Flying robot

Abstract

Possess: main body part; propulsion part, it has multiple use rotation wing's drive to produce propulsion force's propulsion unit, this multiple propulsion unit is set up in main body part; Multiple leg parts, they support main body part, multiple leg parts have at least one joint respectively and are configured to be able to make the attitude of each leg part deformation; And control part, when from flight state to landing surface landing, control multiple leg parts, control part from multiple leg parts in at least one leg part and landing surface contact to before to the landing surface landing completion before, control the part or all of the at least one leg part and adjust the inclination of the main body part.

Description

Technical Field

[0001] This invention relates to flying robots. Background Technology

[0002] In recent years, unmanned aerial vehicles (UAVs) have been utilized for various purposes, and their development has become increasingly popular. Among these UAVs are wirelessly controlled unmanned helicopters and so-called drones. It is known that when a helicopter is landing at an angle, the length of the landing support body is adjusted to support the helicopter horizontally (see, for example, Patent Document 1). Furthermore, it is known that landing legs can be independently displaced to the main body of the UAV, allowing the main body to be supported horizontally when landing on uneven ground (see, for example, Patent Document 2).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Publication No. 2015-530318

[0006] Patent Document 2: Japanese Patent Application Publication No. 2019-206333 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] Previously, landing on a sloping plane was envisioned, but landing on uneven terrain was not. Therefore, in previous flying vehicles, it was possible to disrupt the balance when landing on uneven terrain.

[0009] The present invention was made in view of the various actual situations described above, and its purpose is to enable a more stable landing.

[0010] Solution for solving the problem

[0011] One aspect of the present invention is a flying robot comprising: a main body; a propulsion unit having a plurality of propulsion units that generate propulsion by driving a rotary wing, the plurality of propulsion units being disposed on the main body; a plurality of legs supporting the main body, each of the plurality of legs having at least one joint and configured to deform the posture of each leg; and a control unit that controls the plurality of legs when descending from a flight state to a landing surface, the control unit controlling part or all of the at least one leg and adjusting the tilt of the main body from the moment at least one of the plurality of legs contacts the landing surface until the descent to the landing surface is completed.

[0012] Invention Effects

[0013] According to the present invention, a more stable landing can be achieved. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating an example of the outline structure of a flying robot according to an embodiment.

[0015] Figure 2 This is an example of a block diagram showing the various functional units included in the main body of an embodiment.

[0016] Figure 3 This is a diagram showing the state of the legs of the flying robot during landing according to an embodiment.

[0017] Figure 4 This is a diagram illustrating an example of the relationship between the flying robot and obstacles when the flying robot of the embodiment has ascended.

[0018] Figure 5 This is an example of a flowchart of the landing control in the first embodiment.

[0019] Figure 6 This is a diagram showing the state of the legs of a flying robot during landing, a variation of the first embodiment.

[0020] Figure 7 This is an example of a flowchart of the landing control in the second embodiment. Detailed Implementation

[0021] One embodiment of the present invention is a flying robot comprising a main body, a propulsion unit, legs, and a control unit. The propulsion unit has multiple propulsion units. These multiple propulsion units can individually vary their propulsion force by individually changing the rotational speed of the rotor, thereby enabling changes in the flying robot's attitude. For example, by imparting a difference in the propulsion force of the multiple propulsion units, the flying robot can tilt and move in a desired direction, or perform attitude control. Furthermore, by simultaneously varying the propulsion force of the multiple propulsion units, vertical movement is possible.

[0022] The leading ends of the multiple legs are the points where the flying robot contacts the landing surface during descent. However, in the case of landing on uneven ground, not all legs may contact the landing surface simultaneously. Furthermore, for example, when the landing surface is uneven and one leg contacts it first, the flying robot may tilt around that contact point. That is, when a leg contacts the landing surface, the flying robot tilts due to the reaction force from the landing surface. In contrast, the legs in this disclosure have at least one joint. Here, when a force is applied to the leg upon contact with the landing surface, the vertical distance between the leading and base ends of the leg can be changed by moving the joint. This reduces the reaction force from the landing surface. Furthermore, from the moment at least one of the multiple legs contacts the landing surface until descent is complete, controlling part or all of the at least one leg and adjusting the tilt of the main body can suppress attitude disruption during descent. It should be noted that descent completion refers, for example, to a state where the propulsion force of the propulsion unit can be stopped. The robot can also be set to flight mode before landing is complete. It should be noted that the multiple legs can be configured to enable the robot to walk after landing. That is, the multiple legs can function as legs during landing and as legs for walking after landing. This allows for the use of both landing legs and legs for walking after landing. However, the walking function is not essential in the multiple legs configuration.

[0023] Alternatively, the control unit may perform: a first process, during the process of lowering the main body using the propulsion unit to descend from the flight state to the landing surface, identifying the leg that first contacts the landing surface among the plurality of legs as the first leg; and a second process, after the first process, while maintaining the contact between the first leg and the landing surface and causing the joint of the first leg to move, further lowering the main body to cause the other legs to contact the landing surface.

[0024] The descent of the main body continues even after the first leg contacts the landing surface. Therefore, the descent of the main body also includes the descent of the main body after the legs contact the landing surface. In the first process, the leg that first contacts the landing surface is identified as the first leg. Whether each leg is in contact with the landing surface can be determined, for example, by equipping the front end of each leg with a pressure sensor and determining based on the change in the output value of the pressure sensor. Alternatively, as another method, the force applied to the joints of each leg can be detected. In this detection, the change in the current flowing through the actuators provided in the joints can also be utilized. Furthermore, as another method, the first leg can be identified based on the tilt of the main body. For example, when the main body is tilted, the leg with its base at the uppermost side can be identified as the first leg.

[0025] In the second process, the main body is further lowered while the joint of the first leg is activated. By activating the joint of the first leg, the reaction force from the landing surface is reduced even as the main body is lowered further, thus suppressing tilting of the main body. Furthermore, by lowering the main body further, the other legs besides the first leg can come into contact with the landing surface. In this way, the second process suppresses tilting of the main body and ensures that the other legs besides the first leg come into contact with the landing surface.

[0026] Alternatively, in the second process, the control unit may lower the main body while maintaining contact between the other legs and the landing surface and actuating the joints of those other legs. This allows the other legs to contact the landing surface. Thus, by sequentially bringing multiple legs into contact with the landing surface and actuating the joints of the legs in contact with the landing surface, multiple feet can be brought into contact with the landing surface without disrupting the posture of the main body.

[0027] Alternatively, during the second processing performed by the control unit, the propulsion unit drives the plurality of propulsion units in a manner that maintains the main body in a horizontal state. That is, by individually varying the propulsion force of the plurality of propulsion units while simultaneously moving the joints when the legs contact the landing surface, the main body can easily approach a horizontal state.

