JP6661199B2 - Flying object - Google Patents

Description

  The present invention relates to a flying object.

  2. Description of the Related Art In recent years, a flying object that is small, lightweight, easy to operate, has little influence of wind, and can maintain a stable attitude has been proposed (for example, Patent Document 1).

  Further, when a flying object having a plurality of rotors travels in a direction including a horizontal direction, a flying vehicle capable of reducing the difference between the rotation speeds of the rotors in front and rear in the traveling direction has been proposed ( For example, Patent Document 2).

JP 2013-79034 A WO2016 / 185572A1

  A conventional flying object rolls in response to an air current such as a cross wind generated between tower apartment buildings and high-rise buildings. Due to this roll, the flying body loses its flight attitude and inclines. Then, due to the roll, the flying object largely deviates from the premises of the tower apartment or the high-rise apartment, and flies over the area outside the premises.

  Normally, when the flying body flies outside the site of a tower apartment or a high-rise apartment, an attempt is made to return the flight attitude to the original by pulling the mooring rope attached to the flying body. However, by pulling the mooring rope provided in the flying object, the flight attitude of the flying object is further deteriorated. Eventually, the flying object loses its flight attitude, largely deviates from the premises of the tower apartment or high-rise apartment, flies over the area outside the site, and then crashes into the area outside the site. Further, if the GPS device mounted on the flying object is interrupted during the flight, control becomes impossible, and the flying object flies from the premises of the tower apartment or high-rise apartment to the outside of the premises. .

  Furthermore, when the rotation of the motor for driving the rotor provided on the flying body is stopped during landing of the conventional flying body, the flight section provided with the rotor cannot maintain the level. For this reason, the flight part of the flying object is inclined. When the flight part of the flying object is inclined, the flying object cannot maintain the attitude of the flying object and falls down.

  Further, in the conventional flying object, the rotating wings provided in the flying object are close to a camera position necessary for photographing the target object. A situation occurs in which the image is reflected. If the rotating wings of the flying object are reflected on the camera screen, not only will it not be possible to shoot the object sufficiently, but when shooting a moving image of the object, the value of the images that have been shot so far will be lost. Would.

  In addition, a conventional flying object rolls in response to an air current such as a cross wind generated between tower apartment buildings and high-rise buildings. In this case, the flying object hoveres while one of its rotors is tilted. The hovering state is a state in which the rotating wing is tilted, so when the flying object performs shooting, the rotating wing becomes an obstacle to shooting, and the rotating wing of the flying object is reflected on the camera screen. There is a problem that.

  Therefore, an object of the present invention is to provide a flying object that maintains a more stable flying attitude.

According to the present invention, a flying unit including at least a plurality of rotors and a motor that drives the rotors,
A loading section capable of loading an object,
A connection unit that connects the flight unit and the loading unit so as to be displaceable with each other,
Is obtained.

  ADVANTAGE OF THE INVENTION According to this invention, the flying body which has more stable flight performance can be provided by devising the positional relationship of the flight part of a flying body, a loading part, and a connection part.

FIG. 2 is a conceptual diagram illustrating a configuration of a flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 2 is a conceptual diagram illustrating a configuration of a flight unit of the flying object in FIG. 1. FIG. 2 is a conceptual diagram illustrating a configuration of a loading section of the flying object of FIG. 1. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. FIG. 3 is another conceptual diagram showing the configuration of the flying object of the present invention. It is the perspective view which showed the structure of the flying object. FIG. 3 is a schematic view of the flying object as viewed from directly above. It is a side view of a flying object. FIG. 3 is a model diagram showing a flight attitude of a flying object. It is a side view of another flying object. It is a perspective view of another flying object. It is another perspective view of another flying object.

