Suspended mobile device

Abstract

The present invention provides a floating type mobile device, which can move in a state of floating in the air and on the water off the ground. The floating type mobile device includes a first rotating part, a second rotating part, a third rotating part, a fourth rotating part and a fifth rotating part. When taking off, the fourth adjusting part adjusts the direction of the fourth impeller in a manner that the rotation axis of the fourth impeller is at least parallel to the up-down direction. When taking off, the fifth adjusting part adjusts the direction of the fifth impeller in a manner that the rotation axis of the fifth impeller is at least parallel to the up-down direction. Until taking off, the first adjusting part adjusts the position of the first wheel in a manner that the first wheel contacts the ground. Until taking off, the second adjusting part adjusts the position of the second wheel in a manner that the second wheel contacts the ground. Until taking off, the third adjusting part adjusts the position of the third wheel in a manner that the third wheel contacts the ground, and when moving on water, the third adjusting part adjusts the direction of the third impeller in a manner that the rotation axis of the third impeller is at least parallel to the front-back direction.

Description

Technical Field

[0001] The invention relates to a suspension type mobile device. Background Art

[0002] Conventionally, as in Patent Document 1, a floating vehicle using four propeller-type rollers has been proposed.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2000-142379 Summary of the invention

[0004] However, since the wheels move in a state of contact with the ground, movement in a state of floating off the ground is not considered.

[0005] Therefore, an object of the present invention is to provide a floating type mobile device that can move in a state of floating in the air or on water off the ground.

[0006] The suspension type mobile device involved in the present invention comprises: a first rotating part, which includes a first impeller, a first wheel and a first adjustment part; a second rotating part, which includes a second impeller, a second wheel and a second adjustment part; a third rotating part, which includes a third impeller, a third wheel and a third adjustment part; a fourth rotating part, which includes a fourth impeller and a fourth adjustment part; and a fifth rotating part, which includes a fifth impeller and a fifth adjustment part.

[0007] During takeoff, the fourth adjustment unit adjusts at least the orientation of the fourth impeller so that the rotation axis of the fourth impeller is at least parallel to the up-down direction.

[0008] During takeoff, the fifth adjustment unit adjusts at least the orientation of the fifth impeller so that the rotation axis of the fifth impeller is at least parallel to the up-down direction.

[0009] The first adjustment unit adjusts at least the position of the first wheel so that the first wheel comes into contact with the ground until takeoff.

[0010] The second adjustment unit adjusts at least the position of the second wheel so that the second wheel comes into contact with the ground until takeoff.

[0011] Until takeoff, the third adjustment unit adjusts at least the position of the third wheel in such a way that the third wheel contacts the ground. When moving on water, the third adjustment unit adjusts at least the direction of the third impeller in such a way that the rotation axis of the third impeller is at least parallel to the front-rear direction.

[0012] The first rotating unit includes a left front rotating unit including a first impeller, a first wheel, and a first adjusting unit.

[0013] The second rotating unit includes a right front rotating unit including a second impeller, a second wheel, and a second adjusting unit.

[0014] The fourth rotating unit includes a left middle rotating unit including a fourth impeller and a fourth adjusting unit and provided behind the left front rotating unit.

[0015] The fifth rotating unit includes a right middle rotating unit that includes a fifth impeller and a fifth adjustment unit and is disposed behind the right front rotating unit.

[0016] By controlling the motion of at least five rotating parts, a floating type moving device capable of moving on land, in the air, and on water can be realized, that is, the device can move in a state of floating in the air and on water off the ground.

[0017] Preferably, the levitation type mobile device further includes: a hydrogen tank; and a power conversion unit that generates electric power based on hydrogen supplied from the hydrogen tank.

[0018] The electric power obtained by the electric power conversion unit is supplied to the first to fifth rotating units.

[0019] The hydrogen filled in the hydrogen tank is converted into electricity, and the converted electricity is used to drive the first rotating unit, etc. Since a large amount of hydrogen is filled in the hydrogen tank at the time of takeoff, the specific gravity of the levitation type mobile device is reduced, and it can take off easily.

[0020] In addition, the hydrogen container can be used as a float when moving on water.

[0021] More preferably, two hydrogen tanks are provided.

[0022] A third rotating unit is provided between the two hydrogen containers.

[0023] More preferably, when moving on water or moving in the air in the first flight mode, the first adjustment unit adjusts at least the orientation of the first impeller so that the rotation axis of the first impeller is at least parallel to the up-down direction.

[0024] When moving on water or moving in the air in the first flight mode, the second adjustment unit adjusts at least the orientation of the second impeller so that the rotation axis of the second impeller is at least parallel to the up-down direction.

[0025] Capable of aerial movement, including hovering.

[0026] Furthermore, preferably, when the aircraft moves in the air in the second flight mode, the fourth adjustment unit adjusts at least the orientation of the fourth impeller so that the rotation axis of the fourth impeller is at least parallel to the front-rear direction.

[0027] When the aircraft moves in the air in the second flight mode, the fifth adjustment unit adjusts at least the orientation of the fifth impeller so that the rotation axis of the fifth impeller is at least parallel to the front-rear direction.

[0028] When moving in the air in the second flight mode, the first adjustment unit adjusts at least the orientation of the first impeller so that the rotation axis of the first impeller is at least parallel to the front-rear direction and does not overlap with the fourth impeller when viewed in the front-rear direction.

[0029] When moving in the air in the second flight mode, the second adjustment unit adjusts at least the orientation of the second impeller so that the rotation axis of the second impeller is at least parallel to the front-rear direction and does not overlap with the fifth impeller when viewed in the front-rear direction.

[0030] When the aircraft moves in the air in the second flight mode, the third adjustment unit adjusts at least the orientation of the third impeller so that the rotation axis of the third impeller is at least parallel to the front-rear direction.

[0031] By driving the first impeller and the like so as to eject the sucked gas and the like backward in a state where the rotating shafts (impellers) do not overlap in the front-rear direction, early aerial movement can be achieved.

[0032] More preferably, the fourth rotating unit has a fourth wheel.

[0033] The fifth rotating unit has a fifth wheel.

[0034] The fourth rotating unit includes a first transmitting unit that transmits the first rotational force to either the fourth impeller or the fourth wheel.

[0035] The fifth rotating unit includes a second transmitting unit that transmits the second rotational force to either the fifth impeller or the fifth wheel.

[0036] During takeoff, the first transmission unit transmits the first rotational force to the fourth impeller, and during movement on land, the first transmission unit transmits the first rotational force to the fourth wheel.

[0037] During takeoff, the second transmission unit transmits the second rotational force to the fifth impeller, and during movement on land, the second transmission unit transmits the second rotational force to the fifth wheel.

[0038] When the impeller is rotated, the rotation of the wheel can be stopped, and when the wheel is rotated, the rotation of the impeller can be stopped, thereby achieving the motion control of the impeller and the wheel in a state with less load.

[0039] More preferably, the first rotating portion includes a left front rotating portion and a left rear rotating portion provided behind the left middle rotating portion.

[0040] The left front rotating part and the left rear rotating part respectively include a first impeller, a first wheel and a first adjusting part.

[0041] The second rotating portion includes a right front rotating portion and a right rear rotating portion provided behind the right middle rotating portion.

[0042] The right front rotating part and the right rear rotating part respectively include a second impeller, a second wheel and a second adjusting part.

[0043] The third rotating portion includes at least one of a front central rotating portion provided between the left front rotating portion and the right front rotating portion and a rear central rotating portion provided between the left rear rotating portion and the right rear rotating portion.

[0044] More preferably, the third rotating portion includes a front central rotating portion and a rear central rotating portion.

[0045] The motion control is performed in the following manner: when the rotation axes of the impeller of the front central rotating part and the impeller of the rear central rotating part perform motion in an overlapping positional relationship, the impeller of the front central rotating part and the impeller of the rear central rotating part rotate in opposite directions to each other.

[0046] The front central impeller and the rear central impeller can constitute a double counter-rotating fan.

[0047] In addition, preferably, the first rotating portion includes a left front rotating portion and a left rear rotating portion provided behind the left middle rotating portion.

[0048] The left front rotating part and the left rear rotating part respectively include a first impeller, a first wheel and a first adjusting part.

[0049] The second rotating portion includes a right front rotating portion and a right rear rotating portion provided behind the right middle rotating portion.

[0050] The right front rotating part and the right rear rotating part respectively include a second impeller, a second wheel and a second adjusting part.

[0051] The third rotating portion includes a front central rotating portion provided between the left front rotating portion and the right front rotating portion, and a rear central rotating portion provided between the left rear rotating portion and the right rear rotating portion.

[0052] When moving in the air in the second flight mode, the left middle impeller corresponding to the fourth impeller included in the left middle rotating unit, the left front impeller corresponding to the first impeller included in the left front rotating unit, and the left rear impeller corresponding to the first impeller included in the left rear rotating unit are adjusted so that at least the rotation axes do not overlap.

[0053] When moving in the air in the second flight mode, the right middle impeller corresponding to the fifth impeller included in the right middle rotating unit, the right front impeller corresponding to the second impeller included in the right front rotating unit, and the right rear impeller corresponding to the second impeller included in the right rear rotating unit are adjusted so that at least the rotation axes do not overlap.

[0054] In addition, preferably, the third rotating portion includes: a left rear rotating portion provided behind the left middle rotating portion; and a right rear rotating portion provided behind the right middle rotating portion.

[0055] The left rear rotating part and the right rear rotating part respectively include a third impeller, a third wheel and a third adjusting part.

[0056] The fourth rotating portion has a left middle rotating portion.

[0057] The fifth rotating portion has a right middle rotating portion.

[0058] As described above, according to the present invention, it is possible to provide a floating type moving device that can move in a state of floating in the air or on water off the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a block diagram showing each part of the levitation type mobile device according to the first embodiment.

[0060] Figure 2 This is a perspective view of the levitation type mobile device in the first state of the first embodiment as viewed from the front and from above.

[0061] Figure 3 This is a perspective view of the levitation type mobile device in the first state of the first embodiment as viewed from the rear and from below.

[0062] Figure 4 It is a perspective view of the levitation type mobile device in the second state according to the first embodiment.

[0063] Figure 5 It is a perspective view of the floating type mobile device in the third state according to the first embodiment.

[0064] Figure 6 This is a perspective view of the levitation type mobile device in the fourth state according to the first embodiment, as viewed from the front and from above.

[0065] Figure 7 is with Figure 6 Compared to the stereogram viewed further from the lateral direction.

[0066] Figure 8 This is a front view of the levitation type mobile device in the fourth state according to the first embodiment, as seen from the front.

[0067] Fig. 9This is a perspective view of the levitation type mobile device in the fifth state according to the first embodiment, as viewed from the front and from above.

[0068] Fig.10 This is a perspective view of the levitation type mobile device in the fifth state according to the first embodiment as viewed from the rear and from below.

[0069] Fig.11 It is a block diagram showing each part of the levitation type mobile device according to the second embodiment.

[0070] Fig.12 It is a perspective view of the levitation type mobile device in the first state according to the second embodiment.

[0071] Fig.13 It is a perspective view of the levitation type mobile device in the second state according to the second embodiment.

[0072] Fig.14 It is a perspective view of the floating type mobile device in the third state according to the second embodiment.

[0073] Fig.15 is with Fig.14 Compared to the stereogram viewed further from above.

[0074] Fig.16 This is a perspective view of the levitation type mobile device in the fifth state according to the second embodiment, as viewed from the front and from above.

[0075] Fig.17 This is a perspective view of the levitation type mobile device in the fifth state according to the second embodiment as viewed from the rear and from above.

[0076] Fig.18 This is a perspective view of a levitation type mobile device according to a modification of the fifth state of the second embodiment, as viewed from the front and from above.

[0077] Fig.19 This is a perspective view of a levitation type mobile device according to a modification of the fifth state of the second embodiment, as viewed from behind and from above. DETAILED DESCRIPTION

[0078] Hereinafter, this embodiment will be described with reference to the drawings.

[0079] In addition, the embodiment is not limited to the following first embodiment and second embodiment. In addition, the content described in one embodiment can also be applied to other embodiments in principle. In addition, each embodiment and each modification example can be appropriately combined.

[0080] First embodiment (see Figures 1 to 10 ), the second embodiment (refer to Figures 11 to 19) has a suspension type mobile device 1 including a driving unit 10, a rotating unit (a left front rotating unit 30a, a front central rotating unit 40a, etc.), a connecting unit (a left front connecting unit 50a, a front central connecting unit 60a, etc.), and a container 90.

[0081] For the purpose of describing directions, the front-rear direction of the floating type mobile device 1 is defined as the x direction, the left-right direction perpendicular to the x direction is defined as the y direction, and the substantially vertical direction perpendicular to the x and y directions is defined as the z direction.

[0082] exist Figure 2 In the figure, the directions indicated by the arrows on the xyz axes are defined as the front, the left, and the top, respectively.

[0083] (driving unit 10, operating unit 11)

[0084] The driving unit 10 has a riding space provided therein, and an operation unit 11 for a passenger to operate the floating type moving device 1 is provided in the riding space.

