Flying device and control method thereof

Abstract

To provide a flight device which can inhibit flight in a state that a carrier has an excessive weight.SOLUTION: A flight device 10 includes an airframe base 16, a rotor 11, a motor 12, a computational control unit 15, and a weight detection part 17. The rotor 11 rotates to generate a thrust force for causing the airframe base 16 to float. The motor 12 rotationally drives the rotor 11. The weight detection part 17 detects a weight value of a carrier 18. The computational control unit 15 does not allow the flight device 10 to take off when the weight value detected by the weight detection part 17 exceeds a threshold weight value.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a flying device. [Background technology]

[0002] 2. Description of the Related Art There have been known unmanned flying devices capable of flying in the air. Such flying devices are capable of flying in the air by using the thrust of a rotor that is driven to rotate around a vertical axis.

[0003] Possible fields of application of the flying device include, for example, the transportation field, the surveying field, the photography field, the agricultural field, etc. When the flying device is applied to such fields, various devices and medicines are attached to the flying device.

[0004] In order to ensure stable flight of a flying device, it is necessary to measure the weight of the transport object that the flying device transports. Patent Document 1 describes an invention that estimates the weight of a tank, which is an example of a transport object equipped in a flying device.

[0005] In Patent Document 1, a load cell is used as a weight measuring device. By using the load cell, the weight difference with the weight of an empty tank can be measured, and the remaining amount in the attached tank during pesticide spraying can be detected. Therefore, it is possible to detect the remaining amount of pesticide without using a flow meter. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-117203 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the flying device described in the above-mentioned Patent Document 1 has room for improvement in terms of stable flight of the flying device.

[0008] Specifically, it is possible to measure the weight of a tank, which is a vehicle, by the invention described in Patent Document 1. However, if the weight of the vehicle is excessively large, there is a problem that the weight of the vehicle may cause the flight device to become unstable.

[0009] The present invention has been made in consideration of the above circumstances, and its object is to provide a flying device that can prevent flying when the weight of the transport body is excessive. [Means for solving the problem]

[0010] The present invention is a flying device for transporting a vehicle, comprising an aircraft base unit, a rotor, a motor, a calculation control unit, and a weight detection unit, wherein the rotor generates thrust for levitating the aircraft base unit by rotating, the motor drives the rotor to rotate, the weight detection unit detects the weight value of the vehicle, and the calculation control unit prevents takeoff if the weight value detected by the weight detection unit exceeds a threshold weight value.

[0011] In addition, in the flying device of the present invention, the weight detection unit is part of the function of the calculation control unit, and is characterized in that it calculates the weight value from an instruction signal used to control the rotation speed of the motor.

[0012] In the flight device of the present invention, the instruction signal is a DUTY value or a value derived from the DUTY value.

[0013] In addition, in the flying device of the present invention, the weight detection unit is disposed between the aircraft base unit and the transport body.

[0014] In the flying device of the present invention, the weight detection unit is a mounted measuring device on which the flying device is mounted. Effect of the Invention

[0015] The present invention is a flying device for transporting a transport body, comprising an aircraft base, a rotor, a motor, a calculation control unit, and a weight detection unit, the rotor generates thrust for floating the aircraft base by rotating, the motor drives the rotor to rotate, the weight detection unit detects the weight value of the transport body, and the calculation control unit is characterized in that if the weight value detected by the weight detection unit exceeds a threshold weight value, the flying device does not take 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, the flight state of the flying device can be prevented from being hindered by overloading.

[0016] In addition, in the flight device of the present invention, the weight detection unit is a part of the function of the arithmetic and control unit, and is characterized in that the weight value is calculated from an instruction signal used to control the rotation speed of the motor. According to the flight device of the present invention, by calculating the weight value based on the instruction signal, it is possible to configure the flight device without a dedicated weight sensor.

[0017] In addition, in the flight device of the present invention, the instruction signal is a duty value or a value derived from the duty value. According to the flight device of the present invention, the weight value of the transport body is detected based on the duty value, thereby making it possible to perform detection easily and accurately.

