Gyroplane

Abstract

The present invention improves the operational efficiency of a gyrocopter during cruising. The gyrocopter (1) according to the present disclosure includes: a main body (2); and a plurality of motors (3) provided on the main body (2) for rotating respective rotors (4), wherein when the main body (2) is inclined with respect to a traveling direction substantially parallel to a reference plane and flies in the traveling direction, the rotational speeds of the plurality of motors (3) are substantially the same.

Description

Technical Field

[0001] The present invention relates to a gyroplane. Background Art

[0002] In recent years, the use of services using flying objects such as drones and unmanned aerial vehicles (UAVs) used for various purposes has been expanding. Among them, gyroplanes that obtain lift by rotors have attracted attention. When using flying objects such as gyroplanes in various industries, an airframe with high operation efficiency is required.

[0003] As such an unmanned flying object, for example, Patent Document 1 discloses an unmanned flying object in which the center of lift, the center of a connecting portion, and the center of gravity of the unmanned flying object are at specified positions.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: International Publication No. 2016 / 185572 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] In further applications of gyroplanes, long-duration cruising and reduced operation costs are required for gyroplanes. That is, further improvement in the operation efficiency of such gyroplanes is required.

[0009] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a gyroplane capable of improving the operation efficiency during cruising of the gyroplane.

[0010] Solutions to the Problems

[0011] According to the present disclosure, there is provided a gyroplane including: a main body; and a plurality of motors provided on the main body for rotating respective rotors, wherein when the main body is inclined with respect to a traveling direction substantially parallel to a reference plane and flies in the traveling direction, rotation speeds of the plurality of motors are substantially the same.

[0012] Effects of the Invention

[0013] According to the present invention, the operation efficiency during cruising of the gyroplane can be improved. Brief Description of the Drawings

[0014] Figure 1 It is a perspective view showing an example of the structure of a gyroplane 1 according to a first embodiment of the present disclosure.

[0015] Figure 2It is a plan view showing an example of the structure of the autogyro 1 related to this embodiment.

[0016] Figure 3 It is a side view showing an example of the structure of the autogyro 1 related to this embodiment.

[0017] Figure 4 It is a view showing an example of the flight configuration of the autogyro 1 during cruising related to this embodiment.

[0018] Figure 5 It is a side view showing an example of the structure of the autogyro 10 related to the first modification of this embodiment.

[0019] Figure 6 It is a view showing an example of the flight configuration of the autogyro 10 during cruising related to this modification.

[0020] Figure 7 It is a side view showing an example of the structure of the autogyro 11 related to the second modification of this embodiment.

[0021] Figure 8 It is a view showing an example of the flight configuration of the autogyro 11 during cruising related to this modification.

[0022] Figure 9 It is a side view showing an example of the structure of the autogyro 12 related to the second embodiment of the present disclosure.

[0023] Figure 10 It is a side view showing an example of the structure of the autogyro 13 related to the third embodiment of the present disclosure.

[0024] Figure 11 It is a side view showing an example of the structure of the autogyro 14 related to the fourth embodiment of the present disclosure.

[0025] Figure 12 It is a side view showing an example of the structure of the autogyro 15 related to the fifth embodiment of the present disclosure.

[0026] Figure 13 It is a block diagram showing an example of the functional structure of the autogyro related to one embodiment of the present disclosure.

[0027] Explanation of reference numerals

[0028] 1 Autogyro; 2 Main body; 2A, 2B Frame; 3A Front motor; 3B Rear motor; 4A Front rotor; 4B Rear rotor; 5 Mounting part; 5A Housing; 5B Battery. Detailed description of the embodiment

[0029] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and the drawings, components having substantially the same functional structure are denoted by the same reference numerals, and redundant description is omitted.