The contents of the embodiment of the present invention will be listed and described. A flying object according to an embodiment of the present invention has the following configuration.
[Item 1]
A flying unit including at least a plurality of rotors and a motor that drives the rotors,
A loading section capable of loading an object,
A connection unit that connects the flight unit and the loading unit so as to be displaceable with each other,
Flying body with.
[Item 2]
The flying object according to item 1, wherein
The connection is above the center of gravity or center of the flight section,
Flying object.
[Item 3]
The flying object according to item 2, wherein
The connection portion is directly above or substantially directly above the center of gravity or center of the flight portion,
Flying object.
[Item 4]
The flying object according to item 1, wherein
The connection portion is substantially or substantially coincident with the center of gravity or the center of the flight portion,
Flying object.
[Item 5]
The flying object according to item 1, wherein
The connection is below the center of gravity or center of the flight unit,
Flying object.
[Item 6]
The flying object according to item 5, wherein
The connection portion is directly below or substantially directly below the center of gravity or center of the flight portion,
Flying object.
[Item 7]
The flying object according to item 1, wherein
The connecting portion is at a different position in the horizontal direction than the center of gravity or the center of the aircraft,
Flying object.
[Item 8]
The flying object according to any one of item 1 to item 7,
The connection portion is at a center of gravity or a center of the loading portion,
Flying object.
[Item 9]
The flying object according to item 1, wherein
The connection portion has two or more rotation shafts,
Flying object.
[Item 10]
The flying object according to item 1 or item 2,
The flying object, wherein the loading unit includes an adjustment mechanism for extending the length of the loading unit.
[Item 11]
Multiple rotors,
An arm portion supporting the plurality of rotors,
A mounting section for mounting an object,
A connection unit that connects the mounting unit to the arm unit while the mounting unit is movable in a predetermined range,
The position of the connection portion is above the center of gravity of the arm portion,
Flying object.
[Item 12]
The flying object according to item 11, wherein
The connecting portion has a biaxial gimbal structure,
Flying object.
[Item 13]
The flying object according to item 11 or 12, wherein
A flying object, wherein the mounting portion includes an adjustment mechanism for extending the length.
[Item 14]
The flying object according to any one of item 1 to item 13,
A rope is attached to the mounting portion,
Flying object.
[Item 15]
The flying object according to any one of item 1 to item 4,
The position of the connection portion is above the point of action of the lift generated on the airframe due to the rotation of the plurality of rotors on the aircraft.
Flying object.
[Item 16]
The flying object according to any one of item 1 to item 5,
The position of the connection is above the center of gravity of the vehicle,
Flying object.

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

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

  In the flying object shown in FIG. 2, the gimbal (connection portion) according to the present embodiment is such that the flight portion and the loading portion are connected to each other so as to be displaceable in the horizontal direction (X axis and Y axis).

  In the flying object shown in FIG. 3, the gimbal matches or substantially matches the center of gravity Gr or the center Cr of the loading portion. In addition, although the figure shown shows the case where the center of gravity and the center of the loading unit coincide with each other, when the weight and the shape of the upper object and the lower object are different, the center of gravity Gr and the center are different. It does not always coincide with Cr. Also in this case, the gimbal is provided at a position that matches or substantially matches the center of gravity Gr.

  In the flying object shown in FIG. 5, the gimbal is located above the center of gravity Gf or the center Cf of the flying part.

  According to such a configuration, in the illustrated example, for example, when the user grasps the lower object by hand catching from the left direction in the drawing, the flying unit is inclined in a direction away from the user, and the propeller causes The user can be protected from rotation.

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

  According to such a configuration, even at the time of a stop, the flying section can self-level according to the same principle as that of the slapstick.

  In the flying object shown in FIG. 7, the gimbal matches or substantially matches the center of gravity Gf or the center Cf of the flying part.

  According to such a configuration, even when the flying unit is hit by the wind or turns sharply, the flying unit rotates around the center of gravity, so that the displacement of the flying unit does not affect the displacement of the loading unit. .

  In the flying object shown in FIG. 8, the gimbal is located below the center of gravity Gf or the center Cf of the flying part.