[0018] In the flight device of the present invention, the weight detection unit is disposed between the aircraft base unit and the transport body. According to the flight device of the present invention, the weight detection unit can directly detect the weight of the transport body.

[0019] In addition, in the flying device of the present invention, the weight detection unit is a mounted measuring device on which the flying device is mounted. According to the flying device of the present invention, the weight of the transporting object can be directly detected by the mounted measuring device. [Brief description of the drawings]

[0020] [Figure 1A] 1 is a top view showing a flying device according to an embodiment of the present invention. [Figure 1B] 1 is a side view showing a flying device according to an embodiment of the present invention. [Diagram 2] 1 is a block diagram showing a connection configuration of a flying device according to an embodiment of the present invention. [Diagram 3] 1 is a flowchart illustrating a method for calculating an estimated weight value of a vehicle in a flying device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The flying device 10 according to this embodiment will be described below with reference to the drawings. In the following description, the same components are generally given the same reference numerals, and repeated description will be omitted. In the following description, the terms up, down, front, back, left, and right are used, but the left and right refer to the left and right when the flying device 10 is viewed from the front in FIG. 1A.

[0022] FIG. 1A is a top view of the flight device 10, and FIG. 1B is a side view of the flight device 10. As shown in FIG.

[0023] 1A, the flying device 10 mainly comprises an aircraft base unit 16, a power unit (not shown here) mounted on the aircraft base unit 16, arms 271 etc. extending from the periphery of the aircraft base unit 16 toward the periphery, motors 121 etc. disposed on the outer ends of the arms 271 etc., and rotors 111 etc. rotated by the motors 121 etc. In the following description, the motors 121 etc. are collectively referred to as motors 12, and the rotors 111 etc. are collectively referred to as rotors 11.

[0024] The flying device 10 is capable of floating and moving in the air by rotating the rotor 111 at a predetermined rotational speed using the motor 121 etc., using power obtained from a battery stored in the aircraft base unit 16. The flying device 10 is, for example, a device serving as a means of transportation for transporting a transport body 18, which will be described later, from one location to another.

[0025] The aircraft base unit 16 is disposed in the center of the flight device 10 and houses various devices (not shown here). The outer skin of the aircraft base unit 16 is covered with a synthetic resin plate or a steel plate molded into a predetermined shape.

[0026] Arms 271, 272, 273 and 274 extend outward from the machine body base portion 16.

[0027] The motor 121 and the rotor 111 are disposed at the outer end of the arm 271. The motor 122 and the rotor 112 are disposed at the outer end of the arm 272. The motor 123 and the rotor 113 are disposed at the outer end of the arm 273. The motor 124 and the rotor 114 are disposed at the outer end of the arm 274. Here, the rotor 11 rotates around a vertical axis to generate thrust for levitating the aircraft base unit 16. Also, the motor 12 drives the rotor 11 to rotate.

[0028] 1B, legs 32 that come into contact with the ground during landing are disposed on the lower part of the aircraft base 16. The legs 32 are members also called skids, and when the flight device 10 is in a state of landing, the lower ends of the legs 32 come into contact with the ground.

[0029] A transport body 18 is installed on the lower side of the aircraft base section 16. The transport body 18 is an object to be transported by the flying device 10, such as luggage, medicine, fertilizer, etc. Here, the transport body 18 is fixed to the lower side of the aircraft base section 16, but the transport body 18 may also be fixed to the upper side of the aircraft base section 16.

[0030] The weight detection unit 17 is a sensor that detects 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.

[0031] FIG. 2 is a block diagram showing the connection configuration of the flight device 10.

[0032] The flying device 10 mainly comprises a motor 121, a flight 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. The flying device 10 further comprises a communication unit 25, a battery 21, etc. A pilot who pilots the flying device 10 can operate the control device 28 on the ground using the control device 28. The control device 28, which is composed of the communication unit 26, the display device 22, and the display unit 23, is installed in the vicinity of the pilot.