[0028] Alternatively, the control unit may also perform a third process to determine whether the descent of the main body for contact with the landing surface by the other legs can continue, based on the angle of the joint of the first leg during the second process. When the main body is lowered while the joint of the first leg is moved, the distance between the other legs and the landing surface is relatively long, and there may be a situation where the joint of the first leg reaches the upper limit of its range of motion during the movement of the joint. For example, if the landing surface contacted by the first leg protrudes, or if there is a hole in the landing surface below the other legs, the joint of the first leg reaches the upper limit of its range of motion before the other legs contact the landing surface. In this case, when the main body is to be lowered further, the reaction force on the first leg from the landing surface cannot be reduced, so the main body may tilt around the contact point between the first leg and the landing surface. Therefore, the control unit determines whether the descent of the main body can continue. By performing such a third process, it is possible to determine whether the horizontal state of the main body can be maintained, thus preventing descent in an unstable state.

[0029] Alternatively, if the descent of the main body cannot continue in the third process, the control unit maintains the first leg in contact with the landing surface while returning the angle of the joint of the first leg to the state at which the first leg first made contact with the landing surface, and the propulsion unit raises the main body to the position at that first contact. If the descent of the main body cannot continue in the third process, the main body may tilt beyond the upper limit of the joint's range of motion. When the propulsion force of the propulsion unit increases while maintaining the tilted state of the main body, the machine may rise in a direction tilted relative to the vertical. Furthermore, if there is an obstacle in the direction of the machine's ascent, it may come into contact with that obstacle. Therefore, the control unit returns the angle of the joint of the first leg to the state at which the first leg first made contact with the landing surface, and the propulsion unit raises the main body to the position at that first contact. If it is the state at the first contact, the joint of the first leg is within its range of motion, thus maintaining the main body in a horizontal state. Furthermore, if the main body is kept in a horizontal position, it can rise vertically even if the propulsion unit increases the propulsion force of the propulsion unit, thus preventing contact even if there are obstacles nearby. In addition, by maintaining the first leg in contact with the landing surface while raising the main body, the main body can be stabilized.

[0030] Alternatively, pressure sensors capable of detecting the pressure when each leg contacts the landing surface can be provided at the front end of each of the plurality of legs. In the first process, the control unit identifies the first leg based on the presence or absence of contact-related outputs from the pressure sensors on the first leg. The control unit also performs a fourth process: when the output values ​​of the pressure sensors on each of the plurality of legs reach a predetermined relevant state, it determines that the landing of the flying robot on the landing surface is complete. That is, when a leg contacts the landing surface, the output of the pressure sensor on that leg changes. Therefore, if the output of the pressure sensors on each leg changes, it can be determined that the leg is in contact with the landing surface. Subsequently, if other legs contact the landing surface, the output of the pressure sensor on the leg in contact with the landing surface also changes. In this way, the leg in contact with the landing surface can be determined based on the presence or absence of the outputs of the pressure sensors on each leg. Furthermore, when the landing of the flying robot is complete, the output of the pressure sensors on each leg becomes an output corresponding to the completion of the landing. For example, the total pressure detected by each pressure sensor can become a value related to the mass of the flying robot. Therefore, the defined relevant state is the state in which the landing of the flying robot can be determined. The fourth process can also be performed considering, for example, the upward thrust generated by the propulsion unit and the mass of the flying robot. In the case of landing completion, even if the propulsion unit stops generating the thrust from the propulsion unit, the tilting of the main body is suppressed.

[0031] Alternatively, the system may also include a detection unit that detects the tilt of the main body. If the control unit detects a tilt of the main body relative to a horizontal state when the plurality of legs contact the landing surface from the flight state in a predetermined posture, it controls at least one leg to bring the main body closer to a horizontal state. The predetermined posture described above is, for example, a posture that the legs can achieve when the flying robot is in flight. When the legs contact the landing surface as described above, the main body tilts. Upon detecting this tilt, the control unit can also control at least one leg. For example, when the main body tilts, the leg with its base at the uppermost side is more likely to contact the landing surface, so the joint of that leg can also be activated. In this way, by controlling the joints according to the tilt of the main body, it is possible to suppress the flying robot from losing its balance during landing.

[0032] Alternatively, the control unit can lower the main body while maintaining contact between the leg and the landing surface by moving the joint of the leg. By lowering the main body while maintaining contact between the leg and the landing surface, the other legs can also sequentially contact the landing surface.

[0033] Alternatively, the control unit may also determine whether the descent of the main body can continue based on the angle of the leg joints. When the leg joints are moved to bring the main body closer to a horizontal position, there may be a situation where the upper limit of the range of motion is reached. If the main body is lowered further after reaching the upper limit of the range of motion, it may be difficult to bring the main body closer to a horizontal position. In such cases, it can be determined that the descent of the main body cannot continue. Thus, by determining whether to stop the descent of the main body, tilting of the main body can be suppressed.

[0034] Alternatively, if the control unit determines that the descent of the main body cannot continue, the control unit maintains the contact between the first leg and the landing surface while returning the angle of the joint of the first leg to the state at which the first leg first made contact with the landing surface, and the propulsion unit raises the main body to the position at that first contact. This suppresses the flying robot from rising obliquely, thus preventing contact with obstacles, even if such obstacles are present nearby.

[0035] The specific embodiments described below are with reference to the accompanying drawings. However, unless otherwise specified, the dimensions, materials, shapes, and relative arrangements of the constituent components described in these embodiments are not intended to limit the scope of the invention to this. Furthermore, the following embodiments can be combined as much as possible.

[0036] <First Implementation Method>

[0037] Here, based on Figure 1 The flying robot 1 of this embodiment will be described. Figure 1 This diagram illustrates an example of the general structure of the flying robot 1 according to this embodiment. The flying robot 1 is configured to include a main body 2. The main body 2 has a plurality of propulsion units 23. It should be noted that, in Figure 1 In the example shown, four propulsion units 23 are mounted on the main body 2. However, within the limits of the main body 2's flight capability, the number of propulsion units 23 is not limited to four, as long as there are multiple propulsion units 23. Each propulsion unit 23 has a propeller 21 that functions as a rotary wing and an actuator 22 for driving the propeller to rotate. All propulsion units 23 mounted on the main body 2 are of the same type, but the actuator 22 in each propulsion unit 23 can be controlled independently. Therefore, the propulsion force obtained from each propulsion unit 23 can be appropriately controlled, and thus, the flight attitude, flight speed, etc., of the main body 2 and the flying robot 1 can be appropriately controlled. It should be noted that the flight control of the flying main body and the like by the propulsion units 23 will be described later.

[0038] Here, in the main body 2, there is a fuselage 25 at approximately its center, and propulsion units 23 are arranged radially from the fuselage 25 via bridging members 24 at its front end. The four propulsion units 23 are arranged at equal intervals around the fuselage 25.