[0030] First, a first embodiment of the present disclosure will be described with reference to the accompanying drawings. Here, for ease of explanation, a small unmanned rotorcraft is used, but this unmanned rotorcraft is merely an example and does not limit the form of the flying object. For example, the rotorcraft may be a manned aircraft or an unmanned aircraft.

[0031] Figure 1 is a perspective view showing an example of the structure of the rotorcraft 1 according to the first embodiment of the present disclosure. In addition, Figure 2 is a plan view showing an example of the structure of the rotorcraft 1 according to the present embodiment. In addition, Figure 3 is a side view showing an example of the structure of the rotorcraft 1 according to the present embodiment. In this specification, the direction F refers to the front-rear direction of the rotorcraft 1 (+ direction is the front, - direction is the rear), the direction W refers to the width direction of the rotorcraft 1, and the direction H refers to the height direction of the rotorcraft 1. In addition, the + direction of the direction F refers to the traveling direction when the rotorcraft 1 is cruising. Cruising means a state in which the rotorcraft 1 flies in the air along a direction including at least a horizontal direction component. Among them, the traveling direction refers to the direction of the horizontal direction component. In addition, the reference plane refers to a plane extending in the horizontal direction, such as the ground or water surface. That is, the traveling direction is a direction substantially parallel to this reference plane.

[0032] As Figures 1-3 shown, the rotorcraft 1 according to the present embodiment includes a main body 2, motors 3 (3A, 3B, 3C), rotors 4 (4A, 4B, 4C), and a mounting portion 5.

[0033] The main body 2 according to the present embodiment is composed of a plurality of frames 2A, 2B, 2C, legs 2D, and a base 2E for mounting a flight controller (not shown) for controlling the flight of the rotorcraft 1. The frames 2A, 2A extend along the front-rear direction (traveling direction) F of the rotorcraft 1. The frames 2A, 2A are arranged in parallel. Motors 3A, 3A and motors 3B, 3B are respectively provided at the front end portions and the rear end portions of the frames 2A, 2A. The frames 2B, 2B are arranged along the width direction W near the center of the frames 2A, 2A to support the frames 2A, 2A. The frames 2A, 2A and the frames 2B, 2B are connected at a plurality of connection points 6. The space surrounded by the frames 2A, 2A, 2B, 2B and the plurality of connection points 6 is an enclosed space SS. The enclosed space SS is formed by the frames. In the enclosed space SS, for example, at least a part of the mounting portion 5 may be provided.

[0034] The frames 2C, 2C are connected to the frames 2A, 2A and extend outward in the width direction. Motors 3C, 3C are respectively provided at the ends of the frames 2C, 2C on the side opposite to the frames 2A, 2A. The legs 2D, 2D are connected to the frames 2A, 2A. The legs 2D can also be any one of the frames 2B, 2B or the frames 2C, 2C. In addition, the legs 2D may not be provided. The base 2E is provided, for example, in a manner of erecting the frames 2B, 2B. The base 2E is provided, for example, to support the mounting part 5. In addition, the mounting part 5 can also be supported on a part of the main body 2 other than the base 2E. For example, a part or all of the mounting part 5 can also be integrally provided with the frame 2A.

[0035] The motor 3 provides the driving force for rotating the rotor 4. The motor 3 obtains energy from the battery 5B under the control of a flight controller (not shown). The number and position of the motors 3 provided are not particularly limited. In the present embodiment, front motors 3A, 3A, rear motors 3B, 3B and side motors 3C, 3C are provided. In addition, the structure and type of the motor 3 are not particularly limited. In addition, the motor 3 can be connected to the main body 2 through a motor bracket (not shown).

[0036] The rotor 4 is provided on the motor 3 and is a mechanism for obtaining the lift and thrust of the autogyro 1. The rotor 4 is, for example, a rotor in the shape of a propeller. The number and position of the rotors 4 provided are not particularly limited and can be determined, for example, according to the number and position of the motors 3 provided. In addition, the number of blades provided on each rotor 4 is not particularly limited. For example, the rotor 4 can also be a dual contra-rotating propeller or the like. In the present embodiment, front rotors 4A, 4A, rear rotors 4B, 4B and side rotors 4C, 4C are provided.

