Movable body

Abstract

To provide a movable body capable of efficiently moving in a plurality of directions.SOLUTION: A movable body 1 capable of moving in a plurality of directions of movement includes: a base unit 21; a body unit 20 provided on the base unit 21 and having a plurality of propulsion units 22 capable of generating propulsion force in the plurality of directions of movement; and a revolving unit 10 capable of revolving with a rotational axis O as center of rotation to the base unit 21 between a first position and a second position receiving less resistance from surrounding fluid than the first position and surrounding the base unit 21 in a direction approximately perpendicular to the direction the rotational axis O is extended.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a moving body. [Background technology]

[0002] Conventionally, examples of mobile bodies that can move on the surface of water or in the air by remote control include water drones that have the shape of a small boat and can move on the surface of the water (above the water), and aerial drones that can fly unmanned in the air.

[0003] Remotely controlled mobile objects such as surface drones and aerial drones are equipped with measuring instruments such as cameras and are used to obtain information on narrow spaces and dangerous places that people cannot enter. For example, a surface drone equipped with a camera can remotely photograph the underside of a bridge over a river or the like, which is difficult for people to photograph. In order to obtain information using measuring instruments on such a moving object, it is necessary to steer the moving object while making fine adjustments to its position, etc., and therefore the moving object is required to have a high degree of freedom of movement.

[0004] A moving body with improved freedom of movement is described in Patent Document 1. The moving body described in Patent Document 1 is equipped with a floating body capable of floating on the water surface and multiple thrust generating units mounted on the floating body, and is a moving body that is oriented in a direction having four directional components along the forward, backward, left and right, left rotation and right rotation by rotating the propellers of the multiple thrust generating units. Therefore, by controlling the rotation of the multiple propellers, the floating body can move in all directions without changing its orientation. In addition, the floating body is equipped with a camera device that is fixed to the floating body and can capture images of the surroundings.

[0005] In addition, the hull of a surface drone floats on the water surface, but the bottom of the hull remains submerged. Therefore, when a surface drone moves, the hull is subjected to resistance from the surrounding water. In addition, when it is operated on the surface of a river, sea, or lake, it is subjected to resistance from the river current and waves on the water surface.

[0006] In conventional ships and boats that move in only one direction, for example, the front part (bow) becomes narrower from side to side as it moves forward, and furthermore, the lower surface of the bow has a slope that slopes upward as it moves forward. Therefore, the bow moves as if pushing through the water in the direction of movement, which reduces the resistance from the water and suppresses a decrease in the propulsive force in the direction of movement.

[0007] In addition, the lower surface of the rear part (stern) of a conventional ship or boat is often flatter than the bow. Therefore, when a moving body that can move on the water surface at high speed, such as a personal watercraft, moves at high speed, the bow lifts slightly upward and the stern ensures a contact area with the water surface, allowing it to glide stably at high speed on the water surface. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 6928684 Summary of the Invention [Problem to be solved by the invention]

[0009] The moving body described in Patent Document 1 is capable of moving in all directions, and therefore can move backward, for example. However, if the moving body has a bow and stern shape like a conventional ship or boat, when the moving body moves backward, the stern may sink into the water due to resistance from the water, and the moving speed may decrease.

[0010] Furthermore, if the stern is shaped like the bow in order to increase the rearward movement speed, when moving forward, the stern will sink because the contact area of ​​the stern with the water surface is small, and the bow will rise significantly upward, which may reduce speed.

[0011] In this way, in the case of a moving body that can move in all directions on the water surface, the speed at which it can move varies depending on the direction of movement, and there is a risk of the efficiency of its movement decreasing. Similarly, in the case of a flying aerial drone, there is a risk of the efficiency of its movement decreasing due to air resistance.

[0012] In consideration of the above circumstances, an object of the present invention is to provide a moving body that can move efficiently in a plurality of directions. [Means for solving the problem]

[0013] One aspect of the present invention is a mobile body capable of moving in a plurality of movement directions, comprising: a main body having a base portion; and a plurality of propulsion portions provided on the base portion and capable of generating propulsion forces in the plurality of movement directions; and a rotating portion that is capable of rotating with respect to the base portion about a rotation axis between a first position and a second position that experiences lower resistance from the surrounding fluid than the first position, and that surrounds the base portion in a direction approximately perpendicular to the direction in which the rotation axis extends.