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

  In the flying object shown in FIG. 10, the gimbal is located at a position different from the center of gravity Gf or the center Cf of the flying object in the horizontal direction. 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 unit tilts to the left (that is, the left propeller comes below the right propeller). So inclined). Therefore, it is possible to guide the user to return to the user's hand.

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

  The gimbal according to the present embodiment is an axial gimbal having two rotation axes.

  Note that the support section of the loading section may be provided with an adjusting mechanism for extending the length thereof.

  FIGS. 12 to 17 show a structure 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 FIGS. 12-17 is not at the center of gravity of the load. That is, the gimbal is provided at a position different from the center of gravity of the loading section.

  In the flying object shown in FIG. 18, the gimbal is provided at the center of gravity of the loading section. The gimbal is provided at a position different from the center of gravity or the center of the flight unit in the horizontal direction.

  According to such a configuration, a camera or the like is used as the upper object and the lower object, so that a structure suitable for bridge inspection can be provided.

  FIG. 19 provides information on the center of gravity Gr or the center Cr of the gimbal flight unit in FIG. 18.

  Hereinafter, some examples of the structure according to the above-described embodiment will be exemplified and described.

  FIG. 210 is a perspective view showing an outline of the flying object 1 of the present invention. As shown in FIG. 210, the flying object 1 includes a plurality of rotary wing portions 10A to 10D. The rotary wing units 10A to 10D include rotary blades 12A to 12D and power units 14A to 14D. The rotary wings 12A to 12D rotate in predetermined directions using the power units 14A to 14D as driving sources. The power units 14A to 14D are not particularly limited as long as they can drive the rotary wings 12A to 12D, and examples thereof include an electric motor and a small engine. In addition, the number of the rotary wings 10 provided in the flying object of the present invention is not particularly limited, and can be appropriately set. In the first embodiment, the flying object 1 including four rotary wings will be described as an example.

  The flying object 1 is provided below the flight member 18, a plurality of arms 16 </ b> A to 16 </ b> D supporting the plurality of rotary wings 10 </ b> A to 10 </ b> D, an annular flight member 162 which is a base of the flight unit 18. The imaging unit 20 includes 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 via a lower end 34 of the support member 30. The photographing unit 20 includes a storage box 22 and a photographing camera main body 26, and the storage box 22 has a box shape for storing the photographing camera main body 26.

  In the flying object 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 unit 20 having a box shape. The flying object 1 communicates from the lower surface of the photographing unit 20 and has a fixing support member 28 for fixing the photographing camera body 22 inside the box-shaped photographing unit 20. The support member 30 and the fixing support member 28 are located on the same straight line.

An anchoring rope 60 for controlling the flight position and flight form of the flying object 1 is attached to the end 282 of the fixing support member 28. The mooring rope 60 stabilizes the flying state of the flying object 1 like a so-called “kites' leg”. When the flying object 1 flies stably, the imaging unit 20 can be held horizontally.
The flying object 1 is most suitable for observing a tower apartment, a high-rise apartment, or the like, and is premised on flying above the premises of the tower apartment, the high-rise apartment, or the like. For this reason, the mooring ropes 60 are provided from the viewpoint of avoiding the flying object 1 from flying above the premises of a tower apartment, a high-rise apartment, or the like. The form in which the mooring rope 60 is attached is not particularly limited as long as it can be attached below the imaging unit 20. For example, it may be directly attached to the bottom surface of the imaging unit 20 without going through the end 282 of the fixing support member 28.

  The flying object 1 includes arm portions 16A to 16D that support the rotary wing portions 10A to 10D. In the first embodiment, the arm unit 16 configuring the flight unit 18 includes four arm units 16A to 16D, but the number of the arm units 16 is not limited to this. For example, six, eight, ten, twelve, or other arm portions may be provided as appropriate as the arm portion 16 of the flying object 1. When the flying object 1 flies stably and has a large weight and a high-precision camera, for example, the number of the arm portions 16 may be set to six or more in accordance with the number of the rotary wing portions 10. Good.