[0037] The mounting part 5 is a part mounted on the main body 2. The mounting part 5 may include, for example, a housing 5A and a battery 5B. In addition, in the present embodiment, the housing 5A is described as an example of a housing for delivering goods or the like, but the present technology is not limited to this example. For example, the mounting part 5 may include sensors and actuators for performing inspections of cameras, structures, etc., and objects that can be mounted on the main body 2. In addition, the objects constituting the mounting part 5 can also be single or multiple. The battery 5B is an example of an energy source and can supply power to the motor 3 and the like. The type of the battery 5B is not particularly limited. In addition, as such an energy source, it can also be in a form other than a battery such as a battery. In addition, these mounting parts 5 can be connected to the main body 2 in a displaceable manner or can be fixedly provided on the main body 2.

[0038] Next, refer to Figure 3, when viewed from the side (i.e., the width direction W) with respect to the traveling direction (front-rear direction) F, the center of gravity G1 of the autogyro 1 according to the present embodiment is located lower than the lift generation region L1 of the main body 2 and more forward than the central position C1 of the main body 2. Here, the center of gravity G1 of the autogyro 1 according to the present embodiment refers to the center of gravity G1 of the main body 2 and the mounting portion 5 (including the battery 5B). In addition, in the autogyro 1 according to the present embodiment, the lift generation region L1 is a region including the width of the blades of each rotor 4 (the length along the Figure 3 height direction H in). In this lift generation region L1, the lift generation center point (lift center) L2 may exist based on the position of each rotor 4 when viewed from above. When the outputs of the respective rotors 4 are substantially the same, the lift center L2 exists at the geometric center position of each rotor 4 when viewed from above.

[0039] In addition, for example, when each rotor 4 is arranged in a mixed form of a pressing type and a pulling type or is arranged at different heights, the lift generation region L1 can be defined as follows. First, the positions of the upper and lower ends of the blades of the rotor 4 in the width direction (the height direction H of the autogyro 1) on the rotation axes of the respective motors 3 are obtained. The space sandwiched between the least-squares plane obtained from the point group corresponding to the upper end position on each rotation axis and the least-squares plane obtained from the point group corresponding to the lower end position on each rotation axis can be defined as the lift generation region L1. The position of the lift center L2 in this case is the same as the above-mentioned housing.

[0040] In addition, the central position C1 of the main body 2 refers to the position at the center between the front end and the rear end in the front-rear direction F of the main body 2.

[0041] Figure 4 is a diagram showing an example of the flight mode of the autogyro 1 according to the present embodiment during cruising. Figure 4 The shown autogyro 1 is in a state of flying obliquely with respect to the traveling direction F in the traveling direction F. The traveling direction F of the autogyro 1 is the front-rear direction F of the main body 2. At this time, the center of gravity G1 of the autogyro 1 is located lower than the lift generation region L1 and more on the traveling direction side (front side) than the central position C1.

[0042] When cruising in this posture, due to the positional relationship between the lift center L2, which is the center for generating lift in the height direction H, and the center of gravity G1, the load deviation of the motor 3 caused by the pitching moment that may occur on the autogyro 1 is reduced. Therefore, in a state where the autogyro 1 is inclined with respect to the traveling direction F, a state where the lift F1 generated by the front rotor 4A and the lift F2 generated by the rear rotor 4B are consistent can be obtained. Then, the rotational speeds of the motors 3A and 3B are substantially the same.

[0043] In addition, in existing autogyros that do not consider the position of the center of gravity G1, in order for the autogyro to cruise, the autogyro needs to be tilted. Therefore, the rear of the autogyro needs to be lifted and the front lowered. In this case, the lift of the rear rotor needs to be greater than that of the front rotor. As a result, the rotational speed of the rear motor increases, and the rotational speed of the front rotor decreases. In this way, a deviation in the rotational speed of the motor can be generated.