[0085] In addition to the operation unit 11 , the driving unit 10 is provided with a monitoring unit 13 , a control unit 15 , a power conversion unit 17 , a power storage unit 19 , and a boarding gate 21 .

[0086] (Monitoring Department 13)

[0087] The monitoring unit 13 is installed outside the driving unit 10, etc., and measures the speed, outside temperature, altitude, operation status, etc.

[0088] (Control Unit 15)

[0089] The control unit 15 controls each part of the floating type mobile device 1 based on the operation using the operation unit 11 and the information from the monitoring unit 13 .

[0090] The operation control of the control unit 15 will be described in detail later.

[0091] (Power conversion unit 17)

[0092] The power conversion unit 17 generates electricity by causing the hydrogen filled in the container 90 to react with oxygen in the air.

[0093] (Electricity Storage Unit 19)

[0094] The power storage unit 19 is a battery, a capacitor, a fuel cell, etc., and stores the power obtained by the power conversion unit 17 and the power obtained by the power generation unit (left front power generation unit 53a, etc.) described later, and supplies the power to various parts of the floating type mobile device 1.

[0095] (Exit 21)

[0096] The entrance 21 is provided on the side, front or rear surface of the driving unit 10 .

[0097] In the first embodiment, the entrance 21 is provided on the side of the driving unit 10 and is located near the middle in the front-rear direction (x direction).

[0098] The entrance and exit between the outside of the floating type moving device 1 and the riding space of the driving unit 10 are performed through the entrance and exit 21 .

[0099] (rotating part, connecting part)

[0100] The rotating part is used for the movement of the levitation type mobile device 1 on land, the take-off, landing and air movement of the levitation type mobile device 1 , and the movement of the levitation type mobile device 1 on water.

[0101] The rotating part of the first embodiment includes a left front rotating part 30a, a right front rotating part 30b, a left middle rotating part 30c, a right middle rotating part 30d, a left rear rotating part 30e, a right rear rotating part 30f, a front center rotating part 40a, and a rear center rotating part 40b.

[0102] The connection portion of the first embodiment includes a left front connection portion 50a, a right front connection portion 50b, a left middle connection portion 50c, a right middle connection portion 50d, a left rear connection portion 50e, a right rear connection portion 50f, a front center connection portion 60a, and a rear center connection portion 60b.

[0103] When the floating mobile device 1 is viewed from above, the left front rotating portion 30 a and the left front connecting portion 50 a are disposed at the left front.

[0104] When the floating type mobile device 1 is viewed from above, the right front rotating part 30b and the right front connecting part 50b are disposed at the right front.

[0105] When viewing the floating mobile device 1 from above, the left middle rotating part 30c and the left middle connecting part 50c are provided on the left side and in the middle of the front-rear direction (x direction) (behind the left front rotating part 30a and in front of the left rear rotating part 30e).

[0106] When viewing the floating mobile device 1 from above, the right middle rotating part 30d and the right middle connecting part 50d are provided on the right side and in the middle of the front-rear direction (x direction) (behind the right front rotating part 30b and in front of the right rear rotating part 30f).

[0107] When the floating type moving device 1 is viewed from above, the left rear rotating portion 30e and the left rear connecting portion 50e are provided at the left rear (rear of the left middle rotating portion 30c).

[0108] When the floating type moving device 1 is viewed from above, the right rear rotating portion 30f and the right rear connecting portion 50f are provided at the right rear (rear of the right middle rotating portion 30d).

[0109] When the levitation type moving device 1 is viewed from above, the front central rotating portion 40 a and the front central connecting portion 60 a are provided in the middle of the left-right direction (y direction) and in the front.

[0110] When the floating type moving device 1 is viewed from above, the rear central rotating portion 40b and the rear central connecting portion 60b are provided in the middle of the left-right direction (y direction) and at the rear.

[0111] The left front rotating portion 30a is attached to the cab 10 via the left front connecting portion 50a.

[0112] The right front rotating portion 30b is attached to the cab 10 via the right front connecting portion 50b.

[0113] The left middle rotating portion 30c is attached to the cab 10 via the left middle connecting portion 50c.

[0114] The right middle rotating portion 30d is attached to the cab 10 via the right middle connecting portion 50d.

[0115] The left rear rotating portion 30e is attached to the cab 10 via a left rear connecting portion 50e.

[0116] The right rear rotating portion 30f is attached to the cab 10 via the right rear connecting portion 50f.

[0117] The front center rotating portion 40a is attached to the cab 10 via the front center connecting portion 60a.

[0118] The rear center rotating portion 40b is attached to the cab 10 via the rear center connecting portion 60b.

[0119] The left front connection portion 50 a is attached to the left front portion of the upper surface of the cab 10 .

[0120] The right front connection portion 50 b is attached to the front right portion of the upper surface of the cab 10 .

[0121] The left middle connection portion 50c is installed on the left side of the upper surface of the cab 10 and in the middle in the front-rear direction.

[0122] The right middle connection portion 50d is installed on the right side of the upper surface of the cab 10 and in the middle in the front-rear direction.

[0123] The left rear connection portion 50 e is attached to the left rear portion of the upper surface of the cab 10 .

[0124] The right rear connection portion 50 f is attached to the right rear portion of the upper surface of the cab 10 .

[0125] The front center connection portion 60 a is attached to the front center of the lower surface of the cab 10 .

[0126] The rear center connection portion 60 b is attached to the rear center of the lower surface of the cab 10 .

[0127] (Left front rotating portion 30a)

[0128] The left front rotating unit 30a includes a motor (left front motor 31a), an impeller (left front impeller 33a), a wheel (left front wheel 35a), and a transmission unit (left front transmission unit 37a).

[0129] The left front motor 31 a is used to drive the left front impeller 33 a and the left front wheel 35 a .

[0130] The left front impeller 33a is composed of a propeller fan or the like, and ejects the sucked gas or liquid in the axial direction.

[0131] In order to prevent the user from coming into contact with the left front impeller 33a, it is preferable to provide a mesh (not shown) that covers at least a portion of the suction region and the discharge region of the left front impeller 33a.

[0132] The suction region is a region where gas such as air or liquid such as water is sucked into the left front impeller 33 a .

[0133] The discharge region is a region where the gas or liquid sucked into the left front impeller 33 a is discharged from the left front impeller 33 a .

[0134] A left front wheel 35a is provided around a side portion of the left front impeller 33a.

[0135] The left front wheel 35 a is used to enable the floating type moving device 1 to move on the ground.

[0136] The left front wheel 35a is approximately in the shape of a hollow cylinder, the upper surface of which is in the intake area of ​​the left front impeller 33a, the lower surface of which is in the exhaust area of ​​the left front impeller 33a, and the side surface of which covers the left front impeller 33a.

[0137] The side surface of the substantially hollow cylindrical shape constituting the left front wheel 35a is formed of an elastic member such as rubber.

[0138] When the levitation type mobile device 1 is in contact with the ground, the side surface of the approximately hollow cylindrical shape is deformed according to the unevenness of the ground.

[0139] Preferably, the pitch of the blades of the left front impeller 33a can be changed according to the amount of discharged gas or liquid.

[0140] For example, under the control of the control unit 15, the blades of the left front impeller 33a are tilted so that the angle formed with the upper surface of the substantially hollow cylindrical shape constituting the left front wheel 35a is small, or the angle is tilted so that the angle is large.

[0141] The left front transmission unit 37a is a power transmission device such as a clutch and a transmission.

[0142] The left front transmission unit 37a is provided between the left front motor 31a and the left front impeller 33a, and between the left front motor 31a and the left front wheel 35a, and controls the power transmission from the left front motor 31a to the left front impeller 33a, and the power transmission from the left front motor 31a to the left front wheel 35a.

[0143] Specifically, the rotational force of the left front motor 31 a is transmitted to either the left front impeller 33 a or the left front wheel 35 a by the left front transmission unit 37 a .

[0144] For example, when the left front wheel 35a is used for traveling on land, the rotational force of the left front motor 31a is transmitted to the left front wheel 35a via the left front transmission unit 37a.

[0145] When the left front impeller 33a is used for takeoff and landing, movement in the air, movement on water, etc., the rotational force of the left front motor 31a is transmitted to the left front impeller 33a via the left front transmission part 37a.

[0146] (right front rotating part 30b, left middle rotating part 30c, right middle rotating part 30d, left rear rotating part 30e, right rear rotating part 30f)

[0147] Similar to the left front rotating unit 30a, the right front rotating unit 30b has a motor (right front motor 31b), an impeller (right front impeller 33b), a wheel (right front wheel 35b), and a transmission unit (right front transmission unit 37b).

[0148] Similar to the left front rotating unit 30a, the left middle rotating unit 30c has a motor (left middle motor 31c), an impeller (left middle impeller 33c), a wheel (left middle wheel 35c), and a transmission unit (left middle transmission unit 37c).

[0149] Similar to the left front rotating unit 30a, the right middle rotating unit 30d has a motor (right middle motor 31d), an impeller (right middle impeller 33d), a wheel (right middle wheel 35d), and a transmission unit (right middle transmission unit 37d).

[0150] Similar to the left front rotating unit 30a, the left rear rotating unit 30e has a motor (left rear motor 31e), an impeller (left rear impeller 33e), a wheel (left rear wheel 35e), and a transmission unit (left rear transmission unit 37e).

[0151] Similar to the left front rotating unit 30a, the right rear rotating unit 30f has a motor (right rear motor 31f), an impeller (right rear impeller 33f), a wheel (right rear wheel 35f), and a transmission unit (right rear transmission unit 37f).

[0152] (Front central rotating portion 40a, rear central rotating portion 40b)

[0153] Similar to the left front rotating unit 30a, the front center rotating unit 40a has a motor (front center motor 41a), an impeller (front center impeller 43a), a wheel (front center wheel 45a), and a transmission unit (front center transmission unit 47a).

[0154] Similar to the left front rotating part 30a, the rear center rotating part 40b has a motor (rear center motor 41b), an impeller (rear center impeller 43b), a wheel (rear center wheel 45b), and a transmission part (rear center transmission part 47b).

[0155] The connection portion is disposed between the driving portion 10 and the rotating portion, and is used to adjust the positional relationship between the driving portion 10 and each rotating portion (especially the orientation of the impeller and the wheel).

[0156] The positional relationship when traveling on land is set to the first state (refer to Figure 2 , Figure 3 ).

[0157] The positional relationship during boarding and landing is set to the second state (refer to Figure 4 ).

[0158] One side of the positional relationship during flight (first flight mode) is set to the third state (refer to Figure 5 ).

[0159] The other side of the positional relationship during flight (second flight mode) is set to the fourth state (refer to Figure 6 , Figure 7 , Figure 8 ).

[0160] The positional relationship when moving on water is set to the fifth state (refer to Fig. 9 , Fig.10 ).

[0161] (Left front connecting portion 50a)

[0162] The left front connection portion 50a includes an adjustment portion (a left front primary adjustment portion 51a1 and a left front secondary adjustment portion 51a2) and a power generation portion (a left front power generation portion 53a).

[0163] The housing of the left front connecting portion 50a has a substantially L-shape when viewed from the x direction.

[0164] One side of the substantially L-shaped portion has a surface perpendicular to the z direction in the first state, and faces a portion of the upper surface of the driving unit 10 .

[0165] The other side of the substantially L-shape has a surface perpendicular to the y direction in the first state, and faces a part of the side surface of the driving unit 10 .

[0166] One end of the substantially L-shaped portion is attached to the upper surface of the cab 10 via the left front primary adjustment portion 51 a 1 .

[0167] The other end of the substantially L-shape is attached to the left front rotating portion 30a via the left front secondary adjustment portion 51a2.

[0168] The left front primary adjustment portion 51 a 1 holds the portion of the left front connecting portion 50 a other than the left front primary adjustment portion 51 a 1 and the left front rotating portion 30 a in a state where they are movable relative to the cab 10 .

[0169] Specifically, the left front adjustment portion 51a1 maintains the portion of the left front connecting portion 50a other than the left front adjustment portion 51a1 and the left front rotating portion 30a in a state where they can rotate around a first axis parallel to the x-direction, and the distance (first distance d1) between the first axis and the portion of the left front connecting portion 50a other than the left front adjustment portion 51a1 and the left front rotating portion 30a can be changed.

[0170] The left front secondary adjustment portion 51a2 maintains the left front rotating portion 30a in a state where it can rotate around a second axis that can change from a state parallel to the z direction to a state parallel to the y direction, and where the distance (second distance d2) between the portion of the left front connecting portion 50a other than the left front secondary adjustment portion 51a2 and the left front rotating portion 30a can change.

[0171] The dimensions of each part are set as follows: in the first state, when the left front secondary adjustment part 51a2 is contracted, the lower end of the left front rotating part 30a is located below the lower end of the container 90 and contacts the ground.

[0172] A member such as a shock absorber may be provided on the left front secondary adjustment portion 51a2 to absorb the impact received by the left front rotating portion 30a from the ground or the like.