  In FIG. 210, four arm portions 16A to 16D are provided in four directions so as to be equally spaced in a ring shape. That is, the four arm portions 16A to 16D are provided such that the interval between adjacent arm portions is 90 °. The arm portions 16A to 16D may have a linear shape, or may have a bent shape based on the linear shape from the viewpoint of design.

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

  FIG. 21 is a schematic view of the flying object 1 according to the first embodiment as viewed from directly above. As shown in FIG. 21, the flying object 1 may have a structure in which the bottom ends of the plurality of arms 16 </ b> A to 16 </ b> D on the side of the rotary wings 10 </ b> A to 10 </ b> D are connected by the flight member 162. When the rotary wings 10A to 10D located at the ends of the plurality of arms 16A to 16D are connected by the flight member 162, the adjacent rotary wings 10A to 10D are connected, and the flight member viewed from directly above the flying object 1 is connected. The external shape of 162 is an annular 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 rotary wing 10 located at the end of the arm 16 by the flight member 162, the flight 18 is more structurally stable. Note that a light-emitting body 164 such as a light-emitting diode serving as a mark when the flying object 1 flies at night may be provided on the outer side surface of the flight member 162.

  In the flying vehicle 1 shown in FIG. 21, the flying vehicle 1 passes through the connecting portion 40 provided at the upper end 32 of the support member 30, and bridges the opposing portion on the flight member 162 with the connecting portion 40. And a connecting member 50 for connection. The connecting member 50 is driven in synchronization with the connecting portion 40 provided on the upper end 32 of the supporting member 30 of the supporting member 30. When the connecting portion 40 is driven, the connecting member 50 is inclined or rotated. Since the connection member 50 is connected to the flight unit 10, the connection unit 40 drives the flight unit 10 to tilt or rotate. The flight unit 10 inclines or rotates depending on the direction and size in which the connection unit 40 is driven. The flying object 1 can tilt or rotate the flight unit 10 about the support member 30.

  Specifically, the flying object 1 is set at an intermediate point 181 of the flight member 18 set between the rotary wings 10A and 10D, and at an intermediate point between the rotary wings B and C. And a connecting member 50 that bridges the intermediate point 182 of the flight member 18. Since the connecting member 50 has passed through the connecting portion 40 provided at the upper end 32 of the support member 30, the flight portion 18 is inclined with the connecting portion 40 as a vertex when the connecting portion 40 is driven. Can be. Similarly, the flight unit 18 can be rotated with the connection unit 40 at the top as the connection unit 40 is driven.

  The connection unit 40 is not particularly limited as long as it is a mechanism that can tilt or rotate the flight unit 10. It can be set appropriately according to the function of the flying object. For example, a uniaxial gimbal structure, a biaxial gimbal structure, or a triaxial gimbal structure may be employed as the connection section 40. The gimbal structure may or may not include a drive device such as a motor.

  When the flying object of the present invention is adopted as a flying object for the purpose of taking a view of a tower apartment, a high-rise apartment, or the like, the flight mode is mainly for vertical ascent. And it is sufficient. When the connecting portion 40 is driven, the connecting member 50 can be tilted and rotated. When the connecting member 50 is inclined or rotated, the flight section 18 connected to the connecting member 50 is inclined or rotated. When the frame 18 inclines or rotates, the rotating wings 12A to 12D mounted on the flight section 18 can incline or rotate.

  FIG. 22 is a side view of the flying object 1. The technical features of the flying vehicle 1 include a connection portion 40 at the upper end 32 of the support member 30, and the flight portion 18 can tilt or rotate with the connection portion 40 as a vertex, and the connection portion 40 It is located above the center point U of the lift generated in the flying object due to rotation of the plurality of rotors 12A to 12D. In the flying object 1 shown in FIG. 22, the support member 30 overlaps with the connecting member 50. For this reason, in the flying object 1 shown in FIG. 22, the connecting member 50 and the supporting member 30 exist 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 generated in the flying object due to the rotation of the plurality of rotors 12A to 12D. In the conventional flying vehicle, the connection between the flight section and the support member is coincident with the center point U (2) of the lift generated in the flying vehicle due to the rotation of the plurality of rotors, or It is set at a position lower than the center point U2) of the generated lift.