[0044] In the autogyro 1 according to the present embodiment, when the autogyro 1 is tilted in the traveling direction F during cruising, the rotational speeds of the front motor 3A and the rear motor 3B can be made substantially equal. Thereby, a deviation in the power consumption (i.e., energy consumption) of the battery caused by the difference in the rotational speeds of the motors during cruising can be suppressed. Thereby, for example, the cruising time can be further extended. In addition, the load on the motors can also be homogenized, and the motors can be used more efficiently. Therefore, the efficiency of the operation of the autogyro during cruising can be improved.

[0045] In addition, the positions of the housing 5A of the mounting portion 5 and the battery 5B relative to the main body 2 are not particularly limited. As long as the position of the above-mentioned center of gravity G1 can be set, the installation position, size, weight, and method of the mounting portion 5 are not particularly limited.

[0046] Next, a modification of the present embodiment will be described. Figure 5 FIG. is a side view showing an example of the structure of the autogyro 10 according to the first modification of the present embodiment. In this modification, when viewed from the side with respect to the traveling direction F (front-rear direction), the position of the center of gravity G2 of the autogyro 10 is included in the lift generation region L1 and is located at the central position C1 of the main body 2. The position of the center of gravity G2 may be substantially the same as the lift center L2. The position of the center of gravity G2 can be changed, for example, by adjusting the structure of the main body 2, the contents of the mounting portion 50, and the installation position. The other structures of the autogyro 10 are the same as those of the above embodiment. In addition, "being located at the central position C1 of the main body 2" means being substantially the same as the central position C1. Substantially the same means that the center of gravity G2 is located within 3 cm before and after the central position C1 in the front-rear direction F.

[0047] Figure 6 FIG. is a view showing an example of the flight state of the autogyro 10 during cruising according to this modification. When the autogyro 10 is flying in a state where the tilt with respect to the traveling direction F is constant, since it is difficult to generate a moment about the center of gravity G2, the lifts F1 and F2 generated by the front rotor 4A and the rear rotor 4A are substantially the same. Therefore, the rotational speeds of the front motor 3A and the rear motor 3B can be made substantially equal. Thereby, a deviation in the power consumption of the battery caused by the difference in the rotational speeds of the motors during cruising can be suppressed.

[0048] Figure 7It is a side view showing an example of the structure of the autogyro 11 according to the second modification of the present embodiment. In this modification, when viewed from the side with respect to the traveling direction F (front-rear direction), the position of the center of gravity G3 of the autogyro 11 is located more upward than the lift generation region L1 and more on the side opposite to the traveling direction F (i.e., the rear side) compared to the central position C1 of the main body 2. The other structures of the autogyro 11 are the same as those in the above-described embodiment. In addition, the mounting portion 51 is provided on the upper portion of the main body 2, but the position where the mounting portion 51 is provided is not particularly limited.

[0049] Figure 8 It is a diagram showing an example of the flight form of the autogyro 11 during cruising according to this modification. When the autogyro 11 is flying in a state where the inclination with respect to the traveling direction F is constant, due to the positional relationship between the lift center L2, which is the center for generating lift in the height direction H, and the center of gravity G3, the load deviation of the motor 3 caused by the pitching moment that may occur on the autogyro 1 is reduced. Therefore, in a state where the autogyro 1 is inclined with respect to the traveling direction F, a state can be obtained in which the lift F1 generated by the front rotor 4A and the lift F2 generated by the rear rotor 4B are consistent. Thus, the rotational speeds of the motors 3A and 3B are substantially the same.

[0050] In this way, by setting the position of the center of gravity of the autogyro 1 to the above position, the rotational speeds of the respective motors 3 can be averaged during the cruising of the autogyro 1. As a result, the deviation of the output of the motor 3 and the accompanying influence can be suppressed. Therefore, the autogyro 1 can be used more efficiently in long-distance flights and the like.

