Flight device and control method thereof

Abstract

Provided are a flight device capable of suppressing flight in a state in which the weight of a transport body is too heavy, and a method for controlling the flight device. A flight device (10) is provided with a body base part (16), a rotor (11), a motor (12), a calculation control unit (15), and a weight detection unit (17). The rotor (11) rotates to generate a thrust force for levitating the airframe base part (16). The motor (12) rotationally drives the rotor (11). The weight detection unit (17) detects the weight value of the transport body (18). If the weight value detected by the weight detection unit (17) exceeds a threshold weight value, the calculation control unit (15) does not cause the flight device (10) to take off.

Description

Technical Field

[0001] The invention relates to a flying device and a control method thereof. Background Art

[0002] Conventionally, there are known flying devices that can fly in the air without a human being. Such flying devices can fly in the air using the thrust of a rotor that is driven to rotate around a vertical axis.

[0003] As application fields of the flying device, for example, there are conceivable fields such as transportation, surveying, photography, and agriculture. When the flying device is applied to such fields, various devices and medicines are equipped on the flying device.

[0004] In order to ensure stable flight of an aerial device, it is necessary to measure the weight of a transport object transported by the aerial device. Patent Document 1 describes an invention for estimating the weight of a tank as an example of a transport object provided in the aerial device.

[0005] Patent Document 1 has a load cell as a weight measuring device. By using the load cell, the weight difference from the weight of an empty tank can be measured, and the remaining amount of the auxiliary tank during pesticide spraying can be detected. Therefore, the remaining amount of pesticide can be detected without using a flow meter.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: (Japanese) Patent Publication No. 2020-117203 Summary of the invention

[0009] Technical problem to be solved by the invention

[0010] However, the flying device described in Patent Document 1 described above has room for improvement from the viewpoint of making the flying device fly stably.

[0011] Specifically, the weight of a tank as a transport object can be measured according to the invention described in Patent Document 1. However, if the weight of the transport object is too large, there is a problem that the flying device becomes unstable due to the weight of the transport object.

[0012] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a flying device and a control method thereof that can suppress the flying of a flying device in a state where the weight of a transport body is too large.

[0013] Technical solutions for solving technical problems

[0014] The present invention is a flying device for transporting a transport body, and is characterized in that it comprises a body base, a rotor, a motor, an operation control unit and a weight detection unit. The rotor generates thrust for suspending the body base by rotating, the motor drives the rotor to rotate, and the weight detection unit detects the weight value of the transport body. If the weight value detected by the weight detection unit exceeds a threshold weight value, the operation control unit prevents the flying device from taking off.

[0015] Furthermore, in the flying device of the present invention, the weight detection unit is a part of the function of the calculation control unit, and calculates the weight value based on an instruction signal for controlling the rotation speed of the motor.

[0016] Furthermore, in the flying device of the present invention, the instruction signal is a DUTY value or a value derived from the DUTY value.

[0017] Furthermore, in the flying device of the present invention, the weight detection unit is disposed between the machine body base unit and the transport body.

[0018] Furthermore, in the flying device of the present invention, the weight detection unit is a carrying type measuring device on which the flying device is carried.

[0019] The present invention is a control method for a flying device, which controls a flying device for transporting a transport body, and is characterized in that the flying device includes a body base, a rotor, a motor and a weight detection unit, the rotor generates thrust for suspending the body base by rotating, the motor drives the rotor to rotate, and if the weight value detected by the weight detection unit exceeds a threshold weight value, the flying device will not take off.

[0020] In the control method of the flying device of the present invention, it is characterized in that the weight value is calculated based on an instruction signal for controlling the rotation speed of the motor.

[0021] In the control method of the flying device of the present invention, it is characterized in that the indication signal is a DUTY value or a value derived from the DUTY value.

[0022] In the control method of the flying device of the present invention, it is characterized in that the weight value is detected by the weight detection unit disposed between the aircraft base and the transport body.

[0023] In the flying device control method of the present invention, the weight value is detected by a load-bearing measuring device on which the flying device is mounted.