  The flying object of the present invention adopts the above-described positional relationship between the center point G of the connecting portion 40 and the center point U of the lift generated in the flying object, so that the flying object 1 receives a strong wind such as a cross wind during flight. Even so, by pulling the mooring rope 60 attached to the flying object 1, the flight posture can be reestablished and the original flight state can be returned.

  On the other hand, in the conventional flying object, the center of gravity G of the connecting part 40 between the flight part 18 and the support member 30 is located below the center point U of the lift generated in the flying object 1. For this reason, in the conventional flying object, even if the anchoring rope of the flying object is pulled in order to restore the attitude from the attitude in which the flying attitude has been lost due to the strong wind such as the cross wind, a downward force is further applied. As a result, the conventional flying object further deteriorates the flying attitude of the flying object from the attitude in which the flying attitude is lost due to a strong wind such as a cross wind. Eventually, the conventional flying object may fly out of the premises of a high-rise apartment or the like, fly above the premises, and fall from a high floor.

(Flight form of the flying object)
FIG. 24 is a model diagram showing a flight mode of the flying object 1. As shown in FIG. Based on FIG. 24, a flight mode of the flying object 1 of the first embodiment will be described. The flight mode of the flying object 1 is defined as (a) a step of taking off starting from the ground in the premises of a tower apartment, a high-rise apartment, or the like, (b) rising vertically and starting a flight, such as a tower apartment, a high-rise apartment, or the like. The step of photographing the high floor and the step of (c) photographing the high floor and landing will be described separately.

(A) Takeoff process starting from the ground on the site of a tower apartment building or the like As shown in FIG. 24 (a), the imaging section of the flying object 1 at the starting point on the site of a tower apartment or high-rise apartment building A camera body 26 for photographing is mounted on a storage box 22 constituting the camera 20. The operator of the flying object 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, thereby rotating the rotary wings 12A to 12D. Increase the number. As the rotary wings 12A to 12D rotate, lift required to levitate the flying object 1 is generated vertically upward. When the lift exceeds the gravity acting on the flying object 1, the flying object 1 leaves the ground and takes off from the starting point. The rotating blades facing each other in the flight section 18 are rotating in the same direction. Specifically, in the aircraft 1, the rotor 12A and the rotor 12C rotate leftward, and the rotor 12B and the rotor 12D rotate rightward.

(B) Step of starting to fly vertically and photographing a high-rise floor of a tower apartment, a high-rise apartment, etc. As shown in FIG. 24 (b), the flying object 1 has rotation speeds of the rotors 12A to 12D. As a result, in the premises of a tower apartment, a high-rise apartment, or the like, it rises vertically toward the sky. Thereafter, the flying object 1 continues to climb and reaches a certain altitude. The flying object 1 that has reached a certain altitude performs an air stop (hovering) at the altitude. The altitude is appropriately determined according to the flight route of the flying object 1, the height of a building such as a tower apartment or a high-rise apartment, the aeronautical law applied to the flying object 1, and the like. The operator may set in advance the altitude at which the flying object 1 stops in the air (hovering) in consideration of various conditions.

  Because the weight applied to the flying object 1 and the lift generated in the flying object 1 are dynamically balanced by the rotation of the rotary wings 12A to 12D, the flying object can hover in the air. . The rotation speeds of the rotating blades 12A to 12D are maintained at a constant level. The aerial suspension (hovering) is performed in order for the flying object 1 to start photographing a tower apartment, a high-rise apartment, or the like using the camera body 26 for photography.