[0039] Additionally, four legs 30 supporting the main body 2 are connected to the main body 2. The four legs 30 are arranged at equal intervals around the fuselage 25. Each leg 30 has a first link 31 whose front end contacts the landing surface during landing, a second link 32 disposed on the side of the fuselage 25 relative to the first link 31, a first joint 33 rotatably connecting the first link 31 and the second link 32, a second joint 34 rotatably connecting the second link 32 to the bridging member 24, and an actuator (not shown) for driving the first joint 33 and the second joint 34. The first joint 33 connects the base end of the first link 31 to the front end of the second link 32. The second joint 34 connects the base end of the second link 32 to the fuselage 25. The rotation direction of each joint is designed to rotate during landing on uneven ground. For example, the first joint 33 and the second joint 34 have rotation axes in the horizontal direction, and in the same leg 30, the rotation axis of the first joint 33 is designed to be parallel to the rotation axis of the second joint 34. It should be noted that in this embodiment, there are four legs 30, but the number of legs 30 is not limited to this; three or more are acceptable. Furthermore, in this embodiment, each leg 30 has two joints, but this is not limited to this; one or more joints are acceptable.

[0040] Additionally, the fuselage 25 is equipped with a battery 28 for supplying drive power to the actuators 22 of each propulsion unit 23 (see reference). Figure 2 ), control device 200 (see reference) for controlling the power supply from the battery 28 to the actuator 22, etc. Figure 2 The control device 200 supplies power from the battery 28 to the actuator and also controls the joints of the leg 30. The control device 200 independently controls each first joint 33 and each second joint 34. Furthermore, a pressure sensor 31A is provided at the front end of the first link 31, at the position where it contacts the landing surface during landing, to detect pressure. Details regarding the control of the main body 2 performed by the control device 200 will be described later.

[0041] <Control Unit of Flying Robot 1>

[0042] Next, based on Figure 2 The control structure of the main body 2 of the flying robot 1 will be explained. Figure 2This is an example of a block diagram showing the functional units included in the main body 2 of this embodiment. The main body 2 includes a control device 200 for performing flight control related to flight and landing control related to landing. The control device 200 is a computer having an arithmetic processing unit and a memory, and as a functional unit, it includes a control unit 210. The control unit 210 is formed by executing a predetermined control program in the control device 200.

[0043] The control unit 210 is a functional unit that controls the propulsion units 23 to generate propulsion for the flight of the main body 2 when it is in flight. The control unit 210 controls the propulsion of the four propulsion units 23 based on environmental information associated with the flight state of the main body 2, etc., and detected by the sensors 27. Examples of this environmental information include the angular velocity of the main body 2 detected by gyroscope sensors corresponding to three axes (not shown) (yaw axis, pitch axis, roll axis), and the tilt of the main body 2 detected by accelerometers corresponding to these three axes (not shown). The control unit 210 uses the environmental information obtained from these sensors to perform feedback control in a manner that adjusts the tilt of the main body 2, etc., to a state suitable for its flight. Furthermore, the environmental information may also include the orientation of the flight main body in an absolute coordinate system based on the orientation of the Earth's axis, i.e., the azimuth angle, which can be detected by the azimuth angle sensor. It should be noted that the sensor 27 is an example of a detection unit.

[0044] When the main body 2 moves forward, backward, left, or right, the control unit 210 reduces the rotational speed of the actuator 22 of the propulsion unit 23 in the direction of travel and increases the rotational speed of the actuator 22 of the propulsion unit 23 on the side opposite to the direction of travel. This causes the main body 2 to assume a forward-leaning posture relative to the direction of travel and move in the desired direction. Furthermore, when the main body 2 rotates, the control unit 210 adjusts the output of the propeller 21 based on the rotational direction of the main body 2. For example, when the main body 2 rotates to the right, the control unit 210 reduces the output of the actuator 22 corresponding to the right-rotating propeller 21 and increases the output of the actuator 22 corresponding to the left-rotating propeller 21.

[0045] Furthermore, the control unit 210 is also a functional unit that performs landing control during the landing of the flying robot 1. In landing control, the control unit 210 controls the propulsion unit 23 and the legs 30. During landing, the control unit 210 controls the actuators installed on the first joint 33 and the second joint 34 based on the detection values ​​of the sensor 27 and the pressure sensor 31A. Each actuator installed on the joints of the legs 30 is equipped with an encoder (not shown) that detects state quantities (rotational position of the actuator's rotation axis, rotational speed, etc.) related to its respective rotational state. Furthermore, based on the state quantities of each actuator detected by the encoders of each actuator, the control unit 210 performs servo control on the actuators of the legs 30 in a manner that makes the rotation angle of each joint suitable for landing.

[0046] Here, based on Figure 3 The state of the legs 30 of the flying robot 1 during landing is described. Figure 3 This diagram shows the state of the legs 30 of the flying robot 1 in this embodiment during landing. Figure 3 The structure of a portion of the flying robot 1 is omitted in the diagram. Page 3001 shows the state of the legs 30 when the flying robot 1 is in flight mode. In flight mode, for example, the joints of the legs 30 are fixed in a bending manner to minimize air resistance during forward, backward, left, and right movements. For example, the first joint 33 rotates such that the axis of the first link 31 is approximately horizontal and the front end of the first link 31 is close to the central axis of the main body 2. It should be noted that the state of the legs 30 in flight mode is not limited to this. For example, in addition to air resistance, the center of gravity of the flying robot 1 can also be considered, and the state can be designed to stabilize the flight of the flying robot 1.

[0047] Figure 3002 shows the state of the legs 30 when the flying robot 1 has entered a landing posture. For example, if sensor 27 includes a GNSS (Global Navigation Satellite System) sensor, the flying robot 1 enters a landing posture when the GNSS sensor detects that the flying robot 1 is above the destination point. At this time, each of the second links 32 actuates the second joints 34 in a radially extending manner in the horizontal direction. Furthermore, the first joints 33 actuate with the front end of the first link 31 facing downwards and the central axis of the first link 31 being vertical. That is, the first link 31 is bent at a right angle relative to the second link 32, and the front end faces downwards in the vertical direction. Since there are uneven surfaces on the landing surface A1, the distance L1 between the front end of each leg and the landing surface A1 is different for each leg 30. From this state until the next state 3003, the propulsion force of the propulsion unit 23 is controlled to cause the flying robot 1 to descend vertically.

[0048] Figure 3003 shows the state when the flying robot 1 descends and its first leg (first leg) contacts the landing surface A1. Here, a first process is performed to identify the leg 30 that first contacts the landing surface A1 among the plurality of legs 30 as the first leg 10A. The control unit 210 identifies the first leg 10A that first contacts the landing surface A1, for example, based on the output of the pressure sensors 31A provided on each leg 30. After identifying the first leg 10A, the control unit 210 also causes the flying robot 1 to descend further. According to the first process, the first leg 10A that requires subsequent movement of the first joint 33 and the second joint 34 can be identified.