[0173] For example, in the first state (refer to Figure 2 , Figure 3 ) in the left front secondary adjustment portion 51a2, the rotation axis (second axis) is parallel to the z direction, and the left front connecting portion 51a holds the left front rotating portion 30a in such a manner that the rotation axes of the left front impeller 33a and the left front wheel 35a are roughly parallel to the y direction.

[0174] In addition, in the third state (refer to Figure 5) in the left front secondary adjustment portion 51a2, the rotation axis (second axis) is parallel to the y direction, and the left front connecting portion 51a holds the left front rotating portion 30a in such a manner that the rotation axes of the left front impeller 33a and the left front wheel 35a are roughly parallel to the z direction.

[0175] Therefore, the left front rotating portion 30a holds the rotating shaft 36a and the like of the left front impeller 33a in a state where they can be directed in various directions by the left front primary adjusting portion 51a1 and the left front secondary adjusting portion 51a2.

[0176] The left front power generation unit 53a is a power generation device that performs solar power generation, and is provided on the outer side surface of the casing of the left front connection unit 50a.

[0177] In the first embodiment, an example is shown in which the left front power generating portion 53 a is provided on the other outer side surface of the substantially L-shaped left front connecting portion 50 a .

[0178] The electric power obtained by the left front power generation unit 53 a is stored in the power storage unit 19 .

[0179] (right front connection part 50b, left middle connection part 50c, right middle connection part 50d, left rear connection part 50e, right rear connection part 50f)

[0180] Similar to the left front connection portion 50a, the right front connection portion 50b includes an adjustment portion (a right front primary adjustment portion 51b1 and a right front secondary adjustment portion 51b2) and a power generation portion (a right front power generation portion 53b).

[0181] Similar to the left front connection portion 50a, the left middle connection portion 50c includes an adjustment portion (a left middle primary adjustment portion 51c1 and a left middle secondary adjustment portion 51c2) and a power generation portion (a left middle power generation portion 53c).

[0182] Similar to the left front connection portion 50a, the right middle connection portion 50d includes an adjustment portion (a right middle primary adjustment portion 51d1 and a right middle secondary adjustment portion 51d2) and a power generation portion (a right middle power generation portion 53d).

[0183] Similar to the left front connection portion 50a, the left rear connection portion 50e includes an adjustment portion (a left rear primary adjustment portion 51e1 and a left rear secondary adjustment portion 51e2) and a power generation portion (a left rear power generation portion 53e).

[0184] Similar to the left front connection portion 50a, the right rear connection portion 50f includes an adjustment portion (a right rear primary adjustment portion 51f1 and a right rear secondary adjustment portion 51f2) and a power generation portion (a right rear power generation portion 53f).

[0185] (Front center connecting portion 60a)

[0186] The front center connection portion 60a has an adjustment portion (front center adjustment portion 61a).

[0187] The front center connection portion 60 a is attached between the two containers 90 on the lower surface of the cab 10 .

[0188] The front center adjustment portion 61 a holds the front center rotation portion 40 a in a state where the front center rotation portion 40 a is movable relative to the cab 10 .

[0189] Specifically, the front center adjustment portion 61 a holds the front center rotating portion 40 a in a rotatable state around an axis (third axis) parallel to the z direction.

[0190] The dimensions of each portion are set such that the lower end of the front central rotating portion 40a is located below the lower end of the container 90 and the lower end of the front central rotating portion 40a is in contact with the ground in the first state.

[0191] A member such as a shock absorber may be provided on the front center adjustment portion 61 a to absorb the impact received by the front center rotation portion 40 a from the ground or the like.

[0192] (Rear center connecting portion 60b)

[0193] Similar to the front center connection portion 60a, the rear center connection portion 60b has an adjustment portion (rear center adjustment portion 61b).

[0194] (Container 90)

[0195] The container 90 stores hydrogen in a gaseous state.

[0196] Two containers 90 are mounted on the lower surface of the driving unit 10 so as to extend in the x direction and be aligned in the y direction.

[0197] The hydrogen filled in the tank 90 is converted into electric power by the electric power conversion unit 17 and used to drive the left front motor 31 a and the like.

[0198] (Motion control in the first state, stationary on land)

[0199] When the levitation type mobile device 1 is stationary on land, the control unit 15 controls each part so that the levitation type mobile device 1 is in the first state (refer to Figure 1 , Figure 2 ).

[0200] Specifically, the control unit 15 operates the adjustment unit (left front primary adjustment unit 51a1, left front secondary adjustment unit 51a2) of the left front connecting unit 50a so that the rotation axis 36a of the left front impeller 33a is roughly parallel to the y direction and the left front wheel 35a is in contact with the ground.

[0201] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a so that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a is at least approximately parallel to the left-right direction.

[0202] In addition, the control unit 15 operates the adjustment unit (right front primary adjustment unit 51b1, right front secondary adjustment unit 51b2) of the right front connecting unit 50b so that the rotation axis 36b of the right front impeller 33b is roughly parallel to the y direction and the right front wheel 35b is in contact with the ground.

[0203] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b so that the rotation axis 36b of the right front impeller 33b and the right front wheel 35b is at least approximately parallel to the left-right direction.

[0204] In addition, the control unit 15 operates the adjustment unit (left middle primary adjustment unit 51c1, left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is roughly parallel to the y direction and the left middle wheel 35c is in contact with the ground.

[0205] That is, the left center primary adjustment part 51c1 and the left center secondary adjustment part 51c2 adjust the position and orientation of the left center impeller 33c and the left center wheel 35c in such a manner that the rotation axis 36c of the left center impeller 33c and the left center wheel 35c are at least approximately parallel to the left-right direction.

[0206] In addition, the control unit 15 operates the adjustment unit (right middle primary adjustment unit 51d1, right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is roughly parallel to the y direction and the right middle wheel 35d is in contact with the ground.

[0207] That is, the right center primary adjustment part 51d1 and the right center secondary adjustment part 51d2 adjust the position and orientation of the right center impeller 33d and the right center wheel 35d so that the rotation axis 36d of the right center impeller 33d and the right center wheel 35d is at least approximately parallel to the left-right direction.

[0208] In addition, the control unit 15 operates the adjustment unit (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2) of the left rear connection unit 50e so that the rotation axis 36e of the left rear impeller 33e is roughly parallel to the y direction and the left rear wheel 35e is in contact with the ground.

[0209] That is, the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e so that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e is at least approximately parallel to the left-right direction.

[0210] In addition, the control unit 15 operates the adjustment unit (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2) of the right rear connection unit 50f so that the rotation axis 36f of the right rear impeller 33f is roughly parallel to the y direction and the right rear wheel 35f is in contact with the ground.

[0211] That is, the right rear primary adjustment unit 51f1 and the right rear secondary adjustment unit 51f2 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotation axis 36f of the right rear impeller 33f and the right rear wheel 35f is at least approximately parallel to the left-right direction.

[0212] The control unit 15 operates the adjustment unit (front center adjustment unit 61a) of the front center connection unit 60a so that the rotation axis 46a of the front center impeller 43a is substantially parallel to the y direction and the front center wheel 45a contacts the ground.

[0213] That is, the front center adjustment unit 61a adjusts the orientation of the front center impeller 43a and the front center wheel 45a so that the rotation shaft 46a of the front center impeller 43a and the front center wheel 45a is at least substantially parallel to the left-right direction.

[0214] The control unit 15 operates the adjustment unit (rear center adjustment unit 61 b ​​) of the rear center connection unit 60 b so that the rotation axis 46 b of the rear center impeller 43 b is substantially parallel to the y direction and the rear center wheel 45 b contacts the ground.

[0215] That is, the rear center adjustment unit 61b adjusts the orientation of the rear center impeller 43b and the rear center wheel 45b so that the rotation shaft 46b of the rear center impeller 43b and the rear center wheel 45b is at least substantially parallel to the left-right direction.

[0216] The lower ends of the rotating parts (left front rotating part 30a, right front rotating part 30b, left middle rotating part 30c, right middle rotating part 30d, left rear rotating part 30e, right rear rotating part 30f, front central rotating part 40a, rear central rotating part 40b) are located below the lower end of the container 90.

[0217] The left entrance 21 is in a state covered by the left middle rotating portion 30c and the left middle connecting portion 50c.

[0218] The right entrance 21 is in a state of being covered by the right middle rotating portion 30d and the right middle connecting portion 50d.

[0219] (Motion control in the first state, moving on land)

[0220] When the floating type moving device 1 moves on land, the control unit 15 further rotates the left front motor 31 a and operates the left front transmission unit 37 a so that the rotational force of the left front motor 31 a is transmitted to the left front wheel 35 a .

[0221] Furthermore, the control unit 15 rotates the right front motor 31 b and operates the right front transmission unit 37 b so that the rotational force of the right front motor 31 b is transmitted to the right front wheel 35 b .

[0222] Furthermore, the control unit 15 rotates the left center motor 31 c and operates the left center transmission unit 37 c so that the rotational force of the left center motor 31 c is transmitted to the left center wheel 35 c.

[0223] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center wheel 35 d .

[0224] Furthermore, the control unit 15 rotates the left rear motor 31 e and operates the left rear transmission unit 37 e so that the rotational force of the left rear motor 31 e is transmitted to the left rear wheel 35 e.

[0225] Furthermore, the control unit 15 rotates the right rear motor 31f, and operates the right rear transmission unit 37f so that the rotational force of the right rear motor 31f is transmitted to the right rear wheel 35f.

[0226] In addition, the control unit 15 rotates the front center motor 41 a.

[0227] In addition, the control unit 15 rotates the rear center motor 41 b.

[0228] However, some of the left front motor 31a, the right front motor 31b, the left center motor 31c, the right center motor 31d, the left rear motor 31e, and the right rear motor 31f may be stopped and only the remaining motors may be used for driving.

[0229] The levitation type moving device 1 moves on land by the rotation of the wheels (such as the left front wheel 35 a ).

[0230] By adjusting the rotation amount of the wheels (such as the left front wheel 35 a ), the floating type mobile device 1 can be moved not only along a straight track in the front-rear direction but also in a turning direction in the left-right direction.

[0231] Furthermore, the secondary adjustment unit (the left front secondary adjustment unit 51a2, etc.) changes the rotation axis of the wheel (the left front wheel 35a, etc.) from being parallel to the y direction, thereby enabling the levitation type mobile device 1 to turn and move in the left-right direction.

[0232] (Motion control, boarding and alighting in the second state)

[0233] When the levitation type mobile device 1 is further boarded or disembarked while being stationary on land, the control unit 15 controls each part so that the levitation type mobile device 1 is in the second state (see Figure 4 ).

[0234] Specifically, the control unit 15 operates the adjustment unit (left front primary adjustment unit 51a1, left front secondary adjustment unit 51a2) of the left front connecting unit 50a so that the rotation axis 36a of the left front impeller 33a is roughly parallel to the y direction and the left front wheel 35a is in contact with the ground.

[0235] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a so that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a is at least approximately parallel to the left-right direction.

[0236] In addition, the control unit 15 operates the adjustment unit (right front primary adjustment unit 51b1, right front secondary adjustment unit 51b2) of the right front connecting unit 50b so that the rotation axis 36b of the right front impeller 33b is roughly parallel to the y direction and the right front wheel 35b is in contact with the ground.

[0237] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b so that the rotation axis 36b of the right front impeller 33b and the right front wheel 35b is at least approximately parallel to the left-right direction.

[0238] Furthermore, the control unit 15 operates the adjustment units (left middle primary adjustment unit 51c1 and left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is substantially parallel to the z direction.

[0239] That is, the left middle primary adjustment part 51c1 and the left middle secondary adjustment part 51c2 adjust the position and orientation of the left middle impeller 33c and the left middle wheel 35c in such a manner that the rotation axis 36c of the left middle impeller 33c and the left middle wheel 35c are at least approximately parallel to the up and down directions so that the left middle impeller 33c at least ejects the sucked gas downward.

[0240] Furthermore, the control unit 15 operates the adjustment units (right middle primary adjustment unit 51d1 and right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is substantially parallel to the z direction.

[0241] That is, the right middle primary adjustment part 51d1 and the right middle secondary adjustment part 51d2 adjust the position and orientation of the right middle impeller 33d and the right middle wheel 35d in such a manner that the rotation axis 36d of the right middle impeller 33d and the right middle wheel 35d are at least approximately parallel to the up and down directions so that the right middle impeller 33d at least ejects the sucked gas downward.

[0242] Alternatively, the operation control in the second state may be performed using only one of the left middle connection portion 50c and the right middle connection portion 50d.

[0243] In addition, the control unit 15 operates the adjustment unit (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2) of the left rear connection unit 50e so that the rotation axis 36e of the left rear impeller 33e is roughly parallel to the y direction and the left rear wheel 35e is in contact with the ground.

[0244] That is, the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e so that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e is at least approximately parallel to the left-right direction.

[0245] In addition, the control unit 15 operates the adjustment unit (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2) of the right rear connection unit 50f so that the rotation axis 36f of the right rear impeller 33f is roughly parallel to the y direction and the right rear wheel 35f is in contact with the ground.