[0033] The flight sensor 13 measures physical quantities acting on the aircraft base unit 16, and transmits signals indicating the magnitude of these physical quantities to the calculation control unit 15. Examples of sensors included in the flight sensor 13 include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an air pressure sensor, and a GNSS antenna. The acceleration sensor detects changes in tilt and movement as physical quantities. The angular velocity sensor detects changes in tilt and orientation as physical quantities. The geomagnetic sensor detects direction as a physical quantity by magnetic force. The air pressure sensor detects altitude as a physical quantity. The GNSS antenna identifies position.

[0034] The calculation control unit 15 has a calculation device consisting of a CPU (Central Processing Unit) and a storage device consisting of a RAM (Random Access Memory) and a ROM (Read Only Memory), and controls the operation of the entire flight device 10. Furthermore, the calculation control unit 15 adjusts the amount of power supplied to the motor 121, etc., based on a signal input from the flight sensor 13, as described later. Furthermore, the calculation control unit 15 calculates the weight value of the transport body 18 based on the magnitude of the instruction signal, as described later. Furthermore, the calculation control unit 15 has a flight controller and a companion controller, which are not shown here. Furthermore, the calculation control unit 15 also serves as the weight detection unit 17 when calculating the weight value of the transport body 18 based on the DUTY value.

[0035] Furthermore, the calculation control unit 15 generates an instruction signal for setting the position, attitude, moving speed, etc. of the flying device 10 to a predetermined value based on the signal input from the flight sensor 13. For example, a DUTY value in PWM control or a value derived from the DUTY value can be used as this instruction signal. In this embodiment, since there are four motors 121, 122, 123, and 124, a DUTY value is calculated for each of the motors 121.

[0036] The power conversion unit 14 has ESC141 to ESC144. Here, ESC is an abbreviation of Electric Speed ​​Controller, and is an electronic device that controls the rotation speed of the motor 12. The ESC141 is disposed between the motor 121 and the calculation control unit 15, and controls the rotation speed of the motor 121. The ESC142 is disposed between the motor 122 and the calculation control unit 15, and controls the rotation speed of the motor 122. The ESC143 is disposed between the motor 123 and the calculation control unit 15, and controls the rotation speed of the motor 123. The ESC144 is disposed between the motor 124 and the calculation control unit 15, and controls the rotation speed of the motor 124. If the DUTY value input from the calculation control unit 15 is large, the ESC141 to ESC144 rotate the motor 121 to the motor 124 at a high speed.

[0037] The weight detection unit 17 detects the weight of the transport body 18 described above, and transmits a signal indicating the magnitude of the weight to the calculation control unit 15. The weight detection unit 17 may be provided in the flight device 10, or may be provided outside the flight device 10.

[0038] When the weight detection unit 17 is provided in the flying device 10, the weight detection unit 17 is disposed between the aircraft base unit 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.

[0039] On the other hand, when the weight detection unit 17 is provided outside the flying device 10, a mounted measuring device on which the flying device 10 itself can be mounted can be used as the weight detection unit 17. When using such a mounted measuring device, the flying device 10 with the transport body 18 mounted thereon is mounted on the upper surface of the mounted measuring device to measure the total weight, and the device weight, which is the weight of the flying device 10 itself, is subtracted from the total weight. In this way, the weight value of the transport body 18 can be calculated. A signal indicating the weight value of the transport body 18 calculated by the mounted measuring device is input to the calculation control unit 15 via the communication unit 25.

[0040] Here, we will explain the basic flight operations of the flight device 10. The flight device 10 can perform each of the following operations: takeoff, ascent, hovering, movement, descent, and landing. Each operation of the flight device 10 is executed by the calculation and control unit 15 based on commands transmitted from the control device 28 based on the operation of the operator.

[0041] In each of the above operations, the calculation control unit 15 outputs an instruction signal to the power conversion unit 14 based on information input from the acceleration sensor and angular velocity sensor included in the flight sensor 13, and adjusts the rotational speed of the motors 121 to 124 so that the attitude of the flight device 10 is predetermined.

[0042] In the takeoff 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, which will be described later, the calculation control unit 15 rotates the motor 12 at a predetermined speed to take off the flying device 10. Details of the takeoff operation will be described later with reference to FIG. 3.