[0051] Next, a second embodiment of the present disclosure will be described. Figure 9 It is a side view showing an example of the structure of the autogyro 12 according to the second embodiment of the present disclosure. The autogyro 12 according to the present embodiment is different from the autogyro 1 according to the first embodiment in that a storage battery 5B is mounted on the main body 2 as the mounting portion 52. The remaining parts are the same as those of the autogyro 1 according to the first embodiment. The center of gravity G4 of the autogyro 12 is the center of gravity of the main body 2 and the storage battery 5B.

[0052] As Figure 9 shown, the position of the center of gravity G4 is included in the lift generation region L1 and is located at the central position C1 of the main body 2. The position of the center of gravity G4 may be substantially the same as the lift center L2. In this case, similar to the first modification of the first embodiment, when the autogyro 12 is flying in a state where the inclination with respect to the traveling direction F is constant, since it is difficult to generate a moment around the center of gravity G4, the lifts F1 and F2 generated by the front rotor 4A and the rear rotor 4A are substantially the same. Therefore, the rotational speeds of the front motor 3A and the rear motor 3B can be made substantially equal.

[0053] In the autogyro 12, a housing for carrying additional cargo or the like, a camera, a sensor, an actuator, or the like can also be appropriately mounted. In this case, these mounted items can be connected and provided on the main body 2. In addition, the mounted items can be connected and provided to be displaceable relative to the main body 2, or can be fixedly provided on the main body 2. For example, when the mounted item is connected and provided to be displaceable relative to the main body 2, the position of the center of gravity of the mounted item can be controlled. Therefore, the position of the center of gravity G4 of the main body 2 and the battery 5B (i.e., the center of gravity of the autogyro 12) and the position of the center of gravity of the mounted item can be controlled separately. Therefore, regardless of the type, shape, etc. of the mounted item, the averaging of the rotational speeds of the respective motors 3 can be achieved.

[0054] Next, a third embodiment of the present disclosure will be described. Figure 10 It is a side view showing an example of the structure of the autogyro 13 according to the third embodiment of the present disclosure. The autogyro 13 according to the present embodiment is different from the autogyro 1 according to the first embodiment in that the length of the rear arm of the frame 2A is shorter than the length of the front arm.

[0055] If described in detail, first, when viewed from the side with respect to the traveling direction F, the center of gravity G5 of the autogyro 13 according to the present embodiment (i.e., the center of gravity of the battery 5B as an example of the main body 2 and the mounting portion 5) is closer to the traveling direction side than the central position C2 of the main body 2. In addition, the center of gravity G5 is lower than the lift generation region L1. In addition, taking the central position observed from the side with respect to the traveling direction F of the frame 2A portion (the portion between the connection points 6, 6) that forms the enclosed space SS as the reference position G3, the distance D1 between the front motor 3A and the reference position C3 is longer than the distance D2 between the rear motor 3A and the reference position C3.

[0056] Also in such an asymmetric structure of the main body 2, similarly, when the autogyro 13 is in an inclined attitude during cruising, the rotational speeds of the front motor 3A and the rear motor 3B can be averaged.

[0057] Next, a fourth embodiment of the present disclosure will be described. Figure 11 It is a side view showing an example of the structure of the autogyro 14 according to the fourth embodiment of the present disclosure. The autogyro 14 according to the present embodiment has a frame 2F provided rearward from the main body 2 of the autogyro 1 according to the first embodiment, and a wing 7 as an example of an aerodynamic part is provided on the frame 2F. The frame 2F is connected to the rear frame 2B, for example, and can extend rearward along the traveling direction F. The wing 7 can be a fixed wing or a movable wing.