[0014] One aspect of the present invention is the above-mentioned moving body, wherein the rotating part covers the underside of the base part and is capable of floating on the water surface, and the multiple propulsion parts are provided above the base part.

[0015] One aspect of the present invention is the above-mentioned moving body, wherein the multiple propulsion units include a first propulsion unit that generates a propulsion force in a first propulsion direction, a second propulsion unit that generates a propulsion force in a second propulsion direction perpendicular to the first propulsion direction, a third propulsion unit that generates a propulsion force in a direction opposite to the first propulsion direction, and a fourth propulsion unit that generates a propulsion force in a direction opposite to the second propulsion direction.

[0016] In one aspect of the present invention, in the moving body described above, the main body has an imaging device provided above the base and capable of imaging the surroundings.

[0017] In one aspect of the present invention, in the moving body described above, the main body has a control device capable of controlling the multiple propulsion units and the imaging device.

[0018] In one aspect of the present invention, in the movable body, the rotating portion rotates between the first position and the second position due to resistance received from the surrounding fluid. Effect of the Invention

[0019] According to the moving body of the present invention, it is possible to provide a moving body that is capable of moving efficiently in a plurality of directions. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a perspective view of a moving body according to a first embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 4 is a plan view showing the movable body moving upstream. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] A plan view showing the same moving body moving toward the right bank. [Figure 7] FIG. 4 is a plan view showing the same moving body moving downstream and to the right bank. [Figure 8] FIG. 4 is a plan view showing the same moving body moving upstream and to the right bank. [Figure 9] FIG. 13 is a perspective view of a moving body according to Modification 1-1. [Figure 10] FIG. 13 is a perspective view of a moving body according to Modification 1-1. [Figure 11] FIG. 13 is a plan view of a moving body according to Modification 1-2. [Figure 12] FIG. 13 is a perspective view of a moving body according to Modification 1-3. [Figure 13] FIG. 11 is a perspective view of a moving body according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] First embodiment Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view of a moving body 1 according to a first embodiment, and Fig. 2 is a plan view of the moving body 1.

[0022] The moving body 1 includes a rotating unit 10 and a main body unit 20. The moving body 1 is a moving body that can move while floating on the water surface of a river or the like. The moving body 1 includes an imaging device 24 that can capture images of the surroundings, and can, for example, float on the water surface of a river and capture images of a bridge over the river.

[0023] 1, in this embodiment, the vertical direction of the moving body 1 is defined as the "up-down direction Z," the vertical upward direction as the "upward UP" in the vertical direction Z, and the vertical downward direction as the "downward LO" in the vertical direction Z. The direction in which the moving body 1 mainly moves is defined as the "front-to-back direction X," the direction in which the imaging device 24 mainly captures images is defined as the "forward FR" in the vertical direction X, and the opposite direction is defined as the "backward RR" in the vertical direction X. The direction perpendicular to the vertical direction Z and the vertical direction X is defined as the "left-to-right direction Y," one side being defined as the "left LT" in the horizontal direction Y, and the other side being defined as the "right RT" in the horizontal direction Y.

[0024] The moving object 1 moves mainly forward FR to approach a subject to be photographed (for example, a bridge), and photographs the subject with the photographing device 24 capable of photographing mainly the forward FR.

[0025] The rotating part 10 is generally flat and, when viewed from above UP, has a shape that tapers in the left-right direction Y toward a tip 11 of the front FR. A rear surface RR of the rotating part 10 extends parallel to the left-right direction Y.

[0026] The rotating part 10 is made of, for example, a foam material, a low-density resin, a metal having a hollow structure, etc., and can float on the water surface. The central part of the rotating part 10 is provided with a concave shape that opens upward UP.

[0027] In the moving body 1 that moves while floating on the water surface, the rotating part 10 acts as the hull and is in contact with the water. Therefore, when the moving body 1 moves while floating on the water surface, the rotating part 10 receives resistance from the surrounding water.

[0028] Since the rotating part 10 has a tip part 11 with a tapered shape, when the tip part 11 moves in the direction in which it is arranged (here, the forward direction FR), the tip part 11 pushes through the water and moves. Therefore, by moving with the tip part 11 facing in the direction in which it mainly receives resistance from the water, the movable body 1 can reduce the resistance it receives from the water and move efficiently.