[0043] In the ascent operation, the calculation control unit 15 rotates the motor 12 at a relatively high speed so that the flight device 10 ascends to a predetermined altitude. The calculation control unit 15 basically outputs approximately the same DUTY value to the ESCs 141 to 144, and makes the rotation speeds of the motors 121 to 124 approximately the same. In addition, based on information input from the air pressure sensor included in the flight sensor 13, the calculation control unit 15 executes a hovering operation to keep the altitude of the flight device 10 approximately constant once the flight device 10 ascends to a predetermined altitude.

[0044] In the hovering operation, the calculation control unit 15 adjusts the rotation speed of the motors 121 to 122 so that the altitude of the flight device 10 is approximately constant, based on information input from a barometric pressure sensor included in the flight sensor 13. Here, basically, the calculation control unit 15 outputs approximately the same DUTY value to the ESCs 141 to 144, and keeps the rotation speeds of the motors 121 to 124 approximately the same.

[0045] In the movement operation, the calculation control unit 15 adjusts the rotation speed of the motor 121 to the motor 124 so that the flight device 10 can move in each of the forward, backward, left and right directions at a predetermined speed. For example, the rotation speed of the motor 121 and the motor 122 is made faster than the rotation speed of the motor 123 and the motor 124. That is, the calculation control unit 15 makes the DUTY value output to the ESC 141 and the ESC 142 greater than the DUTY value output to the ESC 143 and the ESC 144. By doing so, referring to FIG. 1A, the rotor 111 and the rotor 112 rotate faster than the rotor 113 and the rotor 114, the airframe base unit 16 of the flight device 10 is inclined, and the flight device 10 moves in a predetermined direction. After that, when it is recognized that the flight device 10 has reached a predetermined position based on the output of the GNSS antenna and the like included in the flight sensor 13, the calculation control unit 15 executes a braking operation. For example, the calculation control unit 15 makes the rotation speed of the motors 121 and 122 slower than the rotation speed of the motors 123 and 124. That is, the calculation control unit 15 makes the DUTY value output to the ESCs 143 and 144 greater than the DUTY value output to the ESCs 141 and 142. In this way, referring to FIG. 1A, the rotors 111 and 112 rotate slower than the rotors 113 and 114, and the planar movement of the flight device 10 can be stopped. After that, the calculation control unit 15 executes a hovering operation.

[0046] In the descending operation, the calculation control unit 15 rotates the motor 12 at a relatively slow speed so that the flight device 10 descends to a predetermined altitude. The calculation control unit 15 basically outputs approximately the same DUTY value to the ESCs 141 to 144, and makes the rotation speeds of the motors 121 to 124 approximately the same. In addition, based on information input from the air pressure sensor included in the flight sensor 13, when the flight device 10 descends to a predetermined altitude, the calculation control unit 15 executes a hovering operation to keep the altitude of the flight device 10 approximately constant.

[0047] In the landing operation, the calculation control unit 15 rotates the motors 12 at a relatively slow speed so that the flight device 10 descends to a landing surface such as the ground. The calculation control unit 15 basically outputs approximately the same DUTY value to the ESCs 141 to 144, and makes the rotation speeds of the motors 121 to 124 approximately the same. In addition, the calculation control unit 15 stops all the motors 12 when the flight device 10 touches the landing surface.

[0048] 3 is a flowchart showing the operation of the flying device 10, mainly the takeoff operation of the flying device 10. In this embodiment, as described in detail below, the calculation control unit 15 is configured to prevent takeoff when the weight value of the transport body 18 detected by the weight detection unit 17 exceeds a threshold weight value.

[0049] In step S10, the calculation control unit 15 detects the weight value of the transport body 18 before the flight device 10 takes off. Methods for detecting the weight value of the transport body 18 include a method using a weight detection unit 17 provided in the flight device 10, and a method using an instruction signal issued from the calculation control unit 15 as described below. In the method using the weight detection unit 17, the weight detection unit 17 detects the weight value of the transport body 18, and a signal indicating the weight value is transmitted to the calculation control unit 15. The method using an instruction signal will be described later.