  As shown in FIG. 24 (b), when the flying object 1 moves horizontally at the altitude from the state of hovering in the air, the flight unit 18 is inclined. When the flying object 1 moves horizontally, the rotation speeds of the rotary wings 12A to 12D constituting the flight unit 18 are adjusted to be substantially the same. The flying object 1 can start shooting at a position horizontally moved while maintaining the altitude. The flying object 1 photographs a high floor of a tower apartment, a high-rise apartment, or the like at a predetermined position while stopping in the air (hovering) at a predetermined altitude. In addition, the flying object 1 can fly in the horizontal direction and change the shooting position as needed. Further, the flying object 1 can fly in the vertical direction and change the shooting position.

(C) Step of Landing After Shooting High Floor As shown in FIG. 24 (c), the flying object 1 lands at a destination on the site of a tower apartment, a high-rise apartment, or the like. In FIG. 24 (c), the destination may be the ground surface or a heliport dedicated to the flying object 1 provided in a tower apartment, a high-rise apartment, or the like. The flying object 1 reduces the rotation speed of the rotary wings 12A to 12D in the target ground. The flying object 1 lowers the altitude and enters a landing state. When the flying object 1 enters the landing position, the flight unit 18 is kept horizontal with respect to the ground surface. When the flight section 18 is inclined, the rotation speed of the rotary wings 12A to 12D is adjusted so that the flight section 18 is horizontal with respect to the ground surface.

  The flying object 1 stops the rotation of the rotors 12A to 12D of the flight unit 18 immediately before landing. By stopping the rotation of the rotary wings 12A to 12D, the flight section 18 becomes horizontal with respect to the ground surface by its own weight. Specifically, in the flying object 1 shown in FIG. 24C, the rotating wing portions 12A to 12D are turned off from the state where the flight portion 18 is inclined as shown by the broken line, As shown by the solid line, the flight portion 18 is in a horizontal state as shown by the solid line. The rotary wings 12A to 12D naturally become horizontal due to the influence of gravity. As described above, the flying object 1 of the present invention is provided with the connection portion 40 with the flight portion 18 at the upper end 32 of the support member 30. Therefore, when the flying object 1 is de-energized immediately before landing, When the flight section 18 is horizontal, a stable landing state can be ensured.

  As described above, the flying object 1 according to the first embodiment can secure a stable flight in the premises of a tower apartment, a high-rise apartment, or the like, and has little blur when the imaging camera body 26 takes an image. Can also be suitably used. The flying object 1 of the first embodiment can hold the photographing unit 20 horizontally as long as the flying object is stopped in the air (hovering), and the photographing unit 20 does not shake significantly. Therefore, the flying object 1 can sufficiently cope with the shutter speed required for night view shooting.

<Embodiment 2>
The flying object 2 according to the second embodiment is characterized in that the center point U of the lift generated in the flying object coincides with the point of action G of the gravity between the support member 30 and the imaging unit 20. Since the flying object 2 is designed such that the center point U of the lift and the point of action G of gravity coincide with each other, no rotational moment due to gravity is generated by the support member 30 and the imaging unit 20. For this reason, in the flying object 2 of the second embodiment, when traveling in the horizontal direction, the rotation speeds of the front rotor and the rear rotor can be substantially equal to each other in the traveling direction.

  The flying object 2 rises almost vertically from the mooring point of the mooring rope, and is suitable for long-time photographing while hovering in a narrow range. Further, the convenience of the flying object 2 is further improved when the flying object 2 moves horizontally in the premises of a tower apartment, a high-rise apartment, or the like. That is, the flying object 2 is suitable for panoramic photographing of a tower apartment, a high-rise apartment, or the like, and basically flies vertically (directly above) from the mooring point of the mooring rope. However, when the flying object 2 photographs the surroundings of a tower apartment, a high-rise apartment, or the like, when performing an outer wall inspection or the like, it is necessary to fly not only vertically (directly above) but also horizontally. . When the flying object 2 flies in the horizontal direction, the flight unit 18 must be inclined.