[0024] Effects of the Invention

[0025] The present invention is a flying device that transports a transport body, and is characterized in that it includes a body base, a rotor, a motor, an operation control unit, and a weight detection unit. The rotor generates thrust for suspending the body base by rotating, and the motor drives the rotor to rotate. The weight detection unit detects the weight value of the transport body. If the weight value detected by the weight detection unit exceeds a threshold weight value, the operation control unit prevents the flying device from taking off. According to the flying device of the present invention, when the weight value of the transport body exceeds the threshold weight value, the flying device is not allowed to take off, thereby preventing the flying device from flying in a so-called overloaded state. Therefore, it is possible to suppress the flying state of the flying device from being hindered by overload.

[0026] In addition, in the flying device of the present invention, the weight detection unit is a part of the function of the calculation control unit, and the weight value is calculated based on the instruction signal for controlling the rotation speed of the motor. According to the flying device of the present invention, by calculating the weight value based on the instruction signal, the flying device can be constructed without a dedicated weight sensor.

[0027] In the flying device of the present invention, the instruction signal is a DUTY value or a value derived from the DUTY value. According to the flying device of the present invention, the weight value of the transport object can be detected simply and accurately by detecting the weight value based on the DUTY value.

[0028] In addition, in the flying device of the present invention, the weight detection unit is disposed between the body base and the transport body. According to the flying device of the present invention, the weight of the transport body can be directly detected by the weight detection unit.

[0029] In the flying device of the present invention, the weight detection unit is a load-bearing type measuring device on which the flying device is mounted. According to the flying device of the present invention, the weight of the transported object can be directly detected by the load-bearing type measuring device.

[0030] The present invention is a method for controlling a flying device, which controls a flying device for conveying a conveying body, and is characterized in that the flying device includes a body base, a rotor, a motor, and a weight detection unit, wherein the rotor generates thrust for suspending the body base by rotating, and the motor drives the rotor to rotate, and the flying device does not take off if the weight value detected by the weight detection unit exceeds a threshold weight value. According to the method for controlling the flying device, when the weight value of the conveying body exceeds the threshold weight value, the flying device is not allowed to take off, thereby preventing the flying device from flying in a so-called overloaded state. Therefore, it is possible to suppress the flying state of the flying device from being hindered by overload.

[0031] The control method of the flying device of the present invention is characterized in that the weight value is calculated based on an instruction signal for controlling the rotation speed of the motor. According to the control method of the flying device, by calculating the weight value based on the instruction signal, the flying device can be constructed without a dedicated weight sensor.

[0032] In the control method of the flying device of the present invention, the indication signal is a DUTY value or a value derived from the DUTY value. According to the control method of the flying device of the present invention, the weight value of the transport body can be detected simply and accurately by detecting the weight value based on the DUTY value.

[0033] The control method of the flying device of the present invention is characterized in that the weight value is detected by the weight detection unit disposed between the body base and the transport body. According to the control method of the flying device, the weight of the transport body can be directly detected by the weight detection unit.

[0034] The control method of the flying device of the present invention is characterized in that the weight value is detected by a load-bearing measuring device on which the flying device is mounted. According to the flying device of the present invention, the weight of the transported object can be directly detected by the control method of the flying device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1A It is a top view showing a flying device according to an embodiment of the present invention.

[0036] Figure 1B It is a side view showing a flying device according to an embodiment of the present invention.

[0037] Figure 2 It is a block diagram showing the connection structure of the flying device according to the embodiment of the present invention.

[0038] Figure 3 This is a flowchart showing a method for calculating an estimated weight value of a transport object in the flying device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0039] Hereinafter, the flying device 10 and the control method thereof according to the present embodiment will be described with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals in principle, and repeated descriptions are omitted. In addition, in the following description, the directions of up, down, front, back, left, and right are used, but left and right refer to the direction of the aircraft. Figure 1A The left and right sides when the flying device 10 is viewed from the front.

[0040] Figure 1A is a top view showing the flying device 10, Figure 1B It is a side view showing the flying device 10 .

[0041] Reference Figure 1A The flying device 10 mainly includes: a body base 16; a power unit (not shown) mounted on the body base 16; an arm 271 extending from the peripheral portion of the body base 16 toward the periphery; a motor 121 disposed at the outer end of the arm 271; and a rotor 111 rotated by the motor 121. In the following description, the motor 121 is collectively referred to as the motor 12, and the rotor 111 is collectively referred to as the rotor 11.