[0049] Figure 3004 shows the state after the first leg 10A has been identified, in which the flying robot 1 has descended further. At this time, a second process is executed. The second process is to further descend the main body 2 so that the other legs 30 come into contact with the landing surface A1 while maintaining the contact between the first leg 10A and the landing surface A1, and simultaneously moving the first joint 33 and the second joint 34 of the first leg 10A. As shown in Figure 3004, in the first leg 10A, the control unit 210 controls each joint in such a way that the angle between the first link 31 and the second link 32 is smaller by the first joint 33, and moves the second link 32 diagonally upward by the second joint 34. During the second process, the control unit 210 drives multiple propulsion units 23 in such a way that the main body 2 is kept in a horizontal state. In this way, by moving the first joint 33 and the second joint 34 of the first leg 10A according to the descent of the main body 2, the main body 2 can be lowered while maintaining the horizontal state of the main body 2 and maintaining the contact between the first leg 10A and the landing surface A1.

[0050] Figure 3005 shows the state where, after the control unit 210 identifies the first leg 10A, the other legs 30 further contact the landing surface A1. The control unit 210 determines that the other legs 30 are in contact with the landing surface A1 based on the output of the pressure sensor 31A provided at the front end of each leg 30. The first joint 33 and the second joint 34 of the legs 30 in contact with the landing surface A1, like the joint of the first leg 10A, operate according to the descent of the main body 2. In this way, the four legs 30 sequentially contact the landing surface A1. The descent of the main body 2 also continues during this period. In this way, multiple legs 30 can contact the landing surface A1 while maintaining the level of the main body 2.

[0051] Furthermore, once all four legs 30 have made contact with the landing surface A1, the control unit 210 performs a fourth process to determine that the descent to the landing surface A1 is complete. For example, the control unit 210 determines that the descent of the flying robot 1 to the landing surface A1 is complete when the output values ​​of the pressure sensors 31A installed on each of the multiple legs 30 reach a predetermined relevant state. The predetermined relevant state is, for example, a state in which the flying robot 1 is balanced, and a state in which tilting of the flying robot 1 can be suppressed even if the propulsion force of the propulsion unit 23 is stopped. For example, it could also be determined that the descent is complete if the total pressure detected by each pressure sensor 31A reaches a pressure corresponding to the mass of the flying robot 1. It should be noted that at this time, due to the influence of the propulsion force of the propulsion unit 23, a pressure lower than the pressure corresponding to the actual mass of the flying robot 1 is detected; therefore, the control unit 210 makes a determination taking into account the propulsion force of the propulsion unit 23. When the control unit 210 determines that the descent is complete, it can either stop the propulsion unit 23 or rotate the propeller 21 to the point that the flying robot 1 does not take off.

[0052] Figure 3006 shows a state where, after identifying the first leg 10A, the angle of the first joint 33 reaches the upper limit of its permissible range midway through the further descent of the main body 2 until the other legs 30 contact the landing surface A1. The upper limit of the permissible range of the angle of the first joint 33 can be set, for example, to an angle that is physically impossible to bend further due to the construction of the first joint 33 or the leg 30, or it can be set to an angle obtained by adding a certain margin to that angle. Alternatively, as another method, the upper limit of the permissible range of the angle of the first joint 33 can also be set to the angle required to avoid contact between the leg 30 and other parts (e.g., propeller 21). When the angle of the first joint 33 of the first leg 10A reaches the upper limit of its permissible range, it is impossible to further descent the main body 2 while maintaining it in a horizontal position. It should be noted that the same treatment can be applied to the second joint 34. Such a situation may also occur during the descent of the main body 2. Therefore, the control unit 210 performs a third process to determine whether the descent of the main body 2 can continue, based on the angle of the first joint 33 or the second joint 34 of the first leg 10A during the second process, for contact between the other legs 30 and the landing surface A1. For example, if the control unit 210 determines that the descent of the main body 2 cannot continue when the angle of the first joint 33 of the first leg 10A reaches the upper limit of the permissible range, the control unit 210 determines that the descent of the main body 2 can continue before the angle of the first joint 33 of the first leg 10A reaches the upper limit of the permissible range. On the other hand, the control unit 210 determines that the descent of the main body 2 can continue before the angle of the first joint 33 of the first leg 10A reaches the upper limit of the permissible range.

[0053] Furthermore, if the descent of the main body 2 cannot continue in the third process, the control unit 210 executes a process to attempt a re-landing. First, the control unit 210 adjusts the propulsion force of the propulsion unit 23 to stop the descent of the main body 2. Next, while maintaining the first leg 10A in contact with the landing surface A1, the control unit 210 returns the angle of the first joint 33 of the first leg 10A to the state at which the first leg 10A first made contact with the landing surface A1. At this time, the propulsion unit 23 raises the main body 2 to the position at the first contact. The position at the first contact refers to the position shown in 3003. In this way, the propulsion unit 23 and the first leg 10A are controlled to keep the main body 2 in a horizontal state. Here, when the descent of the main body 2 cannot continue in the third process, the main body 2 may tilt. Assuming that it is necessary to rise immediately in this state, the main body 2 will rise in a tilted state. In this way, the flying robot 1 may rise in the tilted direction, and if there is an obstacle nearby, it may come into contact with that obstacle.

[0054] Here, Figure 4This diagram illustrates an example of the relationship between the flying robot 1 and the obstacle A2 when the flying robot 1 of this embodiment has ascended. Diagram 4001 shows the case where the main body 2 is tilted while the flying robot 1 ascends. On the other hand, diagram 4002 shows the case where the flying robot 1 ascends while maintaining the state of contact between the first leg 10A and the landing surface A1, and then the angle of the first joint 33 of the first leg 10A is returned to the state of first contact when the first leg 10A first contacts the landing surface A1. As shown in diagram 4001, when the main body 2 is tilted and the flying robot 1 ascends, it is possible to come into contact with the obstacle A2. On the other hand, as shown in diagram 4002, if the angle of the first joint 33 of the first leg 10A is returned to the state of first contact, the main body 2 can be returned to a horizontal state, so even if the flying robot 1 ascends afterward, contact with the obstacle A2 can be suppressed.

[0055] After transitioning from state 3006 to state 3003, the control unit 210 increases the propulsion force of the propulsion unit 23, causing the flying robot 1 to ascend by separating the first leg 10A from the landing surface A1. Furthermore, after the flying robot 1 ascends, the control unit 210, for example, controls the propulsion unit 23 to offset the landing site by a predetermined distance, or to rotate the main body at a predetermined angle along the yaw direction. That is, it changes the relative position of each leg 30 with respect to the landing surface A1. Then, it transitions to state 3002. The control unit 210 then attempts to land again.

[0056] Multiple legs 30 function as legs during landing and as legs for walking after landing. The control unit 210 is also a functional unit that controls the actuators installed on the legs 30 for the flying robot 1 to walk after landing. The control unit 210 controls the legs 30 based on environmental information detected by the sensor 27. Furthermore, the control unit 210 performs servo control on the actuators of the legs 30 based on the state values ​​of each actuator detected by the encoders of the actuators installed at each joint of the legs 30, in a manner that makes the tilting of the main body 2 suitable for walking.