[0029] The main body 20 includes a base 21, a plurality of propulsion units 22, a control device 23, and an imaging device 24. Here, as shown in Fig. 2, the rotating unit 10 is rotatable in a rotation direction R relative to the main body 20 about a rotation axis O extending in the vertical direction Z as a rotation center.

[0030] The base portion 21 is substantially cylindrical with the rotation axis O as its central axis. The base portion 21 is provided in the concave shape of the rotating portion 10 described above, and is surrounded by the rotating portion 10 in a direction (horizontal direction) perpendicular to the direction in which the rotation axis O extends (up-down direction Z). In addition, the lower side LO of the base portion 21 is covered by the rotating portion 10. Note that the lower side LO of the base portion 21 does not have to be covered by the rotating portion 10.

[0031] Any material may be used for the base 21, and for example, similar to the rotating part 10, a foam material, a low-density resin, a metal having a hollow structure, or the like may be used. Furthermore, when the lower LO of the base 21 is not covered by the rotating part 10, an opening penetrating in the vertical direction Z is provided in the center of the rotating part 10, and the base 21 is provided in this opening. Furthermore, when the lower LO of the base 21 is not covered by the rotating part 10, it is desirable that the base 21 be able to float on the water surface.

[0032] The rotating part 10 and the base part 21 are connected via, for example, a bearing or a sliding bearing. Therefore, the rotating part 10 is rotatable in a rotation direction R relative to the base part 21 about a rotation axis O as a rotation center.

[0033] Here, when the tip 11 of the rotating part 10 is oriented in a direction in which it mainly receives resistance from water, it can reduce the resistance received from water. That is, in the rotating part 10, the position in which the tip 11 is oriented in a direction in which it mainly receives resistance from water is a position in which it receives lower resistance from the surrounding water (fluid) than a position in which the tip 11 is not oriented in a direction in which it mainly receives resistance from water.

[0034] Hereinafter, the position where the tip portion 11 is not oriented in a direction where it mainly receives resistance from water will be referred to as the "first position", and the position where the tip portion 11 is oriented in a direction where it mainly receives resistance from water will be referred to as the "second position". That is, in the rotating portion 10, the second position is a position where the resistance received from the surrounding fluid is lower than that in the first position. The rotating portion 10 is rotatable between the first position and the second position with respect to the base portion 21 about the rotation axis O as the center of rotation.

[0035] The multiple propulsion units 22 are provided above UP the base unit 21. The multiple propulsion units 22 are propulsion generating devices that generate propulsion for moving the movable body 1. In this embodiment, the multiple propulsion units 22 have four propulsion generating devices, namely, a first propulsion unit 22a, a second propulsion unit 22b, a third propulsion unit 22c, and a fourth propulsion unit 22d.

[0036] In this embodiment, the multiple propulsion units 22 include propellers that generate propulsive force by rotating blades, as shown in Figures 1 and 2. The multiple propulsion units 22 are disposed above the base unit 21, UP, near the outer periphery of the base unit 21.

[0037] As shown in Fig. 2, among the multiple propulsion units 22, the first propulsion unit 22a is provided on the front FR and the right RT and includes a propeller whose blades rotate around a first rotation axis C1. The second propulsion unit 22b is provided on the front FR and the left LT and includes a propeller whose blades rotate around a second rotation axis C2. The third propulsion unit 22c is provided on the rear RR and the right RT and includes a propeller whose blades rotate around a third rotation axis C3. The fourth propulsion unit 22d is provided on the rear RR and the left LT and includes a propeller whose blades rotate around a fourth rotation axis C4.

[0038] Here, the first rotation axis C1 and the second rotation axis C2 are perpendicular to each other. The third rotation axis C3 and the fourth rotation axis C4 are perpendicular to each other. Furthermore, the first rotation axis C1 and the fourth rotation axis C4 extend in parallel, and the second rotation axis C2 and the third rotation axis C3 extend in parallel. The propulsive forces generated by the multiple propulsion sections 22 will be described in detail later.

[0039] The control device 23 is provided in the center of the base 21. The control device 23 is connected to the multiple propulsion units 22 and the imaging devices 24 wirelessly or via wires, and is capable of controlling the multiple propulsion units 22 and the imaging devices 24.