[0246] That is, the right rear primary adjustment unit 51f1 and the right rear secondary adjustment unit 51f2 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotation axis 36f of the right rear impeller 33f and the right rear wheel 35f is at least approximately parallel to the left-right direction.

[0247] The control unit 15 operates the adjustment unit (front center adjustment unit 61a) of the front center connection unit 60a so that the rotation axis 46a of the front center impeller 43a is substantially parallel to the y direction and the front center wheel 45a contacts the ground.

[0248] That is, the front center adjustment unit 61a adjusts the orientation of the front center impeller 43a and the front center wheel 45a so that the rotation shaft 46a of the front center impeller 43a and the front center wheel 45a is at least substantially parallel to the left-right direction.

[0249] The control unit 15 operates the adjustment unit (rear center adjustment unit 61 b ​​) of the rear center connection unit 60 b so that the rotation axis 46 b of the rear center impeller 43 b is substantially parallel to the y direction and the rear center wheel 45 b contacts the ground.

[0250] That is, the rear center adjustment unit 61b adjusts the orientation of the rear center impeller 43b and the rear center wheel 45b so that the rotation shaft 46b of the rear center impeller 43b and the rear center wheel 45b is at least substantially parallel to the left-right direction.

[0251] When boarding or disembarking, the control unit 15 can adjust the orientation of the front center wheel 45a, etc. in such a manner that at least one of the rotation axis 46a of the front center impeller 43a and the rotation axis 46b of the rear center impeller 43b is roughly parallel to the front-to-back direction, so that the floating mobile device 1 will not move erroneously along the x direction, etc.

[0252] The lower ends of the rotating parts (left front rotating part 30a, right front rotating part 30b, left rear rotating part 30e, right rear rotating part 30f, front central rotating part 40a, rear central rotating part 40b) are located below the lower end of the container 90.

[0253] The left middle rotating part 30 c and the right middle rotating part 30 d are separated from the driving part 10 , and are formed to be able to enter and exit between the outside of the floating type moving device 1 and the riding space of the driving part 10 through the boarding and alighting door 21 .

[0254] (Second state motion control, take-off, etc.)

[0255] When the levitating mobile device 1 takes off, lands, or hovers, the control unit 15 further rotates the left middle motor 31c so that the rotational force of the left middle motor 31c is transmitted to the left middle impeller 33c, causing the left middle transmission unit 37c to perform an action.

[0256] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center impeller 33 d .

[0257] In addition, the control unit 15 stops the other motors (the left front motor 31a, the right front motor 31b, the left rear motor 31e, the right rear motor 31f, the front center motor 41a, and the rear center motor 41b).

[0258] The rotation of the impellers (the left middle impeller 33c and the right middle impeller 33d) causes the levitation type mobile device 1 to take off, land, or hover.

[0259] (Motion control in the third state, aerial movement in the first flight mode)

[0260] When the levitation type mobile device 1 is moving in the air in the first flight mode, the control unit 15 controls each part so that the levitation type mobile device 1 is in the third state (see Figure 5 ).

[0261] Specifically, the control unit 15 operates the adjustment units (the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2) of the left front connection unit 50a so that the rotation axis 36a of the left front impeller 33a is substantially parallel to the z direction.

[0262] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a in such a manner that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a are at least approximately parallel to the up and down directions so that the left front impeller 33a at least sprays the sucked gas downward.

[0263] Furthermore, the control unit 15 operates the adjustment units (the right front primary adjustment unit 51 b 1 and the right front secondary adjustment unit 51 b 2 ) of the right front connection unit 50 b so that the rotation axis 36 b of the right front impeller 33 b becomes substantially parallel to the z direction.

[0264] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b in such a manner that the rotating shaft 36b of the right front impeller 33b and the right front wheel 35b are at least approximately parallel to the up and down directions so that the right front impeller 33b at least sprays the sucked gas downward.

[0265] Furthermore, the control unit 15 operates the adjustment units (left middle primary adjustment unit 51c1 and left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is substantially parallel to the z direction.

[0266] That is, the left middle primary adjustment part 51c1 and the left middle secondary adjustment part 51c2 adjust the position and orientation of the left middle impeller 33c and the left middle wheel 35c in such a manner that the rotation axis 36c of the left middle impeller 33c and the left middle wheel 35c are at least approximately parallel to the up and down directions so that the left middle impeller 33c at least ejects the sucked gas downward.

[0267] Furthermore, the control unit 15 operates the adjustment units (right middle primary adjustment unit 51d1 and right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is substantially parallel to the z direction.

[0268] That is, the right middle primary adjustment part 51d1 and the right middle secondary adjustment part 51d2 adjust the position and orientation of the right middle impeller 33d and the right middle wheel 35d in such a manner that the rotation axis 36d of the right middle impeller 33d and the right middle wheel 35d are at least approximately parallel to the up and down directions so that the right middle impeller 33d at least ejects the sucked gas downward.

[0269] Furthermore, the control unit 15 operates the adjustment units (the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2) of the left rear connection unit 50e so that the rotation axis 36e of the left rear impeller 33e is substantially parallel to the z direction.

[0270] That is, the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the up-down direction so that the left rear impeller 33e at least sprays the sucked gas downward.

[0271] Furthermore, the control unit 15 operates the adjustment units (right rear primary adjustment unit 51f1 and right rear secondary adjustment unit 51f2) of the right rear connection unit 50f so that the rotation axis 36f of the right rear impeller 33f becomes substantially parallel to the z direction.

[0272] That is, the right rear primary adjustment unit 51f1 and the right rear secondary adjustment unit 51f2 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotating axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least approximately parallel to the up-down direction so that the right rear impeller 33f ejects the sucked gas at least downward.

[0273] Furthermore, the control unit 15 operates the adjustment unit (front center adjustment unit 61 a ) of the front center connection unit 60 a so that the rotation axis 46 a of the front center impeller 43 a becomes substantially parallel to the x direction.

[0274] That is, the front center adjustment portion 61a adjusts the orientation of the front center impeller 43a and the front center wheel 45a in such a manner that the rotation axis 46a of the front center impeller 43a and the front center wheel 45a is at least approximately parallel to the front-to-back direction so that the front center impeller 43a ejects the sucked gas at least rearward.

[0275] Furthermore, the control unit 15 operates the adjustment unit (rear center adjustment unit 61 b ​​) of the rear center connection unit 60 b so that the rotation axis 46 b of the rear center impeller 43 b becomes substantially parallel to the x direction.

[0276] That is, the rear center adjustment portion 61b adjusts the orientation of the rear center impeller 43b and the rear center wheel 45b in such a manner that the rotation axis 46b of the rear center impeller 43b and the rear center wheel 45b is at least approximately parallel to the front-rear direction so that the rear center impeller 43b ejects the sucked gas at least rearward.

[0277] The rotating parts (the left front rotating part 30a, the right front rotating part 30b, the left middle rotating part 30c, the right middle rotating part 30d, the left rear rotating part 30e, and the right rear rotating part 30f) are in a state of being separated from the driving part 10.

[0278] Furthermore, the control unit 15 rotates the left front motor 31 a and operates the left front transmission unit 37 a so that the rotational force of the left front motor 31 a is transmitted to the left front impeller 33 a .

[0279] Furthermore, the control unit 15 rotates the right front motor 31 b and operates the right front transmission unit 37 b so that the rotational force of the right front motor 31 b is transmitted to the right front impeller 33 b.

[0280] Furthermore, the control unit 15 rotates the left center motor 31 c and operates the left center transmission unit 37 c so that the rotational force of the left center motor 31 c is transmitted to the left center impeller 33 c.

[0281] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center impeller 33 d .

[0282] Furthermore, the control unit 15 rotates the left rear motor 31 e and operates the left rear transmission unit 37 e so that the rotational force of the left rear motor 31 e is transmitted to the left rear impeller 33 e.

[0283] Furthermore, the control unit 15 rotates the right rear motor 31f, and operates the right rear transmission unit 37f so that the rotational force of the right rear motor 31f is transmitted to the right rear impeller 33f.

[0284] In addition, the control unit 15 rotates the front center motor 41 a.

[0285] In addition, the control unit 15 rotates the rear center motor 41 b.

[0286] The levitation type moving device 1 moves in the air or hovers due to the rotation of the impeller (the left front impeller 33 a and the like).

[0287] (Control of Rotation Direction of Front Center Impeller 43a and Rear Center Impeller 43b)

[0288] In addition, preferably, in the third state, the fourth state described later, and the fifth state described later, the orientations of the front central impeller 43a and the rear central impeller 43b are adjusted and their movements are controlled so that the rotation direction of the front central impeller 43a becomes opposite to the rotation direction of the rear central impeller 43b.

[0289] That is, the action is controlled in the following manner: when the rotation axis 46a of the front central impeller 43a and the rotation axis 46b of the rear central impeller 43b are formed to overlap, and the front central impeller 43a and the rear central impeller 43b perform actions such as ejecting the sucked gas backward, the front central impeller 43a and the rear central impeller 43b rotate in opposite directions to each other.

[0290] In this case, the front center impeller 43a and the rear center impeller 43b can constitute a double counter-rotating fan.

[0291] (Third state, water movement)

[0292] Furthermore, when the levitation type moving device 1 moves on water, the control unit 15 may control each part so that the levitation type moving device 1 is in the third state.

[0293] When the suspended mobile device 1 moves on water, the left front motor 31a and the like are controlled so that the rotation speeds of the left front impeller 33a, the right front impeller 33b, the left middle impeller 33c, the right middle impeller 33d, the left rear impeller 33e and the right rear impeller 33f are reduced compared to when the suspended mobile device 1 moves in the air.

[0294] (Motion control in the fourth state, aerial movement in the second flight mode)

[0295] When the levitation type mobile device 1 is moving in the air in the second flight mode, the control unit 15 can control each part so that the levitation type mobile device 1 is in the fourth state (see Figure 6 , Figure 7 , Figure 8 ).

[0296] Specifically, the control unit 15 operates the adjustment units (the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2) of the left front connection unit 50a so that the rotation axis 36a of the left front impeller 33a is substantially parallel to the x direction.

[0297] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a in such a manner that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a are at least approximately parallel to the front-to-rear direction so that the left front impeller 33a ejects the sucked gas at least rearward.

[0298] Furthermore, the control unit 15 operates the adjustment units (the right front primary adjustment unit 51 b 1 and the right front secondary adjustment unit 51 b 2 ) of the right front connection unit 50 b so that the rotation axis 36 b of the right front impeller 33 b becomes substantially parallel to the x direction.

[0299] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b in such a manner that the rotating shaft 36b of the right front impeller 33b and the right front wheel 35b are at least approximately parallel to the front-to-rear direction so that the right front impeller 33b ejects the sucked gas at least rearward.

[0300] In addition, the control unit 15 operates the adjustment unit (left middle primary adjustment unit 51c1, left middle secondary adjustment unit 51c2) of the left middle connecting unit 50c in such a manner that the rotation axis 36c of the left middle impeller 33c is approximately parallel to the x direction and does not overlap with the left front impeller 33a when viewed from the x direction.

[0301] That is, the left middle primary adjustment part 51c1 and the left middle secondary adjustment part 51c2 adjust the position and orientation of the left middle impeller 33c and the left middle wheel 35c in such a manner that the rotation axis 36c of the left middle impeller 33c and the left middle wheel 35c are at least approximately parallel to the front-to-rear direction so that the left middle impeller 33c at least ejects the sucked gas etc. rearward and the rotation axis 36c of the left middle impeller 33c does not overlap with the rotation axis 36a of the left front impeller 33a.

[0302] In addition, the control unit 15 operates the adjustment unit (right middle primary adjustment unit 51d1, right middle secondary adjustment unit 51d2) of the right middle connection unit 50d in such a manner that the rotation axis 36d of the right middle impeller 33d is approximately parallel to the x direction and does not overlap with the right front impeller 33b when viewed from the x direction.

[0303] That is, the right middle primary adjustment part 51d1 and the right middle secondary adjustment part 51d2 adjust the position and orientation of the right middle impeller 33d and the right middle wheel 35d in such a manner that the rotation axis 36d of the right middle impeller 33d and the right middle wheel 35d are at least approximately parallel to the front-to-rear direction so that the right middle impeller 33d at least ejects the sucked gas etc. rearward and the rotation axis 36d of the right middle impeller 33d does not overlap with the rotation axis 36b of the right front impeller 33b.

[0304] In addition, the control unit 15 causes the adjustment unit (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2) of the left rear connecting unit 50e to perform an action in such a manner that the rotation axis 36e of the left rear impeller 33e is approximately parallel to the x-direction and does not overlap with the left front impeller 33a and the left middle impeller 33c when viewed from the x-direction.

[0305] That is, the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the front-to-rear direction so that the left rear impeller 33e at least ejects the sucked gas etc. rearward, and the rotation axis 36e of the left rear impeller 33e does not overlap with the rotation axis 36a of the left front impeller 33a and the rotation axis 36c of the left middle impeller 33c.

[0306] In addition, the control unit 15 causes the adjustment unit (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2) of the right rear connecting unit 50f to perform an action in such a manner that the rotation axis 36f of the right rear impeller 33f is approximately parallel to the x-direction and does not overlap with the right front impeller 33b and the right middle impeller 33d when viewed from the x-direction.