[0042] In the flying device 10, the motor 121 and the like rotate the rotor 111 and the like at a predetermined rotation speed using the power obtained from the battery stored in the base base 16, so that the flying device 10 can float and move in the air. The flying device 10 is, for example, a device that serves as a transport unit that transports a transport body 18 described later from a certain location to another location. Here, as the flying device 10, the engine mounted on the body base 16 can also be used as a driving source to rotate the rotor 111.

[0043] The body base 16 is disposed at the center of the flying device 10, and various devices (not shown) are housed therein. The outer shell of the body base 16 is covered with a synthetic resin plate or a steel plate formed into a predetermined shape.

[0044] The arm 271 , the arm 272 , the arm 273 , and the arm 274 extend outward from the body base 16 .

[0045] The motor 121 and the rotor 111 are arranged at the outer end of the arm 271. The motor 122 and the rotor 112 are arranged at the outer end of the arm 272. The motor 123 and the rotor 113 are arranged at the outer end of the arm 273. The motor 124 and the rotor 114 are arranged at the outer end of the arm 274. Here, the rotor 11 generates thrust for levitating the body base 16 by rotating around the vertical axis. In addition, the motor 12 drives the rotor 11 to rotate.

[0046] Reference Figure 1B The leg portion 32 that contacts the ground when landing is disposed at the lower portion of the body base portion 16. The leg portion 32 is also called a landing gear, and the lower end of the leg portion 32 contacts the ground when the flying device 10 is landed.

[0047] A transport body 18 is provided below the body base 16. The transport body 18 is an object transported by the flying device 10, such as cargo, medicine, fertilizer, etc. Here, the transport body 18 is fixed below the body base 16, but the transport body 18 may be fixed above the body base 16.

[0048] The weight detection unit 17 is a sensor for detecting the weight of the transport body 18. The weight detection unit 17 is, for example, a load cell. As described later, when the weight value of the transport body 18 is calculated from the DUTY value, the flying device 10 can be configured without the weight detection unit 17.

[0049] Figure 2 1 is a block diagram showing the connection structure of the flying device 10 .

[0050] The flying device 10 mainly includes a motor 121, a flying sensor 13, a power conversion unit 14, a calculation control unit 15, a motor 12, and a weight detection unit 17, and transports a transport body 18. Furthermore, the flying device 10 includes a communication unit 25, a battery 21, and the like. In addition, the operator who operates the flying device 10 can operate the operating device 28 on the ground using the operating device 28. In addition, the operating device 28 composed of the communication unit 26, the display device 22, and the display unit 23 is provided near the operator.

[0051] The flight sensor 13 measures a physical quantity acting on the body base 16, and transmits a signal indicating the magnitude of the physical quantity to the calculation control unit 15. Sensors included in the flight sensor 13 include, for example, an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an air pressure sensor, and a GNSS antenna. The acceleration sensor detects changes in inclination and movement as physical quantities. The angular velocity sensor detects changes in inclination and orientation as physical quantities. The geomagnetic sensor detects the azimuth as a physical quantity through magnetic force. The air pressure sensor detects the height as a physical quantity. The GNSS antenna determines the position.

[0052] The calculation control unit 15 has a calculation device composed of a CPU (Central Processing Unit) and a storage device composed of a RAM (Random Access Memory) or a ROM (Read Only Memory), and controls the overall operation of the flying device 10. In addition, as described later, the calculation control unit 15 adjusts the power supplied to the motor 121, etc. based on the signal input from the flying sensor 13. Furthermore, as described later, the calculation control unit 15 calculates the weight value of the conveying body 18 based on the size of the indication signal. In addition, the calculation control unit 15 has a flying controller and a companion controller not shown here. Furthermore, the calculation control unit 15 also serves as the weight detection unit 17 when calculating the weight value of the conveying body 18 based on the DUTY value.

[0053] Furthermore, the calculation control unit 15 generates an instruction signal for making the position, posture, and moving speed of the flying device 10 become predetermined based on the signal input from the flying sensor 13. As the instruction signal, for example, a DUTY value in PWM control or a value derived from the DUTY value can be used. In the present embodiment, since there are four motors 121, 122, 123, and 124, a DUTY value is calculated for each motor 121.