[0057] Landing Control

[0058] Here, based on Figure 5 The landing control performed during the landing of flying robot 1 is explained. Figure 5 This is an example of a flowchart of the landing control in the first embodiment. Landing control is achieved by executing a predetermined control program in the main body 2. It should be noted that, in this embodiment, the main body 2 is provided to receive information indicating the landing location of the flying robot 1. Figure 5 The routine shown begins when flying robot 1 arrives over the landing site.

[0059] In step S101, the control unit 210 hovers above the landing position and fixes its position. At this time, the state of the flying robot 1 is... Figure 3 This corresponds to state 3001. The control unit 210 controls the propulsion unit to hover the flying robot 1 above the landing site. Next, in step S102, the control unit 210 sets the legs 30 to the pre-landing state. The pre-landing state is... Figure 3 The state of leg 30 corresponding to 3002. The control unit 210 moves the first joint 33 and the second joint 34 of the entire leg 30 in such a way that the central axis of the first link 31 is vertical and the central axis of the second link 32 is horizontal.

[0060] In step S103, the control unit 210 initiates the descent of the main body 2. The control unit 210 lowers the main body 2 by reducing the propulsion force of the propulsion unit 23. At this time, the propulsion force is controlled to bring the main body 2 close to horizontal, and the main body 2 is lowered. It should be noted that in step S103, the main body 2 continues to descend even though it is already in a descending state. In step S104, the control unit 210 determines whether a certain leg 30 has contacted the landing surface A1 based on the output value of the pressure sensor 31A. For example, if the output value of the pressure sensor 31A is above a preset landing threshold, it is determined that the leg 30 equipped with the pressure sensor 31A has contacted the landing surface A1. If the determination in step S104 is positive, the process proceeds to step S105; if the determination is negative, it returns to step S103 and continues to lower the main body 2. It should be noted that the state of the flying robot 1 when the determination in step S104 is positive is different from that in step S105. Figure 3 The state shown in 3003 corresponds to this.

[0061] In step S105, the control unit 210 determines the first leg 10A. The control unit 210 determines the leg 30 whose output value of the pressure sensor 31A first reaches or exceeds the landing threshold as the first leg 10A. In step S106, the control unit 210 stores the height of the main body 2 when the first leg 10A contacts the landing surface A1. The control unit 210 may store, for example, the height obtained from the altimeter included in the sensor 27, or the distance to the landing surface A1 measured using radar or the like included in the sensor 27. Sensors for measuring the height may also be appropriately installed on the main body 2.

[0062] Furthermore, in step S107, the control unit 210 reduces the descent speed of the main body. Since the first joint 33 and the second joint 34 are actuated to adjust the attitude of the main body 2, the descent speed is reduced to facilitate adjustment. This makes it easier to maintain the horizontal state of the main body 2. In step S108, the control unit 210 actuates the first joint 33 and the second joint 34 of the leg 30 that contacts the landing surface A1, thereby maintaining the horizontal state of the main body 2. The state of the flying robot 1 at this time is... Figure 3 This corresponds to the state shown in 3004. The control unit 210, based on the descent of the main body 2, activates the first joint 33 and the second joint 34 of all legs 30 in contact with the landing surface A1. For example, the control unit 210 may also activate the first joint 33 and the second joint 34 such that the output value of the pressure sensor 31A is below a predetermined value. The predetermined value is set to a value where the main body 2 is not tilted. It should be noted that, as another method, the control unit 210 may also activate the first joint 33 and the second joint 34 based on the height of the main body 2.

[0063] In step S109, the control unit 210 determines whether contact between all legs 30 and the landing surface A1 has been detected. For example, the control unit 210 determines that contact between all legs 30 and the landing surface A1 has been detected if the output value of the pressure sensor 31A of all legs 30 is above the landing threshold. If the determination is positive in step S109, the process proceeds to step S110; otherwise, it proceeds to step S112. It should be noted that the state of the flying robot 1 when the determination is positive in step S109 is different from... Figure 3 This corresponds to the state shown in 3005. At this time, the control unit 210, for example, uses environmental information detected by the sensor 27 and inverse kinematics to control the first joint 33 and the second joint 34 in a manner that brings the main body 2 closer to a horizontal position.

[0064] In step S110, it is determined whether the output values ​​of all pressure sensors 31A have reached a predetermined relevant state. For example, it is determined whether the output values ​​of all pressure sensors 31A correspond to the value obtained by subtracting a predetermined mass from the mass of the flying robot 1. The predetermined mass is the apparent reduction in the mass of the flying robot 1 caused by the propulsion force of the propulsion unit 23. If the determination is positive in step S110, the process proceeds to step S111; if the determination is negative, the process proceeds to step S114. Then, in step S111, the control unit 210 stops the propeller 21 to complete the landing.

[0065] On the other hand, if the determination in step S109 is negative, the process proceeds to step S112, and the control unit 210 obtains the angle of the first joint 33 or the second joint 34 of the first leg 10A. It should be noted that the following explanation focuses on the case where control is based on the angle of the first joint 33 of the first leg 10A. The case where control is based on the angle of the second joint 34 can also be considered in the same way as the first joint 33. The angle of the first joint 33 is obtained, for example, by the rotation angle detected by the encoder. Next, in step S113, it is determined whether the angle of the first joint 33 is greater than the upper limit value. The upper limit value is set to the upper limit of the movable range of the first joint 33. It should be noted that the angle of the first joint 33 at this time can also be set as the angle of the first link 31 and the second link 32 bending from a right angle. In this step S113, it is sufficient to determine whether the first joint 33 is in a state where it cannot move further. If the determination in step S113 is positive, the process proceeds to step S114. It should be noted that the state of the flying robot 1 when the determination in step S113 is positive is different from that of the first joint 33. Figure 3 This corresponds to the state shown in 3006. On the other hand, if the determination in step S1 13 is negative, the process proceeds to step S108, and the control unit 210 continues to lower the main body 2 while moving the joint.

[0066] In step S114, the control unit 210 returns the height of the main body 2 to its original position. This original position corresponds to the height stored in step S106 and is the position at the time of the first contact. In this step S114, the height of the main body 2 is increased in order to re-land. However, while maintaining contact between the first leg 10A and the landing surface A1, the height of the main body 2 is increased simultaneously with the joint of the first leg 10A returning to its original position. This prevents the flying robot 1 from contacting the obstacle A2.

[0067] In step S115, the control unit 210 further raises the main body 2 and further changes the landing position. At this time, the control unit 210 eliminates the contact between the first leg 10A and the landing surface A1. Then, for example, it rises a predetermined distance, and then rotates the flying robot 1 by a predetermined angle along the yaw direction. Then, it returns to step S101 and restarts the landing control.