[0307] That is, the right rear primary adjustment part 51f1 and the right rear secondary adjustment part 51f2 adjust the position and orientation of the left rear impeller 33f and the right rear wheel 35f in such a manner that the rotation axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least approximately parallel to the front-to-rear direction so that the right rear impeller 33f at least ejects the sucked gas etc. rearward, and the rotation axis 36f of the right rear impeller 33f does not overlap with the rotation axis 36b of the right front impeller 33b and the rotation axis 36d of the right middle impeller 33d.

[0308] Furthermore, the control unit 15 operates the adjustment unit (front center adjustment unit 61 a ) of the front center connection unit 60 a so that the rotation axis 46 a of the front center impeller 43 a becomes substantially parallel to the x direction.

[0309] That is, the front center adjustment portion 61a adjusts the orientation of the front center impeller 43a and the front center wheel 45a in such a manner that the rotation axis 46a of the front center impeller 43a and the front center wheel 45a is at least approximately parallel to the front-to-back direction so that the front center impeller 43a ejects the sucked gas at least rearward.

[0310] Furthermore, the control unit 15 operates the adjustment unit (rear center adjustment unit 61 b ​​) of the rear center connection unit 60 b so that the rotation axis 46 b of the rear center impeller 43 b becomes substantially parallel to the x direction.

[0311] That is, the rear center adjustment portion 61b adjusts the orientation of the rear center impeller 43b and the rear center wheel 45b in such a manner that the rotation axis 46b of the rear center impeller 43b and the rear center wheel 45b is at least approximately parallel to the front-rear direction so that the rear center impeller 43b ejects the sucked gas at least rearward.

[0312] Furthermore, the control unit 15 rotates the left front motor 31 a and operates the left front transmission unit 37 a so that the rotational force of the left front motor 31 a is transmitted to the left front impeller 33 a .

[0313] Furthermore, the control unit 15 rotates the right front motor 31 b and operates the right front transmission unit 37 b so that the rotational force of the right front motor 31 b is transmitted to the right front impeller 33 b.

[0314] Furthermore, the control unit 15 rotates the left center motor 31 c and operates the left center transmission unit 37 c so that the rotational force of the left center motor 31 c is transmitted to the left center impeller 33 c.

[0315] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center impeller 33 d .

[0316] Furthermore, the control unit 15 rotates the left rear motor 31 e and operates the left rear transmission unit 37 e so that the rotational force of the left rear motor 31 e is transmitted to the left rear impeller 33 e.

[0317] Furthermore, the control unit 15 rotates the right rear motor 31f, and operates the right rear transmission unit 37f so that the rotational force of the right rear motor 31f is transmitted to the right rear impeller 33f.

[0318] In addition, the control unit 15 rotates the front center motor 41 a.

[0319] In addition, the control unit 15 rotates the rear center motor 41 b.

[0320] The levitation type moving device 1 moves in the air by the rotation of the impeller (the left front impeller 33 a and the like).

[0321] (Fifth state motion control, water movement)

[0322] When the floating type mobile device 1 moves on water, the control unit 15 controls each part so that the floating type mobile device 1 is in the fifth state (see Fig. 9 , Fig.10 ).

[0323] Specifically, the control unit 15 operates the adjustment units (the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2) of the left front connection unit 50a so that the rotation axis 36a of the left front impeller 33a is substantially parallel to the y direction.

[0324] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a so that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a is at least approximately parallel to the left-right direction.

[0325] Furthermore, the control unit 15 operates the adjustment units (the right front primary adjustment unit 51 b 1 and the right front secondary adjustment unit 51 b 2 ) of the right front connection unit 50 b so that the rotation axis 36 b of the right front impeller 33 b becomes substantially parallel to the y direction.

[0326] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b so that the rotation axis 36b of the right front impeller 33b and the right front wheel 35b is at least approximately parallel to the left-right direction.

[0327] Furthermore, the control unit 15 operates the adjustment units (left middle primary adjustment unit 51c1 and left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is substantially parallel to the y direction.

[0328] That is, the left center primary adjustment part 51c1 and the left center secondary adjustment part 51c2 adjust the position and orientation of the left center impeller 33c and the left center wheel 35c in such a manner that the rotation axis 36c of the left center impeller 33c and the left center wheel 35c are at least approximately parallel to the left-right direction.

[0329] Furthermore, the control unit 15 operates the adjustment units (right middle primary adjustment unit 51d1 and right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is substantially parallel to the y direction.

[0330] That is, the right center primary adjustment part 51d1 and the right center secondary adjustment part 51d2 adjust the position and orientation of the right center impeller 33d and the right center wheel 35d so that the rotation axis 36d of the right center impeller 33d and the right center wheel 35d is at least approximately parallel to the left-right direction.

[0331] Furthermore, the control unit 15 operates the adjustment units (the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2) of the left rear connection unit 50e so that the rotation axis 36e of the left rear impeller 33e is substantially parallel to the y direction.

[0332] That is, the left rear primary adjustment unit 51e1 and the left rear secondary adjustment unit 51e2 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e so that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e is at least approximately parallel to the left-right direction.

[0333] Furthermore, the control unit 15 operates the adjustment units (right rear primary adjustment unit 51f1 and right rear secondary adjustment unit 51f2) of the right rear connection unit 50f so that the rotation axis 36f of the right rear impeller 33f becomes substantially parallel to the y direction.

[0334] That is, the right rear primary adjustment unit 51f1 and the right rear secondary adjustment unit 51f2 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotation axis 36f of the right rear impeller 33f and the right rear wheel 35f is at least approximately parallel to the left-right direction.

[0335] Furthermore, the control unit 15 operates the adjustment unit (front center adjustment unit 61 a ) of the front center connection unit 60 a so that the rotation axis 46 a of the front center impeller 43 a becomes substantially parallel to the x direction.

[0336] That is, the front center adjustment portion 61a adjusts the orientation of the front center impeller 43a and the front center wheel 45a so that the rotation axis 46a of the front center impeller 43a and the front center wheel 45a is at least approximately parallel to the front-to-back direction so that the front center impeller 43a ejects the sucked liquid at least rearward.

[0337] Furthermore, the control unit 15 operates the adjustment unit (rear center adjustment unit 61 b ​​) of the rear center connection unit 60 b so that the rotation axis 46 b of the rear center impeller 43 b becomes substantially parallel to the x direction.

[0338] That is, the rear center adjustment portion 61b adjusts the orientation of the rear center impeller 43b and the rear center wheel 45b so that the rotation axis 46b of the rear center impeller 43b and the rear center wheel 45b is at least approximately parallel to the front-rear direction so that the rear center impeller 43b ejects the sucked liquid at least rearward.

[0339] Furthermore, the control unit 15 stops the left front motor 31a, the right front motor 31b, the left center motor 31c, the right center motor 31d, the left rear motor 31e, and the right rear motor 31f.

[0340] In addition, the control unit 15 rotates the front center motor 41 a.

[0341] In addition, the control unit 15 rotates the rear center motor 41 b.

[0342] The impellers (the front center impeller 43 a and the rear center impeller 43 b ) function as a screw and move the floating type moving device 1 on water by rotating.

[0343] (Correspondence with the sentences in the claims)

[0344] The “first rotating portion” recorded in the claims corresponds to the left front rotating portion 30a and / or the left rear rotating portion 30e of the first embodiment, the “second rotating portion” recorded in the claims corresponds to the right front rotating portion 30b and / or the right rear rotating portion 30f of the first embodiment, the “fourth rotating portion” recorded in the claims corresponds to the left middle rotating portion 30c of the first embodiment, and the “fifth rotating portion” recorded in the claims corresponds to the right middle rotating portion 30d of the first embodiment.

[0345] When the “first rotating portion” corresponds to the left front rotating portion 30a and the “second rotating portion” corresponds to the right front rotating portion 30b, the “third rotating portion” described in the claims corresponds to the rear center rotating portion 40b.

[0346] When the “first rotating portion” corresponds to the left rear rotating portion 30e and the “second rotating portion” corresponds to the right rear rotating portion 30f, the “third rotating portion” described in the claims corresponds to the front center rotating portion 40a.

[0347] When the "first rotating part" corresponds to the left front rotating part 30a and the left rear rotating part 30e, and the "second rotating part" corresponds to the right front rotating part 30b and the right rear rotating part 30f, the "third rotating part" described in the claims corresponds to the front central rotating part 40a and / or the rear central rotating part 40b.

[0348] (The effect of setting at least 5 rotating parts)

[0349] By controlling the motion of at least five rotating parts, a floating type moving device 1 capable of moving on land, in the air, and on water can be realized, that is, the floating type moving device 1 can move in a state of floating in the air and on water off the ground.

[0350] (Effect of installing hydrogen container 90)

[0351] The hydrogen filled in the hydrogen tank 90 is converted into electricity, and the converted electricity is used to drive the left front rotating unit 30a, etc. Since a large amount of hydrogen is filled in the hydrogen tank 90 at the time of takeoff, the floating type mobile device 1 has a small specific gravity and can take off easily.

[0352] Furthermore, when traveling on water, the hydrogen tank 90 can be used as a float.

[0353] (Effect of air movement in the first flight mode (third state) etc.)

[0354] The left front impeller 33a, the right front impeller 33b, the left middle impeller 33c, the right middle impeller 33d, the left rear impeller 33e and the right rear impeller 33f are driven in a manner such as ejecting the sucked gas downward, thereby enabling aerial movement including hovering.

[0355] The front center impeller 43 a and the rear center impeller 43 b function as propellers, and the rotation of the propellers causes the floating type moving device 1 to move on water.

[0356] In addition, the impellers (left front impeller 33a, right front impeller 33b, left middle impeller 33c, right middle impeller 33d, left rear impeller 33e, right rear impeller 33f) blow air toward the water surface, whereby, compared with a method in which the blowing is not performed, the suspended mobile device 1 is in a state of floating at a shallower position on the water surface, thereby being able to move on the water with less water resistance.

[0357] (Effect of air movement in the second flight mode (fourth state))

[0358] When the rotating shafts (impellers) do not overlap in the front-to-back direction, the left front impeller 33a, the right front impeller 33b, the left middle impeller 33c, the right middle impeller 33d, the left rear impeller 33e, and the right rear impeller 33f are driven by ejecting the inhaled gas toward the rear, thereby achieving aerial movement earlier than in the third state.

[0359] (Using the effect of the transmission part)

[0360] The rotational force of the motor is transmitted to either the impeller or the wheel via the transmission unit.

[0361] Therefore, when the impeller is rotated, the rotation of the wheel can be stopped, and when the wheel is rotated, the rotation of the impeller can be stopped, thereby achieving the operation control of the impeller and the wheel in a state with less load.

[0362] (Second Embodiment)

[0363] In the first embodiment, the example in which the front center impeller 43a of the front center rotating unit 40a and the rear center impeller 43b of the rear center rotating unit 40b are used for traveling on water has been described.

[0364] In the second embodiment, the left rear impeller 33e of the left rear rotating unit 30e and the right rear impeller 33f of the right rear rotating unit 30f are used for water movement. (See Figures 11 to 19 ).

[0365] The following description will focus on the differences from the first embodiment.

[0366] (Front central rotating portion 40a, etc. are omitted)

[0367] In the second embodiment, the front central rotating portion 40a, the rear central rotating portion 40b, the front central connecting portion 60a, and the rear central connecting portion 60b are omitted.

[0368] (Left rear connection portion 50e)

[0369] The left rear connection portion 50e of the second embodiment includes an adjustment portion (a left rear primary adjustment portion 51e1, a left rear secondary adjustment portion 51e2, and a left rear tertiary adjustment portion 51e3) and a power generation portion (a left rear power generation portion 53e).

[0370] The housing of the left rear connecting portion 50e has a substantially L-shape when viewed from the x direction in the first state.

[0371] One side of the substantially L-shaped portion has a surface perpendicular to the z direction in the first state, and faces a portion of the upper surface of the driving unit 10 .

[0372] The other side of the substantially L-shape has a surface perpendicular to the y direction in the first state, and faces a part of the side surface of the driving unit 10 .

[0373] However, in the fifth state, the housing of the left rear connecting portion 50e is formed in a substantially L-shape when viewed from the y direction.

[0374] At this time, one side of the substantially L-shape has a surface perpendicular to the z direction and faces a part of the upper surface of the driving unit 10 .

[0375] The other side of the substantially L-shape has a surface perpendicular to the x-direction and faces a part of the back surface of the cab 10 .

[0376] One end of the substantially L-shaped portion is attached to the upper surface of the cab 10 via the left rear primary adjustment portion 51 e 1 and the left rear tertiary adjustment portion 51 e 3 .

[0377] The other end of the substantially L-shape is attached to the left rear rotating portion 30e via the left rear secondary adjustment portion 51e2.

[0378] The left rear primary adjustment portion 51 e 1 holds the portion of the left rear connecting portion 50 e other than the left rear primary adjustment portion 51 e 1 and the left rear tertiary adjustment portion 51 e 3 and the left rear rotating portion 30 e in a state where they are movable relative to the cab 10 .

