotation of the power unit 72 and adjusting the flight direction of the flying object ₁₀₉ .

In the flying object ₁₀₉ , the cabin 71 is arranged outside and in front of the power unit 72 (including the rotor), and the outer periphery of the rotating surface of the rotor does not protrude outside the cabin 71 as in conventional helicopters. , high-rise buildings can be approached, and the cabin 71 can be placed close to or in contact with a balcony or the like to accommodate a person in need of rescue.

<Modified example of flying object ₁₀₉ >
FIG. 17 shows a modification of the flying object ₁₀₉ .

Similarly to the modification of the power unit 20 shown in FIG. 15, FIG. 15A shows a modification in which the tilt of the rotation axis of the tail rotor 74 of the aircraft ₁₀₉ is variable. This modification allows the aerial attitude of the flying object ₁₀₉ to be controlled with higher precision. Furthermore, it is possible to avoid the so-called "loss of tail rotor effectiveness." Although not shown, a plurality of tail rotors 74 may be provided and arranged vertically or horizontally.

FIG. 2B shows a modification in which the cabin 71 is movable in the direction away from the power unit 72 and further movable vertically and horizontally. As an example, a connecting part 76 is provided that connects the cabin 71 and the power part 72 and supports the cabin 71 so that it can be moved back and forth, and can be moved up and down and left and right. This modification can increase the degree of freedom in the aerial position of the flying object ₁₀₉ when the cabin 71 is brought close to or in contact with a balcony or the like. Although not shown, the position of the tail rotor 74 may also be movable vertically and horizontally.

FIG. 2C shows a modification in which the tail rotor support member 73 is extendable and retractable. In this modification, by expanding and contracting the tail rotor support member 73 during flight, it is possible to perform a front-back balance operation of the flying object ₁₀₉ and control forward movement, backward movement, stopping in the air, etc. Further, in this modification, by contracting the tail rotor support member 73, the transportation space required when the flying object ₁₀₉ is transported by a truck or the like to a rescue site or the like can be reduced.

Note that, although not shown, the modification shown in FIG. 4B may be combined with the modification shown in FIG. In this case, by moving the cabin 71 back and forth during flight or expanding and contracting the tail rotor support member 73, the front and back balance of the flying object ₁₀₉ is controlled, and forward movement, backward movement, mid-air suspension, etc. are controlled. be able to.

Furthermore, a rail extending in the longitudinal direction of the tail rotor support member 73 and a weight movable along the rail may be provided inside or outside the tail rotor support member 73. In this case, by moving the weight during flight, forward and backward balance operations can be performed to control forward movement, backward movement, mid-air stopping, and the like.

<Flight object 10 ₁₀ according to the tenth embodiment of the present invention>
Next, FIG. 18 shows a configuration example of a flying object 10 ₁₀ according to a tenth embodiment of the present invention. FIG. 2A is a top view of the flying object ₁₀₁₀ . FIG. 2B is a side view of the flying object ₁₀₁₀ .

The flying object 10 ₁₀ has a plurality of (four in the figure) counterweights 81 provided around the power section 72 of the flying object 10 ₉ (FIG. 16). Components of the aircraft 10 ₁₀ other than the counterweight 81 are the same as those of the aircraft 10 ₉ , so the same reference numerals are given and the explanation thereof will be omitted.

The counterweight 81 is movable along the circumferential direction around the power unit 72 by a weight movement mechanism (not shown) in order to prevent the aircraft ₁₀ from tilting when a person in need of rescue is accommodated in the cabin 71. being done. The weight moving mechanism can be realized by, for example, an actuator such as a motor and a cylinder controlled by the control unit 11, and mechanical elements such as gears, belts, rollers, and rails. Note that the number of counterweights 81 is not limited to four, and may be three or less, or five or more. Further, the counterweight 81 may be made detachable, so that it can be separated from the flying object 10 ₁₀ according to the user's operation, or the number of counterweights 81 may be increased or decreased according to the user's operation. .