  The flying object 2 according to the second embodiment has the rotation speed of the front rotor and the rotation of the rear rotor with respect to the traveling direction even when the flight unit 18 has to be inclined to travel in the horizontal direction. Since the numbers can be made substantially equal, the outputs of the power units 14A to 14D for driving the rotary wings 12A to 12D can be suppressed.

<Embodiment 3>
The flying object 3 according to the third embodiment includes an adjustment mechanism for allowing the support member 30 to extend the length of the support member 30. The adjustment mechanism may be provided at the upper portion or at the lower portion with reference to the ring R that engages with the arm portions 16A to 16D provided on the outer periphery of the support member 30. The adjustment mechanism extends the length of the support member 30.

  When the flying object 3 lands on a site such as a tower apartment building or a high-rise building, 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 flying object 3 moves downward, and a stable landing state can be secured.

  The flying object of the present invention is assumed to be used in the premises of a tower apartment, a high-rise apartment, or the like. For this reason, even if the flying object 3 is affected by an updraft generated near a tower apartment building or a high-rise building, the center of gravity of the flying object 3 is moved downward by the adjustment mechanism at the same time as the landing state is entered. Thus, a stable flight state can be maintained against the upward airflow 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 an optical device or the like may be adopted. Further, the adjusting mechanism may have a tubular structure having elasticity. In the adjustment mechanism, the support member 30 may include a support member serving as an outer cylinder and a support member serving as an inner cylinder.

  Since the flying object 3 according to the third embodiment includes an adjustment mechanism, the distance between the flight unit 18 and the imaging unit 20 can be made as large as possible. For this reason, in the flying object 3 of the third embodiment, the flight unit 18 is not reflected in the field of view of the imaging camera body 26 mounted on the imaging unit 20, and a deep vertical viewing angle can be secured.

  Further, in the flying object 3 of the third embodiment, the distance between the flight unit 18 and the imaging unit 20 is larger than that of a normal flying object, and the lower floor of a tower apartment, a high-rise apartment, or the like is located from the imaging unit 20 located below. At the same time, it is possible to take a picture while viewing the high-rise floor of a tower apartment, a high-rise apartment, or the like from a low floor.

<Embodiment 4>
As shown in FIGS. 24 to 26, the flying object 5 of the fifth embodiment includes a plurality of rotors 12 </ b> A to 12 </ b> D, power units (motors) 14 </ b> A to 14 </ b> D for rotating the rotors 12 </ b> A to 12 </ b> D, Arm 16 that supports the sections (motors) 14A to 14; a mounting section 20 'on which an object such as a camera is mounted; and the mounting section 20' moves in a predetermined range (for example, two axes in the X and Y directions). And a connecting portion 40 'for connecting the mounting portion 20' to the arm portion 16 in a (displaceable) state. The rotary wings 12A to 12D, the power units (motors) 14A to 14D, and the arm unit 16 constitute a flight unit 18. The mounting portion 20 'of the present embodiment includes a frame extending downward from the connection portion 40' and a mounting portion attached to the end of the frame.

As shown in FIG. 24, the flying object 5 of the present embodiment includes, in order from the bottom, a center of gravity (machine center of gravity) G _B , a center of gravity (flight center of gravity) G _{F of the} flight unit 18, and a rotation. The points of action (buoyancy center of gravity) G _{L of} the lift generated on the aircraft by the rotation of the wings 12A to 12D with respect to the flying vehicle 5 are aligned with the connection portion 40 ′. That is, the connecting portion 40 'of this embodiment, the aircraft center of gravity G _B, flight center of gravity G _F, than the buoyancy center of gravity G _L are located on (in the Z direction).

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

  As described above, the flying object 5 of the fourth embodiment can secure a stable flight in the premises of a tower apartment, a high-rise apartment, and the like, similarly to the flying objects of the first to third embodiments, and Since there is little blurring of ', it can be suitably used, for example, for night view shooting with a camera. Further, in the flying object 5 of the fourth embodiment, as long as the flying object is stopped in the air (hovering), the mounting portion 20 'can be held horizontally, and the mounting portion 40' does not shake significantly. For this reason, it is possible to sufficiently cope with the shutter speed required for night view shooting.