[0379] Specifically, the left rear primary adjustment portion 51e1 maintains the portion of the left rear connecting portion 50e other than the left rear primary adjustment portion 51e1 and the left rear tertiary adjustment portion 51e3 and the left rear rotating portion 30e in a state in which they can rotate around a first axis parallel to the x-direction in a first state, and a distance (first distance d1) between the first axis and the portion of the left rear connecting portion 50e other than the left rear primary adjustment portion 51e1 and the left rear tertiary adjustment portion 51e3 and the left rear rotating portion 30e can be changed.

[0380] The left rear secondary adjustment portion 51e2 maintains the left rear rotating portion 30e in a state where it can rotate around a second axis that can change from a state parallel to the z direction to a state parallel to the horizontal direction, and the distance (second distance d2) between the portion of the left rear connecting portion 50e other than the left rear secondary adjustment portion 51e2 and the left rear rotating portion 30e can change.

[0381] The dimensions of each part are set as follows: in the first state, when the left rear secondary adjustment part 51e2 is contracted, the lower end of the left rear rotating part 30e is located below the lower end of the container 90 and contacts the ground.

[0382] The left rear third adjustment portion 51 e 3 holds the portion of the left rear connecting portion 50 e other than the left rear third adjustment portion 51 e 3 and the left rear rotating portion 30 e in a state rotatable about a third axis parallel to the z direction relative to the cab 10 .

[0383] For example, in the first state (refer to Fig.12 ) in the left rear primary adjustment portion 51e1, the rotation axis (first axis) is parallel to the x-direction, the rotation axis (second axis) of the left rear secondary adjustment portion 51e2 is parallel to the z-direction, and the left rear connecting portion 51e maintains the left rear rotating portion 30e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are approximately parallel to the y-direction.

[0384] In addition, in the third state (refer to Fig.14 , Fig.15 ) in the left rear primary adjustment portion 51e1, the rotation axis (first axis) is parallel to the x-direction, the rotation axis (second axis) of the left rear secondary adjustment portion 51e2 is parallel to the y-direction, and the left rear connecting portion 51e maintains the left rear rotating portion 30e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are approximately parallel to the z-direction.

[0385] In addition, in the fifth state (refer to Fig.16 , Fig.17 ) in the left rear primary adjustment portion 51e1, the rotation axis (first axis) is parallel to the y direction, the rotation axis (second axis) of the left rear secondary adjustment portion 51e2 is parallel to the z direction, and the left rear connecting portion 51e maintains the left rear rotating portion 30e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are approximately parallel to the x direction.

[0386] Therefore, the left rear rotating portion 30e holds the rotating shaft 36e of the left rear impeller 33e and the like in a state where they can be oriented in various directions by the left rear primary adjusting portion 51e1, the left rear secondary adjusting portion 51e2, and the left rear tertiary adjusting portion 53e3.

[0387] (Right rear connection portion 50f)

[0388] Similar to the left rear connection portion 50e, the right rear connection portion 50f includes an adjustment portion (a right rear primary adjustment portion 51f1, a right rear secondary adjustment portion 51f2, and a right rear tertiary adjustment portion 51f3) and a power generation portion (a right rear power generation portion 53f).

[0389] (Motion control in the first state, stationary on land)

[0390] When the levitation type mobile device 1 is stationary on land, the control unit 15 controls each part so that the levitation type mobile device 1 is in the first state (see Fig.12 ).

[0391] Specifically, the control unit 15 operates the adjustment unit (left front primary adjustment unit 51a1, left front secondary adjustment unit 51a2) of the left front connecting unit 50a so that the rotation axis 36a of the left front impeller 33a is roughly parallel to the y direction and the left front wheel 35a is in contact with the ground.

[0392] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a so that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a is at least approximately parallel to the left-right direction.

[0393] In addition, the control unit 15 operates the adjustment unit (right front primary adjustment unit 51b1, right front secondary adjustment unit 51b2) of the right front connecting unit 50b so that the rotation axis 36b of the right front impeller 33b is roughly parallel to the y direction and the right front wheel 35b is in contact with the ground.

[0394] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b so that the rotation axis 36b of the right front impeller 33b and the right front wheel 35b is at least approximately parallel to the left-right direction.

[0395] In addition, the control unit 15 operates the adjustment unit (left middle primary adjustment unit 51c1, left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is roughly parallel to the y direction and the left middle wheel 35c is in contact with the ground.

[0396] That is, the left center primary adjustment part 51c1 and the left center secondary adjustment part 51c2 adjust the position and orientation of the left center impeller 33c and the left center wheel 35c in such a manner that the rotation axis 36c of the left center impeller 33c and the left center wheel 35c are at least approximately parallel to the left-right direction.

[0397] In addition, the control unit 15 operates the adjustment unit (right middle primary adjustment unit 51d1, right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is roughly parallel to the y direction and the right middle wheel 35d is in contact with the ground.

[0398] That is, the right center primary adjustment part 51d1 and the right center secondary adjustment part 51d2 adjust the position and orientation of the right center impeller 33d and the right center wheel 35d so that the rotation axis 36d of the right center impeller 33d and the right center wheel 35d is at least approximately parallel to the left-right direction.

[0399] In addition, the control unit 15 causes the adjustment unit (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2, left rear tertiary adjustment unit 51e3) of the left rear connecting unit 50e to perform an action in such a manner that the rotation axis 36e of the left rear impeller 33e is approximately parallel to the y direction and the left rear wheel 35e is in contact with the ground.

[0400] That is, the left rear primary adjustment unit 51e1, the left rear secondary adjustment unit 51e2 and the left rear tertiary adjustment unit 51e3 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the left-right direction.

[0401] In addition, the control unit 15 causes the adjustment unit (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2, right rear tertiary adjustment unit 51f3) of the right rear connection unit 50f to perform an action in such a manner that the rotation axis 36f of the right rear impeller 33f is approximately parallel to the y direction and the right rear wheel 35f is in contact with the ground.

[0402] That is, the right rear primary adjustment unit 51f1, the right rear secondary adjustment unit 51f2 and the right rear tertiary adjustment unit 51f3 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotating axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least roughly parallel to the left-right direction.

[0403] The lower ends of the rotating parts (left front rotating part 30a, right front rotating part 30b, left middle rotating part 30c, right middle rotating part 30d, left rear rotating part 30e, right rear rotating part 30f) are located below the lower end of the container 90.

[0404] The left entrance 21 is covered by the left middle rotating portion 30c and the left middle connecting portion 50c.

[0405] The right entrance 21 is in a state covered by the right middle rotating portion 30d and the right middle connecting portion 50d.

[0406] (Motion control in the first state, moving on land)

[0407] When the floating type moving device 1 moves on land, the control unit 15 further rotates the left front motor 31 a and operates the left front transmission unit 37 a so that the rotational force of the left front motor 31 a is transmitted to the left front wheel 35 a .

[0408] Furthermore, the control unit 15 rotates the right front motor 31 b and operates the right front transmission unit 37 b so that the rotational force of the right front motor 31 b is transmitted to the right front wheel 35 b .

[0409] Furthermore, the control unit 15 rotates the left center motor 31 c and operates the left center transmission unit 37 c so that the rotational force of the left center motor 31 c is transmitted to the left center wheel 35 c.

[0410] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center wheel 35 d .

[0411] Furthermore, the control unit 15 rotates the left rear motor 31 e and operates the left rear transmission unit 37 e so that the rotational force of the left rear motor 31 e is transmitted to the left rear wheel 35 e.

[0412] Furthermore, the control unit 15 rotates the right rear motor 31f, and operates the right rear transmission unit 37f so that the rotational force of the right rear motor 31f is transmitted to the right rear wheel 35f.

[0413] However, some of the left front motor 31a, the right front motor 31b, the left center motor 31c, the right center motor 31d, the left rear motor 31e, and the right rear motor 31f may be stopped and only the remaining motors may be used for driving.

[0414] The levitation type moving device 1 moves on land by the rotation of the wheels (such as the left front wheel 35 a ).

[0415] By adjusting the rotation amount of the wheels (such as the left front wheel 35 a ), the floating type mobile device 1 can be moved not only along a straight track in the front-rear direction but also in a turning direction in the left-right direction.

[0416] Furthermore, the secondary adjustment unit (the left front secondary adjustment unit 51a2, etc.) changes the rotation axis of the wheel (the left front wheel 35a, etc.) from being parallel to the y direction, thereby enabling the levitation type mobile device 1 to turn and move in the left-right direction.

[0417] (Motion control, boarding and alighting in the second state)

[0418] When the levitation type mobile device 1 is further boarded or disembarked in the state where it is stationary on land, the control unit 15 controls each part so that the levitation type mobile device 1 is in the second state (see Fig.13 ).

[0419] Specifically, the control unit 15 operates the adjustment unit (left front primary adjustment unit 51a1, left front secondary adjustment unit 51a2) of the left front connecting unit 50a so that the rotation axis 36a of the left front impeller 33a is roughly parallel to the y direction and the left front wheel 35a is in contact with the ground.

[0420] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a so that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a is at least approximately parallel to the left-right direction.

[0421] In addition, the control unit 15 operates the adjustment unit (right front primary adjustment unit 51b1, right front secondary adjustment unit 51b2) of the right front connecting unit 50b so that the rotation axis 36b of the right front impeller 33b is roughly parallel to the y direction and the right front wheel 35b is in contact with the ground.

[0422] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b so that the rotation axis 36b of the right front impeller 33b and the right front wheel 35b is at least approximately parallel to the left-right direction.

[0423] Furthermore, the control unit 15 operates the adjustment units (left middle primary adjustment unit 51c1 and left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is substantially parallel to the z direction.

[0424] That is, the left middle primary adjustment part 51c1 and the left middle secondary adjustment part 51c2 adjust the position and orientation of the left middle impeller 33c and the left middle wheel 35c in such a manner that the rotation axis 36c of the left middle impeller 33c and the left middle wheel 35c are at least approximately parallel to the up and down directions so that the left middle impeller 33c at least ejects the sucked gas downward.

[0425] Furthermore, the control unit 15 operates the adjustment units (right middle primary adjustment unit 51d1 and right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is substantially parallel to the z direction.

[0426] That is, the right middle primary adjustment part 51d1 and the right middle secondary adjustment part 51d2 adjust the position and orientation of the right middle impeller 33d and the right middle wheel 35d in such a manner that the rotation axis 36d of the right middle impeller 33d and the right middle wheel 35d are at least approximately parallel to the up and down directions so that the right middle impeller 33d at least ejects the sucked gas downward.

[0427] Alternatively, the operation control of the second state may be performed using only one of the left middle connection portion 50c and the right middle connection portion 50d.

[0428] In addition, the control unit 15 causes the adjustment unit (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2, left rear tertiary adjustment unit 53e3) of the left rear connecting unit 50e to perform an action in such a manner that the rotation axis 36e of the left rear impeller 33e is approximately parallel to the y direction and the left rear wheel 35e is in contact with the ground.

[0429] That is, the left rear primary adjustment unit 51e1, the left rear secondary adjustment unit 51e2 and the left rear tertiary adjustment unit 53e3 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the left-right direction.

[0430] In addition, the control unit 15 causes the adjustment unit (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2, right rear tertiary adjustment unit 53f3) of the right rear connecting unit 50f to perform an action in such a manner that the rotation axis 36f of the right rear impeller 33f is approximately parallel to the y direction and the right rear wheel 35f is in contact with the ground.

[0431] That is, the right rear primary adjustment unit 51f1, the right rear secondary adjustment unit 51f2 and the right rear tertiary adjustment unit 53f3 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotation axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least approximately parallel to the left-right direction.

[0432] The lower ends of the rotating parts (the left front rotating part 30a, the right front rotating part 30b, the left rear rotating part 30e, and the right rear rotating part 30f) are located below the lower end of the container 90.

[0433] The left middle rotating part 30 c and the right middle rotating part 30 d are separated from the driving part 10 , and are formed so that the outside of the floating type moving device 1 and the riding space of the driving part 10 can enter and exit through the boarding and alighting door 21 .

[0434] (Second state motion control, take-off, etc.)

[0435] When the levitating mobile device 1 takes off, lands, or hovers, the control unit 15 further rotates the left middle motor 31c so that the rotational force of the left middle motor 31c is transmitted to the left middle impeller 33c, causing the left middle transmission unit 37c to perform an action.

[0436] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center impeller 33 d .

[0437] In addition, the control unit 15 stops the other motors (the left front motor 31a, the right front motor 31b, the left rear motor 31e, and the right rear motor 31f).

[0438] The rotation of the impellers (the left middle impeller 33c and the right middle impeller 33d) causes the levitation type mobile device 1 to take off, land, or hover.

[0439] (Motion control in the third state, aerial movement in the first flight mode)

[0440] When the levitation type mobile device 1 is moving in the air in the first flight mode, the control unit 15 controls each part so that the levitation type mobile device 1 is in the third state (see Fig.14 , Fig.15 ).