By providing the counterweight 81, the flying object 10 ₁₀ can suppress inclination of the flying object 10 ₁₀ when accommodating a person in need of rescue in the cabin 71, compared to the flying object 10 ₉ (FIG. 16). . Furthermore, the aerial attitude of the flying object 10 ₁₀ can be controlled with higher precision.

<Flight object 10 ₁₁ according to the eleventh embodiment of the present invention>
Next, FIG. 19 shows a configuration example of a flying object 10 ₁₁ according to an eleventh embodiment of the present invention. Figure (A) is a top view of the flying object ₁₀₁₁ . Figure (B) is a side view of the flying object ₁₀₁₁ .

The flying object 10 ₁₁ is provided with a plurality of auxiliary power sections 91 controlled by the control section 11 around the power section 72 of the flying object 10 ₉ (FIG. 16). Components of the aircraft 10 _{to 11} other than the auxiliary power section 91 are the same as those of the aircraft 10 _{to 9} , so the same reference numerals are given and the explanation thereof will be omitted.

The auxiliary power section 91 has a smaller diameter than the power section 72 and generates small lift and thrust. However, the auxiliary power section 91 can be moved around the power section 72 in the circumferential direction by an auxiliary power section moving mechanism (not shown). The auxiliary power unit moving mechanism can be realized by, for example, actuators such as motors and cylinders controlled by the control unit 11, and mechanical elements such as gears, belts, rollers, and rails. Note that the number of auxiliary power units 91 is not limited to four, and may be three or less, or five or more. Further, the auxiliary power section 91 may be made detachable, and the number thereof may be increased or decreased by the user's operations as necessary. Furthermore, the same structure as the modification of the power unit 20 shown in FIG. 15 may be applied to the auxiliary power unit 91.

By providing the auxiliary power section 91, the flying objects 10 ₁₁ can increase flight speed and load capacity compared to the flying object 10 ₉ (FIG. 16). Furthermore, by appropriately moving the auxiliary power section 91, it is possible to prevent the aircraft ₁₀₁₁ from tilting when a person in need of rescue is accommodated in the cabin 71. Furthermore, the aerial attitude of the flying objects 10 to ₁₁ can be controlled with higher precision.

<Modified examples of flying objects 10 ₁ to 10 ₁₁ >
The flying objects 10 ₁ to 10 ₁₁ may be provided with robot arms. Thereby, for example, it is possible to approach the person by grasping the handrail 60 of the balcony, hand over prescribed rescue equipment, scoop up and rescue a person in need of rescue floating on the water, and collect floating objects.

Further, the flying objects 10 ₁ to 10 ₁₁ may be provided with landing floats. The landing float may be detachable, or may be foldable and inflated by gas when in use. This not only makes it possible to land on water, but also absorbs the impact upon landing.

The present invention is not limited to the embodiments and modifications described above, and various modifications are possible. For example, the embodiments and modifications described above are described in detail to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of a certain modification with another modification, or to combine modifications.

Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized in hardware by designing, for example, an integrated circuit. Furthermore, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, files, etc. that implement each function can be stored in a memory, a recording device such as a hard disk, an SSD, or a recording medium such as an IC card, an SD card, or a DVD. Further, the control lines and information lines are shown to be necessary for explanation purposes, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.

10 ₁ to 10 ₁₁ ...Flight object, 11...Control unit, 12...Communication unit, 13...Seed sensor, 14...Power supply unit, 15...Cabin movement mechanism, 16... - Cabin, 160... Self-propelled mechanism, 161... First loading section, 162... Second loading section, 163... Luggage, 17... Weight moving mechanism, 18... Battery, 180 ... Self-propelled mechanism, 19 ... Rail extension mechanism, 20 ... Power section, 201 ... Motor, 202 ... Rotor, 203 ... Motor support member, 204 ... Rotor guard, 21 ... Power part support member, 22... Power part guard, 23... Power part rotation support member, 30... Main body, 31... Rail, 32... Leg, 33A, 33B... Connection member, 331... Convex portion, 332... Concave portion, 40, 50... Main body, 60... Handrail, 71... Cabin, 72... Power unit, 73... Tail rotor support Member, 74...Tail rotor, 75...Leg, 81...Counterweight, 91...Auxiliary power section