[0054] The power conversion unit 14 has ESC141 to ESC144. Here, ESC is an abbreviation of Electric Speed ​​Controller, which is an electronic device that controls the rotation speed of the motor 12. ESC141 is configured between the motor 121 and the operation control unit 15, and controls the rotation speed of the motor 121. ESC142 is configured between the motor 122 and the operation control unit 15, and controls the rotation speed of the motor 122. ESC143 is configured between the motor 123 and the operation control unit 15, and controls the rotation speed of the motor 123. ESC144 is configured between the motor 124 and the operation control unit 15, and controls the rotation speed of the motor 124. If the DUTY value input from the operation control unit 15 is large, ESC141 to ESC144 cause the motors 121 to 124 to rotate at high speed.

[0055] The weight detection unit 17 detects the weight of the transport body 18 and transmits a signal indicating the weight to the calculation control unit 15. The weight detection unit 17 may be provided in the flying device 10 or outside the flying device 10.

[0056] When the flying device 10 includes the weight detection unit 17 , the weight detection unit 17 is disposed between the body base 16 of the flying device 10 and the transport body 18 , thereby detecting the weight of the transport body 18 acting on the weight detection unit 17 .

[0057] On the other hand, when the weight detection unit 17 is provided outside the flying device 10, a load-type measuring device capable of loading the flying device 10 itself can be used as the weight detection unit 17. When the load-type measuring device is used, the flying device 10 loaded with the transport body 18 is loaded on the upper surface of the load-type measuring device to measure the total weight, and the weight of the flying device 10 itself, that is, the device weight, is subtracted from the total weight. In this way, the weight value of the transport body 18 can be calculated. The signal indicating the weight value of the transport body 18 calculated by the load-type measuring device is input to the calculation control unit 15 via the communication unit 25.

[0058] Here, the basic flight operation of the flying device 10 is described. The flying device 10 can perform each operation of take-off operation, ascending operation, hovering operation, moving operation, descending operation and landing operation. The calculation control unit 15 performs each operation of the flying device 10 according to the instruction transmitted from the control device 28 based on the operation of the operator.

[0059] In each of the above actions, the calculation control unit 15 outputs an instruction signal to the power conversion unit 14 based on the information input from the acceleration sensor and the angular velocity sensor included in the flight sensor 13, and adjusts the rotation speed of the motors 121 to 124 so that the posture of the flying device 10 becomes a predetermined posture.

[0060] During the take-off operation, the calculation control unit 15 operates the weight detection unit 17 and the like to detect the weight of the weight detection unit 17. If the weight of the weight detection unit 17 does not exceed a threshold weight value described later, the motor 12 is rotated at a predetermined speed in order to make the flying device 10 take off. Figure 3 Describe the details of the takeoff maneuver.

[0061] In the ascending operation, the calculation control unit 15 rotates the motor 12 at a relatively high speed to ascend the flying device 10 to a predetermined height. The calculation control unit 15 basically outputs substantially the same DUTY value to the ESC 141 to the ESC 144 to make the rotation speeds of the motors 121 to the motors 124 substantially the same. In addition, based on the information input from the air pressure sensor included in the flight sensor 13, the calculation control unit 15 performs a hovering operation to keep the height of the flying device 10 substantially constant when the flying device 10 ascends to a predetermined height.

[0062] In the hovering operation, the calculation control unit 15 adjusts the rotation speeds of the motors 121 to 122 based on the information input from the air pressure sensor included in the flight sensor 13 so that the altitude of the flying device 10 is substantially constant. Here, basically, the calculation control unit 15 outputs substantially the same DUTY value to the ESCs 141 to 144 so that the rotation speeds of the motors 121 to 124 are substantially the same.