[0441] Specifically, the control unit 15 operates the adjustment units (the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2) of the left front connection unit 50a so that the rotation axis 36a of the left front impeller 33a is substantially parallel to the z direction.

[0442] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a in such a manner that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a are at least approximately parallel to the up and down directions so that the left front impeller 33a at least sprays the sucked gas downward.

[0443] Furthermore, the control unit 15 operates the adjustment units (the right front primary adjustment unit 51 b 1 and the right front secondary adjustment unit 51 b 2 ) of the right front connection unit 50 b so that the rotation axis 36 b of the right front impeller 33 b becomes substantially parallel to the z direction.

[0444] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b in such a manner that the rotating shaft 36b of the right front impeller 33b and the right front wheel 35b are at least approximately parallel to the up and down directions so that the right front impeller 33b at least sprays the sucked gas downward.

[0445] Furthermore, the control unit 15 operates the adjustment units (left middle primary adjustment unit 51c1 and left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is substantially parallel to the z direction.

[0446] That is, the left middle primary adjustment part 51c1 and the left middle secondary adjustment part 51c2 adjust the position and orientation of the left middle impeller 33c and the left middle wheel 35c in such a manner that the rotation axis 36c of the left middle impeller 33c and the left middle wheel 35c are at least approximately parallel to the up and down directions so that the left middle impeller 33c at least ejects the sucked gas downward.

[0447] Furthermore, the control unit 15 operates the adjustment units (right middle primary adjustment unit 51d1 and right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is substantially parallel to the z direction.

[0448] That is, the right middle primary adjustment part 51d1 and the right middle secondary adjustment part 51d2 adjust the position and orientation of the right middle impeller 33d and the right middle wheel 35d in such a manner that the rotation axis 36d of the right middle impeller 33d and the right middle wheel 35d are at least approximately parallel to the up and down directions so that the right middle impeller 33d at least ejects the sucked gas downward.

[0449] In addition, the control unit 15 operates the adjustment units (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2, left rear tertiary adjustment unit 51e3) of the left rear connection unit 50e in such a manner that the rotation axis 36e of the left rear impeller 33e is approximately parallel to the z direction.

[0450] That is, the left rear primary adjustment unit 51e1, the left rear secondary adjustment unit 51e2 and the left rear tertiary adjustment unit 51e3 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the up and down directions so that the left rear impeller 33e at least sprays the sucked gas downward.

[0451] In addition, the control unit 15 operates the adjustment units (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2, right rear tertiary adjustment unit 51f3) of the right rear connection unit 50f in such a manner that the rotation axis 36f of the right rear impeller 33f is approximately parallel to the z direction.

[0452] That is, the right rear primary adjustment unit 51f1, the right rear secondary adjustment unit 51f2 and the right rear tertiary adjustment unit 51f3 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotating axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least approximately parallel to the up-down direction so that the right rear impeller 33f at least ejects the sucked gas downward.

[0453] The rotating parts (the left front rotating part 30a, the right front rotating part 30b, the left middle rotating part 30c, the right middle rotating part 30d, the left rear rotating part 30e, and the right rear rotating part 30f) are in a state of being separated from the driving part 10.

[0454] Furthermore, the control unit 15 rotates the left front motor 31 a and operates the left front transmission unit 37 a so that the rotational force of the left front motor 31 a is transmitted to the left front impeller 33 a .

[0455] Furthermore, the control unit 15 rotates the right front motor 31 b and operates the right front transmission unit 37 b so that the rotational force of the right front motor 31 b is transmitted to the right front impeller 33 b.

[0456] Furthermore, the control unit 15 rotates the left center motor 31 c and operates the left center transmission unit 37 c so that the rotational force of the left center motor 31 c is transmitted to the left center impeller 33 c.

[0457] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center impeller 33 d .

[0458] Furthermore, the control unit 15 rotates the left rear motor 31 e and operates the left rear transmission unit 37 e so that the rotational force of the left rear motor 31 e is transmitted to the left rear impeller 33 e.

[0459] Furthermore, the control unit 15 rotates the right rear motor 31f, and operates the right rear transmission unit 37f so that the rotational force of the right rear motor 31f is transmitted to the right rear impeller 33f.

[0460] The levitation type moving device 1 moves or hovers in the air due to the rotation of the impellers (such as the left front impeller 33 a ).

[0461] (Motion control in the fourth state, aerial movement in the second flight mode)

[0462] When the levitation type mobile device 1 moves in the air in the second flight mode, the control unit 15 may control various parts so that the levitation type mobile device 1 is in the fourth state (not shown), similar to the fourth state of the first embodiment.

[0463] Specifically, the control unit 15 operates the adjustment units (the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2) of the left front connection unit 50a so that the rotation axis 36a of the left front impeller 33a is substantially parallel to the x direction.

[0464] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a in such a manner that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a are at least approximately parallel to the front-to-rear direction so that the left front impeller 33a ejects the sucked gas at least rearward.

[0465] Furthermore, the control unit 15 operates the adjustment units (the right front primary adjustment unit 51 b 1 and the right front secondary adjustment unit 51 b 2 ) of the right front connection unit 50 b so that the rotation axis 36 b of the right front impeller 33 b becomes substantially parallel to the x direction.

[0466] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b in such a manner that the rotating shaft 36b of the right front impeller 33b and the right front wheel 35b are at least approximately parallel to the front-to-rear direction so that the right front impeller 33b ejects the sucked gas at least rearward.

[0467] In addition, the control unit 15 operates the adjustment unit (left middle primary adjustment unit 51c1, left middle secondary adjustment unit 51c2) of the left middle connecting unit 50c in such a manner that the rotation axis 36c of the left middle impeller 33c is approximately parallel to the x direction and does not overlap with the left front impeller 33a when viewed from the x direction.

[0468] That is, the left middle primary adjustment part 51c1 and the left middle secondary adjustment part 51c2 adjust the position and orientation of the left middle impeller 33c and the left middle wheel 35c in such a manner that the rotation axis 36c of the left middle impeller 33c and the left middle wheel 35c are at least approximately parallel to the front-to-rear direction so that the left middle impeller 33c at least ejects the sucked gas etc. rearward and the rotation axis 36c of the left middle impeller 33c does not overlap with the rotation axis 36a of the left front impeller 33a.

[0469] In addition, the control unit 15 operates the adjustment unit (right middle primary adjustment unit 51d1, right middle secondary adjustment unit 51d2) of the right middle connection unit 50d in such a manner that the rotation axis 36d of the right middle impeller 33d is approximately parallel to the x direction and does not overlap with the right front impeller 33b when viewed from the x direction.

[0470] That is, the right middle primary adjustment part 51d1 and the right middle secondary adjustment part 51d2 adjust the position and orientation of the right middle impeller 33d and the right middle wheel 35d in such a manner that the rotation axis 36d of the right middle impeller 33d and the right middle wheel 35d are at least approximately parallel to the front-to-rear direction so that the right middle impeller 33d at least ejects the sucked gas etc. rearward and the rotation axis 36d of the right middle impeller 33d does not overlap with the rotation axis 36b of the right front impeller 33b.

[0471] In addition, the control unit 15 causes the adjustment parts (left rear primary adjustment part 51e1, left rear secondary adjustment part 51e2, left rear tertiary adjustment part 53e3) of the left rear connecting part 50e to perform an action in such a manner that the rotation axis 36e of the left rear impeller 33e is approximately parallel to the x-direction and does not overlap with the left front impeller 33a and the left middle impeller 33c when viewed from the x-direction.

[0472] That is, the left rear primary adjustment unit 51e1, the left rear secondary adjustment unit 51e2 and the left rear tertiary adjustment unit 53e3 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the front-to-rear direction so that the left rear impeller 33e at least sprays the sucked gas etc. rearward, and the rotation axis 36e of the left rear impeller 33e does not overlap with the rotation axis 36a of the left front impeller 33a and the rotation axis 36c of the left middle impeller 33c.

[0473] In addition, the control unit 15 causes the adjustment parts (right rear primary adjustment part 51f1, right rear secondary adjustment part 51f2, right rear tertiary adjustment part 51f3) of the right rear connecting part 50f to perform an action in such a manner that the rotation axis 36f of the right rear impeller 33f is approximately parallel to the x-direction and does not overlap with the right front impeller 33b and the right middle impeller 33d when viewed from the x-direction.

[0474] That is, the right rear primary adjustment unit 51f1, the right rear secondary adjustment unit 51f2 and the right rear tertiary adjustment unit 51f3 adjust the position and orientation of the left rear impeller 33f and the right rear wheel 35f in such a manner that the rotation axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least approximately parallel to the front-to-rear direction so that the right rear impeller 33f at least sprays the sucked gas etc. rearward, and the rotation axis 36f of the right rear impeller 33f does not overlap with the rotation axis 36b of the right front impeller 33b and the rotation axis 36d of the right middle impeller 33d.

[0475] Furthermore, the control unit 15 rotates the left front motor 31 a and operates the left front transmission unit 37 a so that the rotational force of the left front motor 31 a is transmitted to the left front impeller 33 a .

[0476] Furthermore, the control unit 15 rotates the right front motor 31 b and operates the right front transmission unit 37 b so that the rotational force of the right front motor 31 b is transmitted to the right front impeller 33 b.

[0477] Furthermore, the control unit 15 rotates the left center motor 31 c and operates the left center transmission unit 37 c so that the rotational force of the left center motor 31 c is transmitted to the left center impeller 33 c.

[0478] Furthermore, the control unit 15 rotates the right center motor 31 d and operates the right center transmission unit 37 d so that the rotational force of the right center motor 31 d is transmitted to the right center impeller 33 d .

[0479] Furthermore, the control unit 15 rotates the left rear motor 31 e and operates the left rear transmission unit 37 e so that the rotational force of the left rear motor 31 e is transmitted to the left rear impeller 33 e.

[0480] Furthermore, the control unit 15 rotates the right rear motor 31f, and operates the right rear transmission unit 37f so that the rotational force of the right rear motor 31f is transmitted to the right rear impeller 33f.

[0481] The levitation type moving device 1 moves in the air by the rotation of the impeller (the left front impeller 33 a and the like).

[0482] (Fifth state motion control, water movement)

[0483] When the floating type mobile device 1 moves on water, the control unit 15 controls each part so that the floating type mobile device 1 is in the fifth state (see Fig.16 , Fig.17 ).

[0484] Specifically, the control unit 15 operates the adjustment units (the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2) of the left front connection unit 50a so that the rotation axis 36a of the left front impeller 33a is substantially parallel to the y direction.

[0485] That is, the left front primary adjustment unit 51a1 and the left front secondary adjustment unit 51a2 adjust the position and orientation of the left front impeller 33a and the left front wheel 35a so that the rotation axis 36a of the left front impeller 33a and the left front wheel 35a is at least approximately parallel to the left-right direction.

[0486] Furthermore, the control unit 15 operates the adjustment units (the right front primary adjustment unit 51 b 1 and the right front secondary adjustment unit 51 b 2 ) of the right front connection unit 50 b so that the rotation axis 36 b of the right front impeller 33 b becomes substantially parallel to the y direction.

[0487] That is, the right front primary adjustment unit 51b1 and the right front secondary adjustment unit 51b2 adjust the position and orientation of the right front impeller 33b and the right front wheel 35b so that the rotation axis 36b of the right front impeller 33b and the right front wheel 35b is at least approximately parallel to the left-right direction.

[0488] Furthermore, the control unit 15 operates the adjustment units (left middle primary adjustment unit 51c1 and left middle secondary adjustment unit 51c2) of the left middle connection unit 50c so that the rotation axis 36c of the left middle impeller 33c is substantially parallel to the y direction.

[0489] That is, the left center primary adjustment part 51c1 and the left center secondary adjustment part 51c2 adjust the position and orientation of the left center impeller 33c and the left center wheel 35c in such a manner that the rotation axis 36c of the left center impeller 33c and the left center wheel 35c are at least approximately parallel to the left-right direction.

[0490] Furthermore, the control unit 15 operates the adjustment units (right middle primary adjustment unit 51d1 and right middle secondary adjustment unit 51d2) of the right middle connection unit 50d so that the rotation axis 36d of the right middle impeller 33d is substantially parallel to the y direction.

[0491] That is, the right center primary adjustment part 51d1 and the right center secondary adjustment part 51d2 adjust the position and orientation of the right center impeller 33d and the right center wheel 35d so that the rotation axis 36d of the right center impeller 33d and the right center wheel 35d is at least approximately parallel to the left-right direction.

[0492] The control unit 15 operates the adjustment units (left rear primary adjustment unit 51e1, left rear secondary adjustment unit 51e2, left rear tertiary adjustment unit 53e3) of the left rear connection unit 50e so that the rotation axis 36e of the left rear impeller 33e is substantially parallel to the x direction.

[0493] That is, the left rear primary adjustment unit 51e1, the left rear secondary adjustment unit 51e2 and the left rear tertiary adjustment unit 53e3 adjust the position and orientation of the left rear impeller 33e and the left rear wheel 35e in such a manner that the rotation axis 36e of the left rear impeller 33e and the left rear wheel 35e are at least approximately parallel to the front-to-rear direction.