[0050] In step S11, the calculation control unit 15 judges whether or not the weight value exceeds the threshold weight value. Specifically, the threshold weight value is set in advance according to the flight performance of the flight device 10. The threshold weight value is the weight of the transport body 18 that the flight device 10 can transport safely by flight. 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.

[0051] 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.

[0052] If the result of step S11 is NO, that is, if the weight value exceeds the threshold weight value, the calculation control unit 15 proceeds to step S16.

[0053] In step S12, the calculation control unit 15 permits takeoff. That is, the calculation control unit 15 continues to input a DUTY value, which is an instruction signal, to the ESCs 141 to 144, the ESCs 141 to 144 generate AC power of a predetermined frequency, and the AC power is input to the motors 121 to 124.

[0054] 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. When the upward thrust generated by the rotors 111 to 114 reaches a certain level or more, the flight device 10 takes off.

[0055] In step S14, the arithmetic and control unit 15 causes the flight device 10 to fly. Specifically, the flight device 10 performs an ascent operation, a hovering operation, a horizontal movement operation, a descent operation, or the like based on instructions from the arithmetic and control unit 15.

[0056] In step S15, the arithmetic and control unit 15 executes landing. That is, based on the calculation result of the arithmetic and control unit 15 or the instruction signal input by the user via the control device 28, the flight device 10 descends and lands at a predetermined location, for example, the location where it took off.

[0057] In step S16, the calculation control unit 15 does not permit takeoff. That is, the weight of the transport body 18 mounted on the flight device 10 exceeds the threshold weight, and the flight device 10 does not fly because the weight of the transport body 18 exceeds the threshold weight. 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 pilot device 28 via the communication units 25 and 26. In addition, the display unit 23 displays that the weight of the transport body 18 exceeds the threshold weight. In this way, the operator reduces the weight of the transport body 18 so that the transport body 18 is below the threshold weight value, and thus the flight device 10 becomes able to transport the transport body 18.

[0058] Next, a method for calculating the weight value of the transporting object 18 from the DUTY value, which is an example of an instruction signal, in step S10 mentioned above will be described below.

[0059] First, in step S10, when the motor 12 is rotated based on the instruction of the calculation control unit 15, that is, when the flight device 10 transitions from the landing state to the takeoff state, the calculation control unit 15 calculates a DUTY value as an instruction signal based on the above-mentioned physical quantity. The calculation control unit 15 outputs the DUTY value based on the various information input in step S10 and the operating status. The calculation control unit 15 calculates a DUTY value for each of the ESCs 141 to 144 shown in FIG. 2. The DUTY value also changes depending on the weight of the flight device 10 including the transport body 18. That is, if the weight of the transport body 18 is large, the weight of the entire flight device 10 including the transport body 18 is large, and the DUTY value calculated by the calculation control unit 15 is large. On the other hand, if the weight of the transport body 18 is small, the weight of the entire flight device 10 including the transport body 18 is small, and the DUTY value calculated by the calculation control unit 15 is small. Therefore, before the flight device 10 flies, the weight value of the entire flight device 10 including the transport body 18 can be calculated from the DUTY value. In addition, the weight value of the vehicle 18 itself is known. Therefore, the weight value of only the vehicle 18 can be calculated by subtracting the weight value of the vehicle 18 itself from the weight value of the entire flight device 10 including the vehicle 18, which is obtained from the DUTY value.

[0060] Here, in order to accurately estimate the weight of the transporter 18, the calculation control unit 15 may calculate an average DUTY value by averaging the DUTY values ​​calculated for each of the ESCs 141 to 144, and may calculate the weight value of the entire flight device 10 including the transporter 18 from the average DUTY value in the same manner as described above. The DUTY values ​​calculated for each of the ESCs 141 to 144 vary depending on the state of the flight device 10. Therefore, by calculating the DUTY average value (command signal average value), which is the average value of these four DUTY values, the influence of the state of the flight device 10 can be eliminated.