[0063] During the moving operation, the calculation control unit 15 adjusts the rotation speeds of the motors 121 to 124 so that the flying device 10 can move in each direction of the front, back, left, and right at a predetermined speed. For example, the rotation speeds of the motors 121 and 122 are made faster than the rotation speeds of the motors 123 and 124. That is, the calculation control unit 15 makes the DUTY value output to the ESC 141 and ESC 142 greater than the DUTY value output to the ESC 143 and ESC 144. Thus, referring to Figure 1A, rotors 111 and 112 rotate at a higher speed than rotors 113 and 114, the body base 16 of the flying device 10 becomes inclined, and the flying device 10 moves in a specified direction. Afterwards, if it is recognized that the flying device 10 has reached a specified position based on the output of the GNSS antenna etc. included in the flying sensor 13, the calculation control unit 15 performs a braking action. For example, the calculation control unit 15 makes the rotation speed of motors 121 and 122 slower than the rotation speed of motors 123 and 124. That is, the calculation control unit 15 makes the DUTY value output to ESC143 and ESC144 greater than the DUTY value output to ESC141 and ESC142. Thus, referring to Figure 1A The rotors 111 and 112 rotate at a lower speed than the rotors 113 and 114, and the plane movement of the flying device 10 can be stopped. Then, the calculation control unit 15 executes the hovering operation.

[0064] In the descending operation, the calculation control unit 15 rotates the motor 12 at a relatively low speed so that the flying device 10 descends to a predetermined height. The calculation control unit 15 basically outputs substantially the same DUTY value to the ESC 141 to the ESC 144 so that the rotation speeds of the motors 121 to the motors 124 are substantially the same. In addition, based on the information input from the air pressure sensor included in the flight sensor 13, the calculation control unit 15 performs a hovering operation to keep the height of the flying device 10 substantially constant when the flying device 10 descends to a predetermined height.

[0065] In the landing operation, the calculation control unit 15 rotates the motor 12 at a relatively low speed so that the flying device 10 descends to the landing surface such as the ground. The calculation control unit 15 basically outputs substantially the same DUTY value to the ESC 141 to the ESC 144 so that the rotation speeds of the motors 121 to the motors 124 are substantially the same. In addition, if the flying device 10 contacts the landing surface, the calculation control unit 15 stops all the motors 12.

[0066] Figure 3 It is a flowchart showing the operation of the flying device 10, mainly the take-off action of the flying device 10, in the flying device 10. In this embodiment, as described in detail below, the calculation control unit 15 is configured so that if the weight value of the transport body 18 detected by the weight detection unit 17 exceeds the threshold weight value, the flying device 10 does not take off.

[0067] In step S10, the calculation control unit 15 detects the weight value of the transport body 18 before the flying device 10 takes off. As a method of detecting the weight value of the transport body 18, there are a method of using the weight detection unit 17 provided in the flying device 10 and a method of using an instruction signal issued from the calculation control unit 15 as described later. In the method using the weight detection unit 17, the weight detection unit 17 detects the weight value of the transport body 18 and transmits a signal indicating the weight value to the calculation control unit 15. The method using the instruction signal will be described later.

[0068] In step S11, the calculation control unit 15 determines whether the weight value does not exceed the threshold weight value. Specifically, the threshold weight value is preset according to the flight performance of the flying device 10. The threshold weight value refers to the weight of the transport body 18 that the flying device 10 can safely transport by flying. For example, the calculation control unit 15 compares the weight value of the transport body 18 detected by the weight detection unit 17 in step S10 with the threshold weight value.

[0069] If the answer is “YES” in step S11 , that is, if the weight value does not exceed the threshold weight value, the calculation control unit 15 proceeds to step S12 .

[0070] In the case of "NO" in step S11, that is, when the weight value exceeds the threshold weight value, the calculation control unit 15 proceeds to step S16.

[0071] In step S12 , the calculation control unit 15 permits takeoff. That is, the calculation control unit 15 continuously inputs the DUTY value as an instruction signal to the ESCs 141 to 144 , and the ESCs 141 to 144 generate AC power of a predetermined frequency, which is input to the motors 121 to 124 .

[0072] In step S13, the calculation control unit 15 executes takeoff. That is, based on the instruction of the calculation control unit 15, the motors 121 to 124 rotate the rotors 111 to 114 at a predetermined rotation speed. If the upward thrust generated by the rotors 111 to 114 is greater than a certain value, the flying device 10 takes off.

[0073] In step S14 , the calculation control unit 15 causes the flying device 10 to fly. Specifically, based on the instruction of the calculation control unit 15 , the flying device 10 performs an ascending operation, a hovering operation, a horizontal movement operation, a descending operation, or the like.