[0494] The control unit 15 operates the adjustment units (right rear primary adjustment unit 51f1, right rear secondary adjustment unit 51f2, right rear tertiary adjustment unit 51f3) of the right rear connection unit 50f so that the rotation axis 36f of the right rear impeller 33f is substantially parallel to the x direction.

[0495] That is, the right rear primary adjustment unit 51f1, the right rear secondary adjustment unit 51f2 and the right rear tertiary adjustment unit 51f3 adjust the position and orientation of the right rear impeller 33f and the right rear wheel 35f in such a manner that the rotating axis 36f of the right rear impeller 33f and the right rear wheel 35f are at least roughly parallel to the front-to-rear direction.

[0496] Furthermore, the control unit 15 stops the left front motor 31 a , the right front motor 31 b , the left center motor 31 c , and the right center motor 31 d .

[0497] In addition, the control unit 15 rotates the left rear motor 31e and the right rear motor 31f.

[0498] The impellers (the left rear impeller 33e and the right rear impeller 33f) function as propellers, and the floating type moving device 1 moves on water by the rotation of the impellers.

[0499] (Other modes of water transport)

[0500] In addition, when moving on water, as a fifth state, the left front impeller 33a, the right front impeller 33b, the left middle impeller 33c, and the right middle impeller 33d may be arranged so that their respective rotation axes are substantially parallel to the y direction, or their respective rotation axes may be arranged so that their respective rotation axes are substantially parallel to the z direction (see Fig.18 , Fig.19 ).

[0501] (Correspondence with the sentences in the claims)

[0502] The “first rotating portion” recorded in the claims corresponds to the left front rotating portion 30a of the second embodiment, the “second rotating portion” recorded in the claims corresponds to the right front rotating portion 30b of the second embodiment, the “third rotating portion” recorded in the claims corresponds to the left rear rotating portion 30e and the right rear rotating portion 30f, the “fourth rotating portion” recorded in the claims corresponds to the left middle rotating portion 30c of the second embodiment, and the “fifth rotating portion” recorded in the claims corresponds to the right middle rotating portion 30d of the second embodiment.

[0503] However, the correspondence relationship between the first to fifth rotating portions and the left front rotating portion 30 a and the like is not limited to the relationship described in the first and second embodiments.

[0504] In addition, in the first embodiment and the second embodiment, the floating type mobile device 1 is described as a structure in which a riding space is provided in the driving part 10 and an action is performed by internal control. The floating type mobile device 1 can also be a structure such as an unmanned aerial vehicle in which a riding space is not provided in the driving part 10 and an action is performed by external control.

[0505] In the drawings of the first and second embodiments, an example is described in which the adjustment unit adjusts the position (at least the direction) of the impeller etc. so that the rotation axis is located in a direction parallel to any one of the x-direction, the y-direction, and the z-direction.

[0506] However, the present invention is not limited to this, and the adjustment unit may adjust the position (at least the direction) of the impeller or the like so that the rotation axis is located in a direction inclined with respect to the above-mentioned direction.

[0507] Several embodiments of the present invention have been described, but the above embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments may be implemented in various other ways, and various omissions, substitutions, and changes may be made without departing from the scope of the invention. The above embodiments and their variations are included in the invention and their equivalents recorded in the claims, as are those included in the scope of the invention and its purport.

[0508] Description of Reference Numerals

[0509] 1…suspended mobile device; 10…driving unit; 11…operating unit; 13…monitoring unit; 15…control unit; 17…power conversion unit; 19…power storage unit; 21…entry / drop-off gate; 30a…left front rotating unit; 30b…right front rotating unit; 30c…left middle rotating unit; 30d…right middle rotating unit; 30e…left rear rotating unit; 30f…right rear rotating unit; 31a…left front motor; 31b…right front motor; 31c…left middle motor; 31d…right middle motor; 31e…left rear motor; 31f…right rear motor; 33a…left front impeller; 33b…right front impeller; 33c…left middle impeller; 33d…right middle impeller; 33e…left rear impeller; 33f…right rear impeller; 35a…left front Wheel; 35b…right front wheel; 35c…left middle wheel; 35d…right middle wheel; 35e…left rear wheel; 35f…right rear wheel; 36a…left front impeller and the rotation axis of the left front wheel; 36b…right front impeller and the rotation axis of the right front wheel; 36c…left middle impeller and the rotation axis of the left middle wheel; 36d…right middle impeller and the rotation axis of the right middle wheel; 36e…left rear impeller and the rotation axis of the left rear wheel; 36f…right rear impeller and the rotation axis of the right rear wheel; 37a…left front transmission unit; 37b…right front transmission unit; 37c…left middle transmission unit; 37d…right middle transmission unit; 37e…left rear transmission unit; 37f…right rear transmission unit; 40a…front center rotation unit; 40 b…rear central rotating part; 41a…front central motor; 41b…rear central motor; 43…central impeller; 43a…front central impeller; 43b…rear central impeller; 45a…front central wheel; 45b…rear central wheel; 46a…rotating axis of the front central impeller and the front central wheel; 46b…rotating axis of the rear central impeller and the rear central wheel; 50a…left front connecting part; 50b…right front connecting part; 50c…left middle connecting part; 50d…right middle connecting part; 50e…left rear connecting part; 50f…right rear connecting part; 51a1…left front primary adjusting part; 51a2…left front secondary adjusting part; 51b1…right front primary adjusting part; 51b2…right front secondary adjusting part; 51c1 …left middle primary adjustment section; 51c2…left middle secondary adjustment section; 51d1…right middle primary adjustment section; 51d2…right middle secondary adjustment section; 51e1…left rear primary adjustment section; 51e2…left rear secondary adjustment section; 51e3…left rear tertiary adjustment section; 51f1…right rear primary adjustment section; 51f2…right rear secondary adjustment section; 51f3…right rear tertiary adjustment section; 53a…left front power generation section; 53b…right front power generation section; 53c…left middle power generation section; 53d…right middle power generation section; 53e…left rear power generation section; 53f…right rear power generation section; 60a…front central connecting section; 60b…rear central connecting section; 61a…front central adjustment section; 61b…rear central adjustment section; 90…container.

Claims

1. A floating mobile device, wherein: The floating mobile device comprises: A first rotating part, comprising a first impeller, a first wheel and a first adjusting part; A second rotating part, comprising a second impeller, a second wheel and a second adjusting part; A third rotating part, comprising a third impeller, a third wheel and a third adjusting part; a fourth rotating part, comprising a fourth impeller and a fourth adjusting part; as well as a fifth rotating part, comprising a fifth impeller and a fifth adjusting part, During takeoff, the fourth adjustment unit adjusts at least the orientation of the fourth impeller so that the rotation axis of the fourth impeller is at least parallel to the up-down direction. During the takeoff, the fifth adjustment unit adjusts at least the orientation of the fifth impeller so that the rotation axis of the fifth impeller is at least parallel to the up-down direction. Before the take-off, the first adjustment unit adjusts at least the position of the first wheel so that the first wheel contacts the ground. Before the take-off, the second adjustment unit adjusts at least the position of the second wheel so that the second wheel contacts the ground. Until the take-off, the third adjustment unit adjusts at least the position of the third wheel in such a manner that the third wheel contacts the ground, and when moving on water, the third adjustment unit adjusts at least the direction of the third impeller in such a manner that the rotation axis of the third impeller is at least parallel to the front-rear direction. The first rotating unit includes: a left front rotating unit including the first impeller, the first wheel, and the first adjusting unit. The second rotating unit includes: a right front rotating unit including the second impeller, the second wheel, and the second adjusting unit. The fourth rotating unit includes: a left middle rotating unit including the fourth impeller and the fourth adjusting unit and disposed behind the left front rotating unit, The fifth rotating unit includes a right middle rotating unit that includes the fifth impeller and the fifth adjustment unit and is disposed behind the right front rotating unit.

2. The levitation type mobile device according to claim 1, wherein: The levitation type mobile device further includes: a hydrogen tank; and a power conversion unit that generates power based on hydrogen supplied from the hydrogen tank. The electric power obtained by the electric power conversion unit is supplied to the first to fifth rotating units.

3. The levitation type mobile device according to claim 2, wherein: The hydrogen container is provided with two, The third rotating unit is provided between the two hydrogen containers.

4. The levitation type mobile device according to claim 1, wherein: When the water movement or the air movement in the first flight mode is performed, the first adjustment unit adjusts at least the orientation of the first impeller so that the rotation axis of the first impeller is at least parallel to the up-down direction. When the vehicle moves on water or moves in the air in the first flight mode, the second adjustment unit adjusts at least the orientation of the second impeller so that the rotation axis of the second impeller is at least parallel to the up-down direction.

5. The levitation type mobile device according to claim 1, wherein: When the aircraft moves in the air in the second flight mode, the fourth adjustment unit adjusts at least the orientation of the fourth impeller so that the rotation axis of the fourth impeller is at least parallel to the front-rear direction. When the aircraft moves in the air in the second flight mode, the fifth adjustment unit adjusts at least the orientation of the fifth impeller so that the rotation axis of the fifth impeller is at least parallel to the front-rear direction. When moving in the air in the second flight mode, the first adjustment unit adjusts at least the orientation of the first impeller in such a manner that the rotation axis of the first impeller is at least parallel to the front-rear direction and does not overlap with the fourth impeller when viewed from the front-rear direction. When moving in the air in the second flight mode, the second adjustment unit adjusts at least the direction of the second impeller so that the rotation axis of the second impeller is at least parallel to the front-rear direction and does not overlap with the fifth impeller when viewed from the front-rear direction. When the aircraft moves in the air in the second flight mode, the third adjustment unit adjusts at least the orientation of the third impeller so that the rotation axis of the third impeller is at least parallel to the front-rear direction.

6. The levitation type mobile device according to claim 1, wherein: The fourth rotating unit has a fourth wheel. The fifth rotating unit has a fifth wheel. The fourth rotating unit includes a first transmission unit that transmits a first rotational force to either the fourth impeller or the fourth wheel. The fifth rotating unit includes a second transmission unit that transmits a second rotational force to either the fifth impeller or the fifth wheel. During takeoff, the first transmission unit transmits the first rotational force to the fourth impeller, and during movement on land, the first transmission unit transmits the first rotational force to the fourth wheel. During the take-off, the second transmission unit transmits the second rotational force to the fifth impeller, and during the movement on land, the second transmission unit transmits the second rotational force to the fifth wheel.

7. The levitation type mobile device according to claim 1, wherein: The first rotating part includes the left front rotating part and a left rear rotating part provided behind the left middle rotating part. The left front rotating part and the left rear rotating part respectively include the first impeller, the first wheel and the first adjusting part. The second rotating part includes the right front rotating part and a right rear rotating part provided behind the right middle rotating part. The right front rotating part and the right rear rotating part respectively include the second impeller, the second wheel and the second adjusting part. The third rotating portion includes at least one of a front central rotating portion provided between the left front rotating portion and the right front rotating portion and a rear central rotating portion provided between the left rear rotating portion and the right rear rotating portion.

8. The levitation type mobile device according to claim 7, wherein: The third rotating part includes the front central rotating part and the rear central rotating part. The motion control is performed in the following manner: when the rotation axes of the impeller of the front central rotating part and the impeller of the rear central rotating part perform motion in an overlapping positional relationship, the impeller of the front central rotating part and the impeller of the rear central rotating part rotate in opposite directions to each other.

9. The levitation type mobile device according to claim 5, wherein: The first rotating part includes the left front rotating part and a left rear rotating part provided behind the left middle rotating part. The left front rotating part and the left rear rotating part respectively include the first impeller, the first wheel and the first adjusting part. The second rotating part includes the right front rotating part and a right rear rotating part provided behind the right middle rotating part. The right front rotating part and the right rear rotating part respectively include the second impeller, the second wheel and the second adjusting part. The third rotating part includes a front central rotating part provided between the left front rotating part and the right front rotating part, and a rear central rotating part provided between the left rear rotating part and the right rear rotating part. When moving in the air in the second flight mode, the left middle impeller included in the left middle rotating unit and corresponding to the fourth impeller, the left front impeller included in the left front rotating unit and corresponding to the first impeller, and the left rear impeller included in the left rear rotating unit and corresponding to the first impeller are adjusted so that at least the rotation axes do not overlap. When moving in the air in the second flight mode, the right middle impeller included in the right middle rotating unit and corresponding to the fifth impeller, the right front impeller included in the right front rotating unit and corresponding to the second impeller, and the right rear impeller included in the right rear rotating unit and corresponding to the second impeller are adjusted so that at least the rotation axes do not overlap.

10. The levitation type mobile device according to any one of claims 1 to 6, wherein: The third rotating part comprises: a left rear rotating part, which is arranged behind the left middle rotating part; and a right rear rotating part, which is arranged behind the right middle rotating part. The left rear rotating part and the right rear rotating part respectively include the third impeller, the third wheel and the third adjusting part. The fourth rotating part has the left middle rotating part, The fifth rotating portion includes the right middle rotating portion.

Images