[0068] Thus, when the flying robot 1, which has a first joint 33 or a second joint 34 on its legs 30, lands on uneven ground, the main body 2 can be kept horizontal by moving the first joint 33 or the second joint 34 for each leg 30. Therefore, it is possible to land on uneven ground while preventing the flying robot 1 from losing its balance. In addition, if the angle of the joint of the first leg 10A reaches the upper limit of the allowable range after the first leg 10A contacts the landing surface A1, the flying robot 1 can be prevented from losing its balance by restarting the landing. Furthermore, when restarting the landing, the main body 2 is raised to the height at which the first leg 10A contacts the landing surface A1. At this time, by moving the joints in a manner that maintains the contact between the first leg 10A and the landing surface A1, the flying robot 1 can be prevented from contacting the obstacle A2.

[0069] <Modifications of the First Embodiment>

[0070] In the first embodiment, the joints of the legs 30 that contact the landing surface A1 are activated. That is, the joints of each leg 30 are not activated until they contact the landing surface A1. On the other hand, as another method, the joints of the other legs 30 may be activated after the first leg 10A contacts the landing surface A1. In this case, the first joint 33 or the second joint 34 may be activated by moving the first link 31 downward. For example, the first joint 33 and the second joint 34 may be activated by aligning the central axis of the first link 31 in the vertical direction. Here, when the first leg 10A contacts the landing surface A1, the landing surface A1 on the lower side of the other legs 30 is often also located close to the other legs 30. In such cases, by activating the first joint 33 and the second joint 34 by moving the other legs 30 downward, the other legs 30 can contact the landing surface A1 earlier. As a result, for example, it is easier to achieve the balance of the flying robot 1. In addition, the landing time required for the flying robot 1 can be shortened.

[0071] Here, use Figure 6 To illustrate the landing control in a variation of this embodiment. Figure 6 This diagram shows the state of the legs 30 of the flying robot 1 in this modified example during landing. Regarding 3001, 3002, and 3003, due to... Figure 3The same explanation is omitted. 3014 shows the state after the flying robot 1 has descended further after recognizing the first leg 10A. At this time, the first joint 33 and the second joint 34 are activated in a way that brings the other legs 30, other than the leg 30 in contact with the landing surface A1, closer to the landing surface A1. That is, while the main body 2 is descending, the joints are activated in a way that moves the other legs 30 relative to the fuselage 25 towards the landing surface A1. As shown in 3014, the first joint 33 of the other legs 30 is activated in a way that the angle between the first link 31 and the second link 32 is greater than 90 degrees, and the second joint 34 is activated in a way that rotates the second link 32 downward with the second joint 34 as the center. At this time, the first joint 33 and the second joint 34 are activated in a way that makes the central axis of the first link 31 oriented in the vertical direction. During this period, the control unit 210 also controls the joints of the multiple propulsion units 23 and the grounded legs 30 in a way that makes the main body 2 approach horizontal. In this way, by moving the other legs 30 downward while maintaining a horizontal position, it is possible to make contact with the landing surface A1 earlier.

[0072] Figure 3015 shows the state where, after the first leg 10A is identified, the other legs 30 further contact the landing surface A1. The control unit 210 also determines that the other legs 30 are in contact with the landing surface A1 based on the output of the pressure sensor 31A provided at the front end of each leg 30. It should be noted that in figure 3015, it is assumed that all four legs 30 are in contact with the landing surface A1. In this case, the control unit 210 determines that the descent to the landing surface A1 is complete. The method for determining the descent is the same as in figure 3005 described above.

[0073] It should be noted that the joints of the other legs 30 can also be activated while the main body 2 is lowering, until all legs 30 are in contact with the landing surface A1. That is, the main body 2 can be lowered while the first joints 33 and second joints 34 of the legs 30 in contact with the landing surface A1 are activated and the other legs 30 not in contact with the landing surface A1 are moved downward. In this way, by activating the first joints 33 and second joints 34 of the other legs 30 in sequence, the main body 2 can be lowered while maintaining its horizontal position.

[0074] Example 3016 illustrates a state where, after the first leg 10A is identified, the main body 2 is lowered by the other legs 30 until it contacts the landing surface A1, and the angle of the first joint 33 reaches the upper limit of the permissible range, as do the angles of the first joint 33 and the second joint 34 of the other legs 30. According to the example of 3016, the angle of the first joint 33 of the first leg 10A reaches the upper limit of the permissible bending direction, and the angle of the first joint 33 of the other legs 30 reaches the upper limit of the permissible extension direction. With the angles of the joints of each leg 30 reaching the upper limit of the permissible range, it is impossible to further lower the main body 2 while maintaining its horizontal position, and it is also impossible to move the other legs 30 downwards. Such a situation may also occur during the descent of the main body 2. Therefore, the control unit 210 determines whether the descent of the main body 2, which is intended for the contact of the other legs 30 with the landing surface A1, can continue based on the angles of the first joint 33 or second joint 34 of the first leg 10A and the first joint 33 or second joint 34 of the other legs 30. For example, if the control unit 210 determines that the descent of the main body 2 cannot continue when both the angle of the first joint 33 of the first leg 10A and the angle of the first joint 33 of the other legs 30 reach the upper limit of the allowable range, the control unit 210 determines that the descent of the main body 2 can continue until the angles of the first joint 33 of the first leg 10A and the first joint 33 of the other legs 30 reach the upper limit of the allowable range. On the other hand, if the control unit 210 determines that the descent of the main body 2 can continue until the angles of the first joint 33 of the first leg 10A and the first joint 33 of the other legs 30 reach the upper limit of the allowable range, the control unit 210 determines that the descent of the main body 2 can continue. In this modified example, the other legs 30 are moved downwards, so the landing of the flying robot 1 can be performed even when the height difference of the landing surface A1 is greater than that in the first embodiment described above.

[0075] Furthermore, if it is determined that the descent of the main body 2 cannot continue, the control unit 210 performs a re-landing process. First, the control unit 210 adjusts the propulsion force of the propulsion unit 23 to stop the descent of the main body 2. Next, while maintaining the first leg 10A in contact with the landing surface A1, the control unit 210 returns the angle of the first joint 33 of the first leg 10A to the state at which the first leg 10A first made contact with the landing surface A1. At this time, the propulsion unit 23 raises the main body 2 to the position at the first contact. In addition, at this time, the angles of the first joint 33 and the second joint 34 of the other legs 30 also return to the state at which the first leg 10A first made contact with the landing surface A1. After the flying robot 1 returns to the state at the first contact, the control unit 210 separates the front part of the first leg 10A from the landing surface A1, while maintaining the horizontal position of the main body 2 and raising the main body 2 vertically upward.

[0076] Regarding the landing control in this variation, based on the above... Figure 5 To illustrate. In Figure 5 In step S108, the control unit 210 moves the joints of the first leg 10A and the other legs 30 simultaneously. Furthermore, in step S112, the control unit 210 obtains the angles of the joints of the other legs 30 in addition to the angle of the joint of the first leg 10A. In step S113, it determines whether the angle of each joint exceeds the upper limit value.