Claims (23)

a power unit that generates lift and propulsion;
a first loading section for loading a load;
a first loading part moving mechanism that moves the first loading part;
weight and
a weight moving mechanism that moves the weight;
a control unit that controls the first loading unit moving mechanism to move the first loading unit and controls the weight moving mechanism to move the weight;
A flying vehicle equipped with. The flying object according to claim 1,
The control unit controls the weight movement mechanism to move the weight as a counterweight corresponding to movement of the first loading unit. The flying object according to claim 1,
A flying vehicle in which the weight also serves as a battery that supplies power to the flying vehicle. The flying object according to claim 3,
The battery is detachably attached to the aircraft, and the aircraft has a self-propelled mechanism. The flying object according to claim 1,
The first loading section is a flying object that is detachable from the flying object and has a self-propelled mechanism. The flying object according to any one of claims 1 to 5,
comprising a main body and a rail connected to the main body,
The rail protrudes beyond the main body and the plurality of power units arranged around the main body,
The first loading part moving mechanism moves the first loading part in a first direction along the rail,
The weight moving mechanism is a flying object that moves the weight along the rail in a second direction opposite to the first direction. The flying object according to claim 6,
The above-mentioned rail is an air vehicle that is extendable and retractable. The flying object according to claim 6,
A flying object, comprising: a first connecting member for mooring the flying object to one end of the rail. The flying object according to claim 8,
A flight object comprising, at the other end of the rail, a second connection member that connects to a connection member of another flight object. The flying object according to claim 1,
The weight is a second loading part for loading a load,
The control unit controls the weight moving mechanism to move the second loading section as a counterweight corresponding to the movement of the first loading section. a power unit that generates lift and propulsion;
With a telescopic rail,
a first loading section that is movable along the rail and for loading a loaded object;
a first loading part moving mechanism that moves the first loading part;
an expansion mechanism that expands and contracts the rail;
Controlling the first loading part moving mechanism to move the first loading part in a first direction, and controlling the expansion mechanism to extend the rail in a second direction opposite to the first direction. a control unit;
A flying vehicle equipped with. The flying object according to claim 1 or 11,
The power unit is a flying object that changes the axis of rotation of the power unit by rotating around two orthogonal axes. a first loading section for accommodating a loaded object;
a power unit that generates lift and propulsion, connected to the rear of the first loading unit;
a tail rotor provided behind the power unit via a tail rotor support member;
A flying vehicle equipped with. The flying object according to claim 13,
The first loading section is connected to the power section via a connecting section, and is movable in at least one direction of forward and backward, up and down, and left and right. The flying object according to claim 13,
An aircraft in which the tail rotor support member is extendable and retractable. The flying object according to claim 13,
A weight provided on the tail rotor support member,
The weight is movable in the longitudinal direction of the tail rotor support member. The flying object according to claim 13,
The power unit is a flying object that changes the axis of rotation of the power unit by rotating around two orthogonal axes. The flying object according to claim 13,
A weight provided on a side surface of the power unit,
The weight is movable on a side surface of the power section. The flying object according to claim 18,
The weight may be attached to or detached from the aircraft, and at least one of the weight may be increased or decreased. The flying object according to claim 13,
An auxiliary power section provided on a side surface of the power section,
The auxiliary power section is a flying vehicle that is movable on a side surface of the power section. The flying object according to claim 20,
The auxiliary power unit is a flying vehicle in which at least one of attachment/detachment and increase/decrease is possible. The flying object according to any one of claims 13 to 21,
The tail rotor is a flying object that changes the axis of rotation of the tail rotor by rotating around two orthogonal axes. The flying object according to claim 1 or 13,
A flying object equipped with a robot arm.

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