[0058] The wing 7 is configured such that when it is inclined with respect to the traveling direction F during the cruise of the autogyro 14, it can receive the airflow from the front to generate lift. By generating lift relative to the autogyro 14 through the wing 7, additional lift can be added to the rear of the autogyro 14. As a result, the load on the rear motor 3B can be reduced. Thereby, the rotational speeds of the front motor 3A and the rear motor 3B can be averaged. In addition, if the wing 7 is a movable wing, the magnitude of the lift can be adjusted. Thus, even in a state of inclination at an arbitrary pitch angle, the rotational speeds of the front motor 3A and the rear motor 3B can be averaged.

[0059] In addition, the position where the wing 7 is installed is not particularly limited. However, when viewed from the side with respect to the traveling direction F, preferably, the wing 7 is disposed along the traveling direction F on the rear side compared to the central position C1 of the main body 2 (the center between the front end and the rear end of the frame 2A). By obtaining lift on the rear side, the effect of averaging the rotational speeds can be easily achieved. More preferably, the wing 7 is disposed along the traveling direction F on the rear side compared to any one of the motors 3. Thereby, the influence of the pitching moment applied to the autogyro 14 can be further suppressed.

[0060] Next, a fifth embodiment of the present disclosure will be described. Figure 12 FIG. 8 is a side view showing an example of the structure of the autogyro 15 according to the fifth embodiment of the present disclosure. In the autogyro 15 according to the present embodiment, the front motor 3A is configured to be rotatable about the pitch axis P1. The range in which it can rotate about the pitch axis P1 is not particularly limited.

[0061] According to this structure, during the cruise of the autogyro 15, the front motor 3A can be tilted forward about the pitch axis. Thus, in the vectors of the lift generated by the front rotor 4A and the rear rotor 4B, the components in the traveling direction F and the height direction H can be made different. Thus, even when the rotational speeds of the front motor 3A and the rear motor 3B are the same (i.e., the magnitudes of the generated lift are the same), the state in which the autogyro 15 is inclined with respect to the traveling direction F can be maintained. That is, it is possible to fly in the traveling direction F while averaging the rotational speeds of the front motor 3A and the rear motor 3B.

[0062] In addition, in Figure 12 the example shown, the front motor 3A is configured to be rotatable about the pitch axis, but the present technology is not limited to this example. For example, other motors such as the rear motor 3B and the side motor 3C can also be configured to be rotatable about the pitch axis. In addition, each motor 3 can be configured not only to be rotatable about the pitch axis but also to be rotatable about the roll axis or the yaw axis.

[0063] As described above, the autogyro related to multiple embodiments of the present disclosure has been described. In addition, the above-described embodiments are merely examples of the present disclosure, and the technology is not limited to the structures of the autogyros disclosed in the respective embodiments. Furthermore, the structures disclosed in the above multiple embodiments can be appropriately combined. For example, in addition to the control of the center-of-gravity position, the rotation mechanism of the above-described wing and motor about the pitch axis can also be applied to equalize the rotational speeds of the motors.

[0064] Figure 13 is a block diagram showing an example of the functional structure of an autogyro related to an embodiment of the present disclosure. As Figure 13 shown, in the main body 2 of the autogyro 1 related to one embodiment, in addition to the motor 3, the propeller (rotor) 4, and the storage battery 5B, a flight controller 21, a camera / sensor unit 22, a gimbal 23, an ESC 24, and a transceiver unit 25 may also be provided.

[0065] The flight controller 21 may have one or more processors such as a programmable processor (e.g., a central processing unit (CPU)).

[0066] The flight controller 21 has a memory (not shown) and can access the memory. The memory stores logic, code, and / or program instructions that can be executed by the flight controller to perform one or more steps.

[0067] The memory may also include a separable medium or an external storage device such as an SD card or a random access memory (RAM). The data acquired from the camera / sensor unit 22 may also be directly transferred and stored in the memory. For example, the still image and moving image data captured by a camera or the like are recorded in the built-in memory or the external memory.