[0074] In step S15 , the calculation control unit 15 executes landing. That is, based on the calculation result of the calculation control unit 15 or the instruction signal input by the user via the operating device 28 , the flying device 10 descends and lands at a predetermined position, for example, the position where it took off.

[0075] In step S16, the calculation control unit 15 does not allow takeoff. That is, the weight of the transport body 18 carried by the flying device 10 exceeds the threshold weight, and it is not possible to directly and stably fly, so the flight is not performed. In this case, the calculation control unit 15 transmits a signal indicating that the weight of the transport body 18 exceeds the threshold weight to the control device 28 via the communication unit 25 and the communication unit 26. In addition, the display unit 23 displays that the weight of the transport body 18 exceeds the threshold weight. As a result, the operator makes the transport body 18 lighter so that the transport body 18 is less than the threshold weight value, and thus the flying device 10 can transport the transport body 18.

[0076] Next, a method of calculating the weight value of the transport body 18 based on the DUTY value as an example of the instruction signal in the above-mentioned step S10 will be described below.

[0077] First, in step S10, when the motor 12 is rotated based on the instruction of the calculation control unit 15, that is, when the flying device 10 changes from the landing state to the take-off state, the calculation control unit 15 calculates the DUTY value as the instruction signal based on the aforementioned physical quantity. The calculation control unit 15 outputs the DUTY value based on the various information input in step S10 and the operation status. Figure 2 The ESC141 to ESC144 shown calculate the DUTY value respectively. The DUTY value also changes according to the weight of the flying device 10 including the transport body 18. That is, if the weight of the transport body 18 is large, the weight of the flying device 10 including the transport body 18 as a whole becomes large, and the DUTY value calculated by the calculation control unit 15 becomes large. On the other hand, if the weight of the transport body 18 is small, the weight of the flying device 10 including the transport body 18 as a whole becomes small, and the DUTY value calculated by the calculation control unit 15 becomes small. Therefore, before the flying device 10 flies, the weight value of the flying device 10 as a whole including the transport body 18 can be calculated based on the DUTY value. In addition, the weight value of the transport body 18 itself is known. Therefore, by subtracting the weight value of the transport body 18 itself from the weight value of the flying device 10 as a whole including the transport body 18 obtained based on the DUTY value, the weight value of only the transport body 18 can be calculated.

[0078] Here, in order to accurately estimate the weight of the transport body 18, the calculation control unit 15 may calculate an average DUTY value by averaging the DUTY values ​​calculated for each of the ESC141 to ESC144, and calculate the weight value of the entire flying device 10 including the transport body 18 based on the average DUTY value, as described above. The DUTY values ​​calculated for each of the ESC141 to ESC144 vary depending on the state of the flying device 10. Therefore, by calculating the average of these four DUTY values, that is, the DUTY average value (indication signal average value), the influence of the state of the flying device 10 can be eliminated.

[0079] Furthermore, the calculation control unit 15 can calculate the weight value of the transport body 18 by considering the DUTY value or the DUTY average value and the voltage value of the motor 12. Specifically, the calculation control unit 15 reads the DUTY value or the DUTY average value and the voltage value of the battery 21, that is, the battery voltage value. Then, based on a predetermined function with the DUTY value or the DUTY average value and the battery voltage value as variables, the weight value of the flying device 10 including the transport body 18 is calculated. When the battery voltage value is low, the calculation control unit 15 increases the DUTY value or the DUTY average value in order to rotate the motor 12 at a predetermined speed. Therefore, if the weight value of the flying device 10 including the transport body 18 is calculated using only the DUTY value or the DUTY average value as a variable, the estimated margin may be calculated too much. Therefore, in the present embodiment, the DUTY value or the DUTY average value is corrected by using the battery voltage value, so as to accurately calculate the weight value of the flying device 10 including the transport body 18. Specifically, when the battery voltage value is low, the DUTY value or the DUTY average value is corrected to the negative side. On the contrary, when the battery voltage value is high, the DUTY value or the DUTY average value is corrected to the positive side. Thus, the weight value of the transport body 18 can be accurately calculated regardless of the battery voltage value.