[0061] Furthermore, the calculation control unit 15 can calculate the weight value of the transport body 18 by taking into account 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 battery voltage value, which is the voltage value of the battery 21. Then, the calculation control unit 15 calculates the weight value of the flight device 10 including the transport body 18 based on a predetermined function with the DUTY value or the DUTY average value and the battery voltage value as variables. 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 rotation speed. Therefore, if the weight value of the flight device 10 including the transport body 18 is calculated using only the DUTY value or the DUTY average value as a variable, there is a risk that the estimated remaining amount will be calculated excessively. Therefore, in this embodiment, the DUTY value or the DUTY average value is corrected by the battery voltage value to accurately calculate the weight value of the flight 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. Conversely, when the battery voltage value is high, the duty value or the duty average value is corrected to the positive side. This makes it possible to accurately calculate the weight value of the transporting object 18 regardless of the battery voltage value.

[0062] Although the embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and modifications can be made without departing from the scope of the present invention. In addition, the above-described embodiments can be combined with each other.

[0063] For example, in the above-described embodiment, a duty value is used as the instruction signal, but other signals can also be used as the instruction signal. For example, a current value or a voltage value of the power supplied to the power conversion unit 14 or the motor 12 can be used as the instruction signal.

[0064] Furthermore, the detection of the weight value of the transport body 18 in step S10 can also be performed in step S14. That is, even when the flight device 10 is flying, the calculation control unit 15 calculates the weight value of the transport body 18 from 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 flight device 10. In this way, even when it is found that the weight value of the transport body 18 exceeds the threshold weight value under the flight conditions of the flight device 10, the flight device 10 can be safely landed.

[0065] Furthermore, in the above embodiment, whether or not the weight value of the transport body 18 exceeds the threshold weight value is determined based on the weight value of the transport body 18 alone, but whether or not the weight value of the transport body 18 exceeds the threshold weight value can be determined using the combined weight of the flight device 10 and the transport body 18.

[0066] In the above-described embodiment, the average value is exemplified as the value derived from the DUTY value, but other values ​​can be used. For example, the median value can be used as the value derived from the DUTY value. [Explanation of symbols]

[0067] 10 Flight equipment 11 Rotor 111 Rotor 112 Rotor 113 Rotor 114 Rotor 12 Motor 121 Motor 122 Motor 123 Motor 124 Motor 13 Flight Sensors 14 Power conversion section 141 ESC 142 ESC 143 ESC 144 ESC 15 Calculation control unit 16 Aircraft base 17 Weight detection unit 18 Transporters 21 Battery 22 Display device 23 Display section 25 Communications Department 26 Communications Department 271 Arm 272 Arm 273 Arm 274 Arm 28 Controls 32 Legs

Claims

1. A flying device for transporting a vehicle, The vehicle includes a base unit, a rotor, a motor, a calculation control unit, and a weight detection unit. When the weight value detected by the weight detection unit exceeds a threshold weight value, the aircraft is prevented from taking off. the rotor generates a thrust for levitating the aircraft base by rotating; The motor drives the rotor to rotate, The weight detection unit is A part of the function of the arithmetic and control unit, A flight device, characterized in that the weight value is calculated from a DUTY value used to control the rotation speed of the motor or a value derived from the DUTY value.

2. A flying device as described in Claim 1, characterized in that the weight detection unit is part of the flying device.

3. A flying device as described in Claim 1, characterized in that the weight detection unit calculates the weight value when the flying device is landed.

4. A flying device as described in Claim 1, characterized in that the weight detection unit calculates the weight value before the flying device takes off.

5. The arithmetic and control unit is a CPU, 2. The flying device according to claim 1, wherein the weight detection unit operates as a calculation function of the CPU.

6. A method for controlling a flying device that transports a vehicle, comprising: The flying device includes an aircraft base unit, a rotor, a motor, and a weight detection unit, the rotor generates a thrust for levitating the aircraft base 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 will not take off. A method for controlling a flight device, comprising the steps of: calculating the weight value from a DUTY value used to control the rotation speed of the motor or a value derived from the DUTY value.

7. A method for controlling a flying device as described in claim 6, characterized in that the weight value is calculated when the flying device is landed.

8. A method for controlling a flying device as described in claim 6, characterized in that the weight value is calculated before the flying device takes off.

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