[0068] The flight controller 21 includes a control module configured to control the state of the flying object. For example, the control module controls the propulsion mechanism (such as the motor 3) of the flying object through an ESC (Electric Speed Controller) 24 to adjust the spatial configuration, speed, and / or acceleration of the flying object having six degrees of freedom (translational motions x, y, and z, and rotational motions θ x , θ y and θ z ). The control module can control one or more of the states of the mounting unit and the sensor units.

[0069] The flight controller 21 can communicate with the transceiver unit 25, which is configured to send and / or receive data from one or more external devices (such as a terminal, a display device, or other remote controllers). The transceiver (remote controller) 26 can use any suitable communication method such as wired communication or wireless communication.

[0070] For example, the transceiver unit 25 can utilize one or more of a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a peer-to-peer (P2P) network, a telecommunication network, cloud communication, etc.

[0071] The transceiver unit 25 can send and / or receive one or more of the data obtained by the camera / sensor unit 22, the processing results generated by the flight controller 21, specified control data, user commands from a terminal or a remote controller, etc.

[0072] The camera / sensor unit 22 of the present embodiment may include an inertial sensor (an acceleration sensor, a gyro sensor), a GPS sensor, a proximity sensor (e.g., radar), or a vision / image sensor (e.g., a camera).

[0073] As described above, the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to this example. Obviously, those skilled in the art can conceive of various modification examples or correction examples within the scope of the technical idea described in the claims, and these of course also belong to the technical scope of the present disclosure.

[0074] In addition, the effects described in this specification are merely illustrative and exemplary, rather than restrictive. That is, together with or instead of the above effects, other effects obvious to those skilled in the art based on the description of this specification can be achieved according to the technology related to the present disclosure.

[0075] In addition, the following configurations also belong to the technical scope of the present disclosure.

[0076] (Item 1)

[0077] An autogyro, comprising:

[0078] A main body; and

[0079] A plurality of motors provided on the main body for rotating respective rotors, wherein

[0080] When the main body is inclined with respect to a traveling direction substantially parallel to a reference plane and flies in the traveling direction, the rotational speeds of the plurality of motors are substantially the same.

[0081] (Item 2)

[0082] The autogyro according to Item 1, wherein

[0083] When viewed from the side with respect to the traveling direction, the position of the center of gravity of the autogyro

[0084] Is lower than the lift generation area that generates lift for the autogyro.

[0085] and is closer to the traveling direction side than the central position of the main body.

[0086] (Item 3)

[0087] The autogyro according to Item 1, wherein

[0088] When viewed from the side with respect to the traveling direction, the position of the center of gravity of the autogyro

[0089] is included in the lift generation area that generates lift for the autogyro,

[0090] and is located at the central position of the main body.

[0091] (Item 4)

[0092] The autogyro according to Item 1, wherein

[0093] When viewed from the side with respect to the traveling direction, the position of the center of gravity of the autogyro

[0094] is closer to the upper side than the lift generation area that generates lift for the autogyro,

[0095] and is closer to the side opposite to the traveling direction than the central position of the main body.

[0096] (Item 5)

[0097] The autogyro according to any one of Items 1 to 4, wherein

[0098] the main body is formed by frames arranged in parallel at least along the traveling direction.

[0099] (Item 6)

[0100] The autogyro according to Item 5, further comprising:

[0101] a mounting portion mounted on the main body, wherein

[0102] the frames form an enclosed space in the center,

[0103] and the mounting portion is provided in the enclosed space.

[0104] (Item 7)

[0105] The autogyro according to Item 6, wherein

[0106] the plurality of motors include a front motor and a rear motor along the traveling direction,

[0107] When, when viewed from the side with respect to the traveling direction, the position of the center of gravity of the autogyro is closer to the traveling direction side than the central position of the main body,

[0108] Taking as a reference position the central position of the frame portion that forms the enclosed space, as observed from the side with respect to the traveling direction, the distance between the front motor and the reference position is longer than the distance between the rear motor and the reference position when observed from the side with respect to the traveling direction.