[0080] Although the embodiments of the present invention have been described above, the present invention is not limited thereto and can be modified within the scope of the gist of the present invention. In addition, the above-mentioned embodiments can be combined with each other.

[0081] For example, in the above embodiment, the DUTY value is used as the instruction signal, but other signals may be used as the instruction signal. For example, the current value or voltage value of the power supplied to the power conversion unit 14 or the motor 12 may be used as the instruction signal.

[0082] In addition, the detection of the weight value of the transport body 18 in step S10 can also be performed in step S14. That is, when the flying device 10 is in flight, the calculation control unit 15 also calculates the weight value of the transport body 18 based on the DUTY value. Then, when the weight value of the transport body 18 exceeds the threshold weight value, the calculation control unit 15 lands the flying device 10. Thus, when the flying device 10 is in flight, even if it is determined that the weight value of the transport body 18 exceeds the threshold weight value, the flying device 10 can be landed safely.

[0083] Furthermore, in the above-described embodiment, whether the weight value of the transport body 18 exceeds the threshold weight value is determined based only on the weight value of the transport body 18 , but the total weight of the flying device 10 and the transport body 18 may be used to determine whether the weight value of the transport body 18 exceeds the threshold weight value.

[0084] In the present embodiment described above, the average value is exemplified as the value derived from the DUTY value, but other values ​​may be adopted. For example, the median value may be adopted as the value derived from the DUTY value.

[0085] Description of Reference Numerals

[0086] 10: Flying Device

[0087] 11: Rotor

[0088] 111: Rotor

[0089] 112: Rotor

[0090] 113: Rotor

[0091] 114: Rotor

[0092] 12: Motor

[0093] 121: Motor

[0094] 122: Motor

[0095] 123: Motor

[0096] 124: Motor

[0097] 13: Flight Sensor

[0098] 14: Power conversion unit

[0099] 141: ESC

[0100] 142: ESC

[0101] 143: ESC

[0102] 144: ESC

[0103] 15: Operation control unit

[0104] 16: Body base

[0105] 17: Weight detection department

[0106] 18: Transport body

[0107] 21: Battery

[0108] 22: Display device

[0109] 23: Display unit

[0110] 25: Ministry of Communications

[0111] 26: Ministry of Communications

[0112] 271: Arm

[0113] 272: Arm

[0114] 273: Arm

[0115] 274: Arm

[0116] 28: Control device

[0117] 32: Legs

Claims

1. A flying device for transporting a transport object, characterized in that: It has a body base, rotors, motors, a calculation control unit, and a weight detection unit. The rotor generates thrust for levitating the fuselage base portion by rotating. The motor drives the rotor to rotate. The weight detection unit detects the weight value of the conveyor. If the weight value detected by the weight detection unit exceeds a threshold weight value, the calculation control unit prevents the flying device from taking off.

2. The flying device according to claim 1, characterized in that: The weight detection unit is a part of the function of the operation control unit. The weight value is calculated according to an indication signal for controlling the rotation speed of the motor.

3. The flying device according to claim 2, characterized in that: The indication signal is a DUTY value or a value derived from the DUTY value.

4. The flying device according to claim 1, characterized in that: The weight detection unit is disposed between the machine body base and the transport body.

5. The flying device according to claim 1, characterized in that: The weight detection unit is a platform-type measuring device on which the flying device is placed.

6. A method for controlling a flying device for conveying a conveying body, characterized in that: The flying device comprises a body base, a rotor, a motor and a weight detection unit. The rotor generates thrust for levitating the fuselage base portion by rotating. The motor drives the rotor to rotate. If the weight value detected by the weight detection unit exceeds the threshold weight value, the aircraft does not take off.

7. The method for controlling a flying device according to claim 6, characterized in that: The weight value is calculated according to an indication signal for controlling the rotation speed of the motor.

8. The method for controlling a flying device according to claim 7, characterized in that: The indication signal is a DUTY value or a value derived from the DUTY value.

9. The method for controlling a flying device according to claim 6, characterized in that: The weight value is detected by the weight detection unit disposed between the machine body base and the transport body.

10. The method for controlling a flying device according to claim 6, characterized in that: The weight value is detected by a load-bearing measuring device on which the flying device is mounted.

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