[0040] The control device 23 includes a control unit (not shown) configured with a computer such as a microcomputer, and controls the multiple propulsion units 22 and the imaging device 24 by transmitting control signals from the control unit. The control device 23 also includes a communication unit (not shown) capable of receiving signals from the outside. The operator of the moving body 1 can remotely control the moving body 1 by operating a controller (not shown) held by the operator and transmitting operation signals from the controller to the communication unit of the control device 23.

[0041] The control device 23 controls, for example, motors (not shown) that drive the propellers of the multiple propulsion units 22 based on the received operation signals, controls the start or stop of the propeller drive, and further controls the rotation speed or rotational frequency of the propellers, etc.

[0042] The control device 23 may include a power supply device, such as a power supply board or a battery, that supplies power to the multiple propulsion units 22 and the imaging device 24.

[0043] The photographing device 24 is a measuring device such as a camera capable of photographing the surroundings. The photographing device 24 is provided on an upper surface UP of the base portion 21, and is disposed behind the control device 23. In this embodiment, the photographing device 24 is a camera capable of mainly photographing the front FR.

[0044] The video captured by the imaging device 24 may be transmitted to the outside via, for example, a communication unit of the control device 23. The video captured by the imaging device 24 is displayed on a display device such as a display attached to a controller operated by an operator.

[0045] Next, a method of operating the moving object 1 will be described. FIG. 3 is a plan view showing the moving object 1 moving upstream of a river.

[0046] Hereinafter, a method of operating the mobile body 1 floating on the surface of a river will be described. As shown in Fig. 3, the water of the river in which the mobile body 1 is operated flows in a flowing water direction F from the upstream side A1 to the downstream side A2 in a river direction A that is parallel to the direction in which the river water flows. In addition, in the river in which the mobile body 1 is operated, on one side of the direction (river bank direction B) perpendicular to the river direction A in the horizontal direction, there is a right bank S (see Fig. 6) and on the other side there is a left bank (not shown). In the river bank direction B, the side facing the right bank S is referred to as the right bank side B1, and the side facing the left bank is referred to as the left bank side B2.

[0047] In Figure 3, the river direction A corresponds to the front-to-back direction X shown in Figures 1 and 2, the upstream side A1 corresponds to the front FR, and the downstream side A2 corresponds to the rear RR. The river bank direction B corresponds to the left-to-right direction Y, the right bank side B1 corresponds to the right RT, and the left bank side B2 corresponds to the left LT.

[0048] Fig. 3 shows a moving body 1 moving in a moving direction D. In the moving body 1 shown in Fig. 3, the third propulsion unit 22c and the fourth propulsion unit 22d generate propulsive forces. The third propulsion unit 22c rotates a propeller about the third rotation axis C3 as a rotation center, and blows out wind in a third output direction W3. Therefore, the third propulsion unit 22c generates a propulsive force (third propulsive force) in a direction opposite to the third output direction W3 (third propulsion direction).

[0049] The fourth propulsion unit 22d rotates a propeller about a fourth rotation axis C4 and blows out wind in a fourth output direction W4. Therefore, the fourth propulsion unit 22d generates a propulsive force (fourth propulsive force) in a direction (fourth propulsion direction) opposite to the fourth output direction W4.

[0050] In the moving body 1 shown in Fig. 3, the components of the third output direction W3 and the fourth output direction W4 in the riverbank direction B are cancelled out, and only the propulsive force toward the upstream side A1 remains. As a result, the moving body 1 can move in the movement direction D toward the upstream side A1. At this time, since the tip portion 11 of the rotating part 10 faces the movement direction D, the rotating part 10 is located in the above-mentioned second position. The moving body 1 reduces the resistance it receives from the water by pushing aside the water flowing in the flow direction F with the tip portion 11, and can move efficiently in the movement direction D.

[0051] Fig. 4 is a plan view showing the moving body 1 moving toward the downstream side A2. In the moving body 1 shown in Fig. 4, the first propulsion unit 22a and the second propulsion unit 22b generate propulsive force. The first propulsion unit 22a rotates a propeller about the first rotation axis C1 as the center of rotation, and blows out wind in a first output direction W1. Therefore, the first propulsion unit 22a generates a propulsive force (first propulsive force) in the direction opposite to the first output direction W1 (first propulsion direction).

[0052] The second propulsion unit 22b rotates a propeller about the second rotation axis C2 and blows out wind in the second output direction W2. Therefore, the second propulsion unit 22b generates a propulsive force (second propulsive force) in a direction (second propulsion direction) opposite to the second output direction W2.