[0077] As explained above, according to this variation, it is possible to land on a landing surface A1 with a greater elevation difference.

[0078] <Second Implementation Method>

[0079] In the first embodiment, the contact between the leg 30 and the landing surface A1 is determined based on the output value of the pressure sensor 31A provided on the leg 30. However, in this second embodiment, the contact between the leg 30 and the landing surface A1 is determined when the tilt of the main body 2 of the flying robot 1 is detected. Therefore, in this second embodiment, it is not necessary to provide a pressure sensor 31A on the leg 30. The tilt of the main body of the flying robot 1 is detected by the gyroscope sensor and the accelerometer sensor included in the sensor 27. Here, when the altitude is gradually reduced when landing on uneven ground, the main body 2 tilts around the front end of the leg 30 that first contacts the landing surface A1. Therefore, the contact between the leg 30 and the landing surface A1 can be determined by the tilt of the main body 2. In addition, the direction of the tilt of the main body 2 varies depending on the direction of the tilt of the leg 30 that contacts the landing surface A1, so the leg 30 that contacts the landing surface A1 can be determined based on the direction of the tilt of the main body 2.

[0080] In this embodiment, when a tilt of the main body 2 is detected, the leg 30 in contact with the landing surface A1 is determined based on the tilt of the main body 2, and the first joint 33 or the second joint 34 of the leg 30 is activated in a manner that brings the main body 2 closer to a horizontal state. After the first leg 10A is determined, the first joint 33 and the second joint 34 of the first leg 10A are activated in a manner that brings the main body 2 closer to a horizontal state while the main body is further lowered. Subsequently, during the descent of the main body 2, if, for example, it is not possible to maintain the horizontality of the main body 2 by activating the joints of the first leg 10A alone, it is determined that other legs 30 are in contact with the landing surface A1. At this time, other legs 30 in contact with the landing surface A1 are also determined based on the tilt direction of the main body 2. Thus, if the legs 30 in contact with the landing surface A1 are determined while correcting the tilt of the main body 2, and it is determined that all legs 30 are in contact with the landing surface A1, then the landing of the flying robot 1 is completed.

[0081] Next, using the above... Figure 3The landing control in this embodiment will be explained below. Descriptions of 3001 and 3002 are omitted as they are the same as in the first embodiment. In this embodiment, in the state shown in 3003, the control unit 210 identifies the leg 30 as contacting the landing surface A1, for example, if the tilt of the main body 2 detected by the sensor 27 exceeds a threshold. Furthermore, the first leg 10A is identified based on the direction of the tilt of the main body 2. For example, the leg 30 located on the upper side of the tilt of the main body 2 is identified as the first leg 10A. After identifying the first leg 10A, the control unit 210 further lowers the flying robot 1.

[0082] Furthermore, in the state shown in 3004, i.e., after recognizing the first leg 10A and the flying robot 1 descends further, a process is executed in which the first joint 33 and the second joint 34 of the first leg 10A are activated while maintaining contact between the first leg 10A and the landing surface A1, and the main body 2 is further descended so that the other legs 30 contact the landing surface A1. This process also includes the sensor 27 detecting the tilt of the main body 2 and activating the first joint 33 or the second joint 34 of the first leg 10A to reduce the tilt of the main body 2. Furthermore, the control unit 210 drives the multiple propulsion units 23 to maintain the main body 2 in a horizontal state. Thus, the control unit 210 lowers the main body 2 while controlling the joints and propulsion units 23 to keep the main body 2 in a horizontal state.

[0083] In the state shown in 3005, i.e., when the other legs 30 are in contact with the landing surface A1, the control unit 210 also determines that the other legs 30 are in contact with the landing surface A1 based on the tilt of the main body 2 detected by the sensor 27. For example, even if the joints and propulsion unit 23 are controlled in a way that keeps the main body 2 in a horizontal state, the main body 2 is tilted, and it is determined that the other legs 30 are in contact with the landing surface A1. In addition, the direction of the tilt of the main body 2 is used to determine the other legs 30 in contact with the landing surface A1. And, while keeping the main body 2 in a horizontal state, the joints of the legs 30 in contact with the landing surface A1 are moved, the main body 2 is lowered until all legs 30 are in contact with the landing surface A1. And, for example, when all legs 30 are in contact with the landing surface A1 and the main body 2 is in a horizontal state, the control unit 210 determines that it is possible to land, and stops the rotation of the propeller 21.

[0084] On the other hand, when the state shown in 3006 is reached, even if the angle of the first joint 33 reaches the upper limit of the allowable range midway when the main body 2 descends until the other legs 30 contact the landing surface A1, the control unit 210, in the same manner as in the first embodiment, causes the flying robot 1 to return to the state at the first contact and to land again.

[0085] Landing Control

[0086] Here, based on Figure 7 The landing control performed during the landing of flying robot 1 is explained. Figure 7 This is an example of a flowchart of the landing control in the second embodiment. Landing control is achieved by executing a predetermined control program in the main body 2. It should be noted that, in this embodiment, the main body 2 is provided to receive information indicating the landing location of the flying robot 1. Figure 7 The routine shown begins when flying robot 1 arrives above the landing site. Regarding execution and... Figure 5 The steps of the same process as the routine shown are labeled with the same reference numerals and the description is omitted.

[0087] exist Figure 7 In the flowchart shown, when the processing of step S103 ends, the process proceeds to step S201. In step S201, the control unit 210 determines whether a tilt of the main body 2 is detected. For example, the control unit 210 determines whether the tilt of the main body 2 detected by the sensor 27 exceeds a threshold. The threshold is the tilt when the leg 30 contacts the landing surface A1. This threshold is a value larger than the tilt of the main body 2 due to wind or other influences. If the determination in step S201 is positive, the process proceeds to step S105; if the determination is negative, the process proceeds to step S103. It should be noted that the state of the flying robot 1 when the determination in step S201 is positive is different from that in step S201. Figure 3 The state shown in 3003 corresponds to this.

[0088] In addition, Figure 7 In the flowchart shown, if the processing in step S107 is completed, or if a negative determination is made in step S113, the process proceeds to step S202. In step S202, the control unit 210 actuates the first joint 33 and the second joint 34 of the leg 30 that is in contact with the landing surface A1, thereby maintaining the horizontal state of the main body 2. At this time, the state of the flying robot 1 is... Figure 3 This corresponds to the state shown in 3004. For example, if the sensor 27 detects a tilt in the main body 2, the control unit 210 will move the first joint 33 and the second joint 34 in a way that eliminates the tilt. Feedback control can also be performed at this time. When the control unit 210 executes the processing of step S202, it will also move the joints of the leg 30 in a way that maintains the horizontal state of the main body 2 in subsequent processing.