  When the flying object 5 lands on a site such as a tower condominium or a high-rise building, the mounting mechanism 20 'is extended vertically downward by the adjustment mechanism 50. By extending the support member 30 vertically downward, the center of gravity of the flying object 3 moves downward, and a more stable landing state can be secured.

  The flying object of the present invention is assumed to be used in the premises of a tower apartment, a high-rise apartment, or the like. For this reason, even when the flying object 3 is affected by an updraft generated near a tower apartment or a high-rise building, the center of gravity of the flying object 3 is moved downward by the adjustment mechanism at the same time as the vehicle enters the landing posture. Thus, a stable flight state can be maintained against the upward airflow as appropriate.

  As shown in FIGS. 25 and 26, the adjusting mechanism 50 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 an optical device or the like may be adopted. Further, the adjusting mechanism may have a tubular structure having elasticity. In the adjustment mechanism, the support member 30 may include a support member serving as an outer cylinder and a support member serving as an inner cylinder.

  Since the flying object 3 of the third embodiment includes the adjustment mechanism, the distance between the flight section 18 and the mounting section 20 'can be made as large as possible. For this reason, in the flying object 3 of the third embodiment, the flight unit 18 is not reflected in the field of view of the imaging camera body mounted on the mounting unit 20 ', and a deep vertical viewing angle can be secured.

  As described above, according to the embodiment of the present invention, the self-leveling of the flight unit can be performed when power is not supplied (when stopped).

As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-described embodiments, and all changes in conditions that do not depart from the gist are within the scope of the present invention.

INDUSTRIAL APPLICABILITY The flying object of the present invention can be suitably used for long-time photographing while hovering in a narrow range above the premises of a tower apartment, a high-rise apartment, or the like. In addition, since the flying object of the present invention can be expected to be used in surveying sites in low-rise apartment sites and high-rise building construction sites for photographing the view of tower condominiums and high-rise buildings, aircraft related industries such as multicopter drones and residential -Can be used in various industries such as construction and construction-related fields, security fields, agriculture, and infrastructure monitoring.

1-5 flying object

10A to 10D Rotor blades 12A to 12D Rotor blades 14A to 14D Power units 16A to 16D Arm unit 18 Instruction arm 162 Flight member 164 Light emitter (light emitting diode)
18 Flight part 181 Flight member midpoint (between AD)
182 Flight member midpoint (between BC)
Reference Signs List 20 photographing section 20 'mounting section 22 storage box 24 storage box mounting section 26 photographing camera 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 '' Connection unit 50 Adjustment unit U Lift center point G Gravity center point 70A-D Landing leg (support member)
72 Orthogonal member (between leg support members AD)
74 orthogonal member (between leg support member BC)

Claims (4)

A motor for driving a plurality of rotors is provided, and a flight unit having a frame extending at least in the front-back direction ,
A first support portion attached to the frame via a connection portion so as to be displaceable within a predetermined range with respect to the frame, and extending downward;
A lower object provided at a lower end of the first support portion,
A second support portion extending upward from an upper end of the first support portion;
An upper object provided at an upper end of the second support portion,
When the frame is kept horizontal and the first support is kept vertical, the connection is located vertically above a position offset horizontally forward from the center of gravity or center of the vehicle. And being disposed above the center of gravity of the first support and the lower object,
Flying object. The flying object according to claim 1,
The first supporting portion, Ru is formed as a rod-shaped body having a longitudinal,
Flying object. A flying object according to claim 1 or claim 2,
The second support portion, Ru is formed as a rod-shaped body having a longitudinal,
Flying object. The flying object according to any one of claims 1 to 3 ,
A mounting portion for mounting an upper end of the first support portion to the frame,
The mounting portion is formed in a substantially inverted U-shape,
The connection portion is disposed near a vertex of a substantially inverted U-shape .
Flying object.

Images