[0053] Here, a first propulsion direction in which the first propulsion unit 22a generates a propulsive force and a second propulsion direction in which the second propulsion unit 22b generates a propulsive force are perpendicular to each other. A third propulsion direction in which the third propulsion unit 22c generates a propulsive force is opposite to the first propulsion direction. A fourth propulsion direction in which the fourth propulsion unit 22d generates a propulsive force is opposite to the second propulsion direction.

[0054] 4, the components of the first output direction W1 and the second output direction W2 in the riverbank direction B are offset, and only the propulsive force toward the downstream side A2 remains. As a result, the moving body 1 can move in the moving direction D toward the downstream side A2. At this time, the speed at which the moving body 1 moves in the moving direction D is greater than the speed at which the water flows in the flowing water direction F.

[0055] Therefore, the movable body 1 receives resistance from water mainly from the downstream side A2. That is, the rotating part 10 receives resistance from water mainly from the downstream side A2. As described above, the rotating part 10 is rotatable in the rotation direction R relative to the main body part 20. Moreover, the rotating part 10 can reduce the resistance from water by moving in a state (second position) where the tip part 11 faces in the direction in which the rotating part receives resistance from water mainly.

[0056] Therefore, in a moving body 1 that moves in any direction by the propulsion force generated by multiple propulsion parts 22, the rotating part 10 floating on the water surface, when in a first position where the tip part 11 is not facing in a direction in which it receives main resistance from the water, rotates in a rotational direction R due to the resistance received from the water and becomes a second position where the tip part 11 is facing in a direction in which it receives main resistance from the water.

[0057] For example, when the moving body 1 moving toward the upstream side A1 shown in Fig. 3 changes its moving direction D to the downstream side A2, the rotating part 10 rotates in the rotation direction R relative to the main body part 20 due to the resistance from the water, and the tip part 11 faces the downstream side A2, resulting in the state shown in Fig. 4. In Fig. 3 and Fig. 4, the orientation of the main body part 20 does not change, and only the orientation of the rotating part 10 has changed.

[0058] When the moving body 1 changes its moving direction D and the direction in which it receives resistance from the water changes, the resistance from the water causes the rotating part 10 to gradually rotate in the rotation direction R from the first position to the second position relative to the main body 20, and the rotating part 10 reaches the second position in which the tip 11 faces mainly in the direction in which it receives resistance from the water.

[0059] For example, when there is a subject to be photographed (e.g., a bridge) on the upstream side A1 of the moving body 1, the moving body 1 approaches the subject to be photographed in the state of Fig. 3 and photographs the subject with the photographing device 24. Next, when the operator wishes to move away from the subject to photograph it with a wide angle of view, the operator moves the moving body 1 downstream side A2 to move away from the subject to be photographed.

[0060] At this time, the moving direction D changes from the upstream side A1 to the downstream side A2, and the direction in which the rotating part 10 mainly receives resistance from the water changes from the upstream side A1 to the downstream side A2. However, the rotating part 10 rotates in the rotation direction R from the first position to the second position due to the resistance received from the water, and the tip part 11 faces the direction in which it mainly receives resistance from the water, so that the moving body 1 moves by pushing aside the water with the tip part 11, reducing the resistance received from the water and enabling it to move efficiently.

[0061] Furthermore, because the main body 20 does not rotate but maintains a constant orientation, the moving body 1 can change the moving direction D while capturing an image of the subject with the camera device 24, even without a mechanism for changing the orientation of the camera device 24. As a result, even if the moving body 1 changes the moving direction D and the direction in which it receives resistance from the water changes, it can reduce the resistance from the water without changing the orientation of the camera device 24, and can move efficiently by suppressing a decrease in speed due to the resistance from the water.

[0062] Fig. 5 is a plan view showing the moving body 1 moving toward the downstream side A2. The speed at which the moving body 1 shown in Fig. 5 moves in the moving direction D is slower than the speed at which the water flows in the flowing water direction F. Therefore, the moving body 1 receives water resistance mainly from the upstream side A1.