[0109] (Item 8)

[0110] The autogyro according to any one of Items 1 to 7 further includes an aerodynamic component that is mounted on the main body and generates a lift different from that of the rotor during the flight.

[0111] (Item 9)

[0112] The autogyro according to Item 8, wherein the aerodynamic component includes a wing that has a wing cross-section in a plane formed by the traveling direction and the up-down direction.

[0113] (Item 10)

[0114] The autogyro according to Item 9, wherein, when observed from the side with respect to the traveling direction, the wing is disposed on the rear side with respect to the central position of the main body along the traveling direction.

[0115] (Item 11)

[0116] The autogyro according to Item 10, wherein, when observed from the side with respect to the traveling direction, the wing is disposed on the rear side with respect to any one of the motors along the traveling direction.

[0117] (Item 12)

[0118] The autogyro according to any one of Items 1 to 11, wherein any one of the plurality of motors is provided so as to be rotatable at least about a pitch axis.

[0119] (Item 13)

[0120] The autogyro according to Item 12, wherein,

[0121] the plurality of motors include a front motor and a rear motor along the traveling direction,

[0122] the front motor is provided so as to be rotatable about a pitch axis.

Claims

1. A gyrocopter, comprising: A main body; and A plurality of motors disposed on the main body for rotating respective rotors; A loading section including a housing and a storage battery, the housing being disposed below the main body and for delivering goods, the storage battery being disposed above the main body and supplying power to the motors, wherein, When the main body is inclined with respect to a traveling direction substantially parallel to a reference plane and flies in the traveling direction, the rotational speeds of the plurality of motors are substantially the same, When the main body is inclined with respect to the traveling direction and flies in the traveling direction, when viewed from the side with respect to the traveling direction, the position of the center of gravity of the gyrocopter is located within the housing, and is lower than a lift generation area that generates lift for the gyrocopter, and is closer to the traveling direction side than the central position of the main body, The lift generation area is an area including the widths of the blades of the respective rotors in the height direction of the gyrocopter.

2. The gyrocopter according to claim 1, wherein, The main body is formed by frames arranged in parallel at least along the traveling direction.

3. The gyrocopter according to claim 2, wherein, The frames form an enclosed space in the center, The loading section is disposed in the enclosed space.

4. The gyrocopter according to claim 3, wherein, The plurality of motors include a front motor and a rear motor along the traveling direction, When the position of the center of gravity of the gyrocopter is closer to the traveling direction side than the central position of the main body when viewed from the side with respect to the traveling direction, Taking the center position of the frame portion forming the enclosed space when viewed from the side with respect to the traveling direction as a reference position, when viewed from the side with respect to the traveling direction, the distance between the front motor and the reference position is longer than the distance between the rear motor and the reference position.

5. The gyrocopter according to any one of claims 1 to 4, further comprising an aerodynamic component mounted on the main body, which generates a lift different from that of the rotor during the flight.

6. The gyrocopter according to claim 5, wherein, The aerodynamic component includes a wing having an airfoil section in a plane formed by the traveling direction and the up-down direction.

7. The gyrocopter according to claim 6, wherein, When viewed from the side with respect to the traveling direction, the wing is disposed along the traveling direction on a more rearward side than the central position of the main body.

8. The gyrocopter according to claim 7, wherein, When viewed from the side with respect to the traveling direction, the wing is disposed along the traveling direction on a more rearward side than any one of the motors.

9. The gyrocopter according to any one of claims 1 to 4, wherein, Any one of the plurality of motors is provided to be rotatable at least about a pitch axis.

10. The gyrocopter according to claim 9, wherein, The plurality of motors include a front motor and a rear motor along the traveling direction, The front motor is provided to be rotatable about a pitch axis.

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