[0089] In addition, Figure 7In the flowchart shown, if a positive determination is made in step S109, the process proceeds to step S111, and the control unit 210 stops the propeller. It should be noted that, during the process before stopping the propeller 21, if the main body 2 tilts, the control unit 2 can be brought closer to a horizontal position by moving the joints. Alternatively, if the control unit 210 cannot bring the main body 2 closer to a horizontal position while reducing the rotational speed of the propeller 21, the process can proceed to step S114 and attempt to land again.

[0090] In this way, by actuating the first joint 33 or the second joint 34 based on the detection value of the sensor that detects the tilt of the main body 2, the main body 2 can be kept in a horizontal state. Therefore, it is possible to land on uneven ground while preventing the flying robot 1 from losing its balance.

[0091] It should be noted that, as in a variation of the first embodiment, after the first leg 10A contacts the landing surface A1, the joints can be moved downwards to activate the other legs 30. This allows the vehicle to land on the landing surface A1, which has a greater elevation difference.

[0092] Explanation of reference numerals in the attached figures

[0093] 1 Flying robot; 2 Main body; 30 Legs; 31 First link; 32 Second link; 33 First joint; 34 Second joint; 210 Control unit.

Claims

1. A flying robot, wherein the flying robot is provided with: a main body section; a propulsion section having a plurality of propulsion units that generate propulsion force by driving a rotary wing, the plurality of propulsion units being provided to the main body section; a plurality of leg sections that support the main body section, the plurality of leg sections each having at least one joint and being configured to deform the posture of each leg section; and a control section that controls the plurality of leg sections when landing from a flying state to a landing surface, the plurality of leg sections each have a first link section and a second link section provided to the main body section side compared to the first link section, the joint has a first joint that rotatably connects the first link section and the second link section and a second joint that rotatably connects the second link section and the main body section, the control section controls a part or all of at least one of the leg sections and adjusts the inclination of the main body section from when the at least one leg section contacts the landing surface to until landing to the landing surface is completed, the control section performs the following processes: a first process of identifying a leg section that first contacts the landing surface among the plurality of leg sections as a first leg section during a process of lowering the main body section by the propulsion section in order to land to the landing surface from the flying state; and a second process of further lowering the main body section while maintaining the contact of the first leg section with the landing surface and causing the first joint and the second joint of the first leg section to act, and causing the other leg sections to contact the landing surface and causing the angles of the first joint and the second joint of the first leg section to change with the lowering of the main body section after the first process, in the second process, the control section controls the first joint of the first leg section so as to decrease the angle formed by the first link section and the second link section and controls the second joint of the first leg section so as to move the second link section from the second joint to an upward diagonal direction with the lowering of the main body section, in the second process, the control section moves the first joint and the second joint and individually changes the propulsion force of the plurality of propulsion units, thereby maintaining the main body section in a horizontal state.

2. The flying robot according to claim 1, wherein the control section lowers the main body section while causing the first joint and the second joint of the other leg sections to act while maintaining the contact of the other leg sections with the landing surface in the second process.

3. The flying robot according to claim 1 or 2, wherein the control section further performs a third process of judging whether or not the lowering of the main body section for the contact of the other leg sections with the landing surface can continue based on the angles of the first joint and the second joint of the first leg section during the second process.

4. The flying robot according to claim 3, wherein ​ In a case where it is determined in the third processing that the descent of the main body portion cannot be continued, the control portion returns the angles of the first joint and the second joint of the first leg portion to a state at a first contact time when the first leg portion first contacts the landing surface while maintaining the state where the first leg portion contacts the landing surface, and the propulsion portion raises the main body portion to a position at the first contact time.

5. The flying robot according to claim 1 or 2, wherein a pressure sensor that is capable of detecting a pressure at the time when each of the plurality of leg portions contacts the landing surface is provided at a front end of each of the plurality of leg portions, the control portion performs identification of the first leg portion in the first processing on the basis of the presence or absence of an output related to contact from the pressure sensor provided at the first leg portion, the control portion further performs fourth processing that determines that landing of the flying robot onto the landing surface is completed when output values of the pressure sensors provided at the plurality of leg portions, respectively, become a predetermined correlation state.

6. The flying robot according to claim 1, wherein the flying robot further includes a detection portion that detects tilting of the main body portion, the control portion controls the at least one leg portion to bring the main body portion close to a horizontal state if the detection portion detects tilting of the main body portion with respect to a horizontal state when the plurality of leg portions contact the landing surface in a state where the plurality of leg portions become a predetermined posture from the flying state.

7. The flying robot according to claim 6, wherein the control portion causes the first joint and the second joint of the leg portion that contacts the landing surface to act while maintaining contact of the leg portion that contacts the landing surface with the landing surface, and causes the main body portion to descend.

8. The flying robot according to claim 6 or 7, wherein the control portion further determines whether or not the descent of the main body portion can be continued on the basis of the angles of the first joint or the second joint of the leg portion.

9. The flying robot according to claim 8, wherein in a case where the control portion determines that the descent of the main body portion cannot be continued, the control portion returns the angles of the first joint and the second joint of a first leg portion that is a leg portion of the plurality of leg portions that first contacts the landing surface to a state at a first contact time when the first leg portion first contacts the landing surface while maintaining a state where the first leg portion contacts the landing surface, and the propulsion portion raises the main body portion to a position at the first contact time.

10. The flying robot according to claim 1 or 2, wherein the plurality of leg portions function as leg portions that cause the flying robot to walk after landing onto the landing surface is completed.

11. A flying robot, comprising: a main body portion; a propulsion portion that has a plurality of propulsion units that generate propulsion force by driving of a rotary wing, the plurality of propulsion units being provided to the main body portion; a plurality of leg portions that support the main body portion, the plurality of leg portions each having at least one joint and configured to be able to deform a posture of each leg portion; and a control portion that controls the propulsion portion and the plurality of leg portions. a control section that controls the plurality of leg sections when landing on a landing surface from a flight state, the plurality of leg sections each include a first link section and a second link section disposed on the main body section side relative to the first link section, the joint includes a first joint that rotatably connects the first link section and the second link section, and a second joint that rotatably connects the second link section and the main body section, the control section controls a part or all of at least one leg section of the plurality of leg sections and adjusts the inclination of the main body section from when the at least one leg section contacts the landing surface to when landing on the landing surface is completed, the control section performs the following processes: a first process that, in a process of descending the main body section using the propulsion section in order to land on the landing surface from the flight state, identifies a leg section of the plurality of leg sections that first contacts the landing surface as a first leg section; and a second process that, after the first process, moves the first joint and the second joint of the first leg section while maintaining contact of the first leg section with the landing surface, further descends the main body section while moving the first joint and the second joint of the first leg section, and causes the other leg sections to contact the landing surface, and changes the angles of the first joint and the second joint of the first leg section as the main body section descends, in the second process, the control section moves the first joint and the second joint while individually changing the propulsion forces of the plurality of propulsion units, thereby maintaining the main body section in a horizontal state, the descent speed of the main body section in the second process is lower than the descent speed of the main body section before the start of the second process.

Images