[0063] In addition, in the moving body 1 shown in Fig. 5, a propulsive force is acting on the moving body 1 toward the upstream side A1 by the third propulsion section 22c and the fourth propulsion section 22d in the same manner as in Fig. 3. Here, the rotation speed of the third propulsion section 22c and the fourth propulsion section 22d shown in Fig. 5 is smaller than the rotation speed of the third propulsion section 22c and the fourth propulsion section 22d shown in Fig. 3. Therefore, the propulsive force acting on the moving body 1 in Fig. 5 toward the upstream side A1 is smaller than the propulsive force acting on the moving body 1 shown in Fig. 3.

[0064] Therefore, the force that the moving body 1 receives from the water flowing in the flow direction F is greater than the propulsion force toward the upstream side A1 generated by the third propulsion section 22c and the fourth propulsion section 22d of the moving body 1 shown in Figure 5, and the moving body 1 moves toward the downstream side A2 at a speed slower than the speed at which the water flows in the flow direction F.

[0065] At this time, since the movable body 1 receives resistance from the water mainly from the upstream side A1, the tip 11 of the rotating part 10 faces the upstream side A1. Therefore, the movable body 1 can reduce the resistance of the water received from the upstream side A1 and move to the downstream side A2 at a speed slower than the speed at which the water flows in the flowing water direction F without significantly increasing the outputs in the third output direction W3 and the fourth output direction W4.

[0066] 5, if the rotating unit 10 is located at the first position and the resistance of the water received from the upstream side A1 cannot be reduced, the moving body 1 may be swept away by the water flowing in the water flow direction F and move toward the downstream side A2 at the same speed as the water. In addition, it is necessary to increase the outputs in the third output direction W3 and the fourth output direction W4 so as not to be swept away by the water flowing in the water flow direction F, and therefore it is necessary to increase the rotation speeds of the third propulsion unit 22c and the fourth propulsion unit 22d. At this time, there is a risk that the power consumption for driving the third propulsion unit 22c and the fourth propulsion unit 22d will increase.

[0067] In this way, when the moving body 1 moves toward the downstream side A2 at a speed slower than the speed at which the water flows in the flowing water direction F, the resistance from the water causes the rotating part 10 to rotate in the rotation direction R relative to the main body part 20, so that the moving body 1 is not swept away by the water flowing in the flowing water direction F, and can move efficiently by suppressing the power consumption for driving the third propulsion part 22c and the fourth propulsion part 22d. In addition, because the orientation of the main body part 20 does not change, the subject can be stably photographed by the imaging device 24.

[0068] Fig. 6 is a plan view showing the moving body 1 moving toward the right bank side B1. In the moving body 1 shown in Fig. 6, the first propulsion unit 22a and the third propulsion unit 22c generate propulsive forces, and the components of the first output direction W1 and the third output direction W3 in the river direction A are offset, leaving only the propulsive force in the riverbank direction B. Therefore, a propulsive force toward the right bank side B1 acts on the moving body 1, and the moving body 1 moves toward the right bank side B1.

[0069] At this time, the rotating part 10 receives resistance from the water from the right bank side B1, which is the movement direction D. The rotating part 10 also receives resistance from the water flowing in the water flow direction F. Therefore, the rotating part 10 receives resistance from the resultant force of the water providing resistance from the right bank side B1 and the water flowing in the water flow direction F. As a result, the direction in which the rotating part 10 mainly receives water resistance is a direction inclined from the upstream side A1 to the right bank side B1. In the example shown in FIG. 6, the direction in which the rotating part 10 mainly receives water resistance is a direction inclined by about 45 degrees from the upstream side A1 to the right bank side B1.

[0070] 6, the resistance of the surrounding water causes the pivoting part 10 to move from the first position to a second position in which the tip 11 faces a direction inclined at about 45 degrees from the upstream side A1 to the right bank side B1. As a result, the resistance of the water received by the movable body 1 from a direction inclined at about 45 degrees from the upstream side A1 can be reduced, and the output in the third output direction W3 for moving in the moving direction D can be suppressed. As a result, the movable body 1 can move in the moving direction D efficiently.

[0071] Fig. 7 is a plan view showing a moving body 1 moving to the downstream side A2 and the right bank side B1. In the moving body 1 shown in Fig. 7, the first propulsion section 22a, the second propulsion section 22b, and the third propulsion section 22c generate propulsive force.

[0072] Here, the output in the second output direction W2 is equal to the output in the third output direction W3. Also, the output in the first output direction W1 is twice the output in the second output direction W2 and the third output direction W3. Therefore, in the moving body 1 shown in FIG. 7, the component of the right bank side B1 in the second output direction W2 and the component of the downstream side A2 in the third output direction W3 are offset by the output in the first output direction W1. Therefore, only the propulsive force toward the downstream side A2 and the right bank side B1 remains, and the moving body 1 moves in the moving direction D shown in FIG. 7.

[0073] At this time, the rotating part 10 is subjected to resistance from the water in the direction opposite to the movement direction D. The rotating part 10 also receives resistance from the water flowing in the water flow direction F. Therefore, the rotating part 10 receives resistance from the combined force of the water providing resistance in the direction opposite to the movement direction D and the water flowing in the water flow direction F. As a result, the rotating part 10 receives water resistance mainly from the right bank side B1.

[0074] 7, the resistance of the water causes the pivot part 10 to be in the second position with the tip part 11 facing the right bank side B1. As a result, the movable body 1 can reduce the resistance of the water from the right bank side B1 and suppress the outputs in the first output direction W1, the second output direction W2, and the third output direction W3 for moving in the moving direction D, and can move efficiently in the moving direction D.

[0075] Fig. 8 is a plan view showing a moving body 1 moving to the upstream side A1 and the right bank side B1. In the moving body 1 shown in Fig. 8, the first propulsion section 22a, the third propulsion section 22c, and the fourth propulsion section 22d generate propulsive forces.

[0076] Here, the output in the first output direction W1 is equal to the output in the fourth output direction W4. Also, the output in the third output direction W3 is twice as large as the outputs in the first output direction W1 and the fourth output direction W4. Therefore, in the moving body 1 shown in FIG. 8, the component of the upstream side A1 in the first output direction W1 and the component of the right bank side B1 in the fourth output direction W4 are offset by the output in the third output direction W3. Therefore, only the propulsive forces toward the upstream side A1 and the right bank side B1 remain, and the moving body 1 moves in the moving direction D shown in FIG. 8.

[0077] At this time, the rotating part 10 is subjected to resistance from the water in the direction opposite to the movement direction D. The rotating part 10 also receives resistance from the water flowing in the water flow direction F. Therefore, the rotating part 10 receives resistance from the combined force of the water providing resistance in the direction opposite to the movement direction D and the water flowing in the water flow direction F. As a result, the direction in which the rotating part 10 mainly receives water resistance is inclined from the upstream side A1 to the right bank side B1.

[0078] 8, the resistance from the water causes the pivot part 10 to be in the second position with the tip part 11 facing in a direction inclined from the upstream side A1 to the right bank side B1. As a result, the movable body 1 can reduce the resistance from the water from the direction inclined from the upstream side A1 to the right bank side B1 and suppress the outputs in the first output direction W1, the third output direction W3, and the fourth output direction W4 for moving in the moving direction D, and can move in the moving direction D efficiently.

[0079] The moving body 1 of this embodiment includes a rotating part 10 capable of floating on the water surface, and a main body part 20 having a plurality of propulsion parts 22, and is capable of moving in a plurality of movement directions D by the propulsive forces generated by the plurality of propulsion parts 22. The rotating part 10 rotates in a rotation direction R with respect to the main body part 20 about a rotation axis O as a rotation center, and is capable of rotating between a first position and a second position where the resistance received from the surrounding fluid (e.g., water) is lower than that at the first position.

[0080] Therefore, the rotating part 10 rotates from the first position in a rotation direction R due to the resistance from the surrounding fluid, and assumes a direction (second position) that reduces the resistance from the fluid. Specifically, the tip 11 of the rotating part 10 is oriented in the direction in which the resistance is mainly received. As a result, even if the movement direction D of the movable body 1 is changed, the resistance from the fluid can be reduced, and the movable body 1 can move efficiently in a plurality of movement directions D.

[0081] (Variation 1-1) In the above embodiment, the rotating part 10 does not have a concave-convex shape on the rear RR, but the aspect of the rotating part 10 is not limited to this. The rotating part 10 may have a convex shape on the lower surface LO in the rear RR portion.

[0082] 9 and 10 are perspective views showing the lower LO surface of the rotating part 10 in the moving body according to the modified example 1-1. A convex part 12 protruding toward the lower LO is provided on the lower LO surface in the rear RR part of the rotating part 10 shown in FIG. 9 and FIG.

[0083] The protrusions 12 are flat plates extending in the front-rear direction X and the up-down direction Z. In the example shown in Fig. 10, a plurality of protrusions 12 are provided on the lower surface LO of the rotating part 10, and protrude less than the protrusions 12 shown in Fig. 9.

[0084] By providing the protrusion 12, the rotating part 10 can rotate in the rotation direction R more quickly against the resistance from water, and can assume an orientation that reduces the resistance from water.

[0085] The convex portion 12 receives a large amount of water resistance from the left-right direction Y, and receives a small amount of water resistance from the front-rear direction X. For example, when the rotating part 10 provided with the convex portion 12 receives water resistance from the left side LT, the rotating part 10 receives a larger amount of resistance from the left side LT compared to the rotating part 10 not provided with the convex portion 12.

[0086] Therefore, the rotating part 10 provided with the protrusion 12 rotates so that the tip 11 faces a direction in which it receives resistance from water more quickly than the rotating part 10 not provided with the protrusion 12. As a result, even if the moving direction D is changed, the rotating part 10 rotates in the rotation direction R from the first position to the second position more quickly, and can move efficiently.

[0087] (Variation 1-2) In the above embodiment, the rotating part 10 has a surface at the rear RR that extends parallel to the left-right direction Y, but the form of the rotating part is not limited to this. The rotating part may have a shape at the rear RR that becomes thinner in the left-right direction Y as it approaches the rear RR.

[0088] Fig. 11 is a plan view showing a moving body 1A according to Modification 1-2. As shown in Fig. 11, the rotating part 10A of the moving body 1A has a shape in which the rear RR portion becomes thinner in the left-right direction Y as it approaches the rear RR. Therefore, it is possible to reduce water resistance from the rear RR as well as the front FR having the tip part 11. In this case, the second position in which the rotating part 10A receives low resistance from the surrounding water includes a state in which the tapered rear end portion faces mainly in a direction in which resistance is received from the water.

[0089] (Variation 1-3) In the above embodiment, the moving body 1 includes a substantially flat rotating part 10, but the form of the moving body is not limited to this. The rotating part of the moving body may be formed by connecting parts having a plurality of shapes other than a substantially flat shape.

[0090] Fig. 12 is a plan view showing a moving body 1B according to Modification 1-3. As shown in Fig. 12, a rotating part 10B provided in the moving body 1B is formed by connecting a central rotating part 13B, a first plate part 14B, and a second plate part 15B. The central rotating part 13B is substantially cylindrical in shape with a central axis extending in the vertical direction Z and a bottom surface on the lower side LO. The base part 21 is provided surrounded by the inner circumferential surface of the central rotating part 13B.

[0091] The first plate portion 14B and the second plate portion 15B are substantially flat plates extending in the front-rear direction X and are connected to the lower surface LO of the central rotating portion 13B. The first plate portion 14B is connected to the left side LT of the central rotating portion 13B. The second plate portion 15B is connected to the right side RT of the central rotating portion 13B. The central rotating portion 13B can reduce the resistance of water received from the front-rear direction X at the first plate portion 14B and the second plate portion 15B. In addition, since the dimension in the up-down direction Z can be made larger than that of the rotating portion 10 in the first embodiment, the moving body 1B can be operated more stably even on a water surface where high waves are generated.

[0092] (Variation 1-4) In the above embodiment, the rotating part 10 rotates in the rotation direction R relative to the main body part 20 due to the resistance from the water, but the aspect of the rotating part 10 is not limited to this. For example, the rotating part 10 may be connected to the main body part 20 via a rotation mechanism driven by a motor, and rotate in the rotation direction R by driving the motor.

[0093] In this case, the movable body 1 may include, for example, a detection unit that detects the direction in which water flows around the rotating part 10. For example, the control device 23 acquires the detection result detected by the detection unit. The control device 23 controls the motor based on the detection result detected by the detection unit and the moving direction D in which the movable body 1 moves, and actively rotates the rotating part 10 in the rotation direction R to rotate between the first position and the second position.

[0094] Second Embodiment Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. In the following description, components common to those already described will be designated by the same reference numerals, and duplicated description will be omitted.

[0095] 13 is a perspective view of a moving body 1C according to a second embodiment. The moving body 1C according to the second embodiment is an aerial drone that can fly in the air by remote control. In this embodiment, the forward direction FR is the direction in which the moving body 1C mainly travels.

[0096] The moving body 1C includes a rotating portion 10C and a main body portion 20C. The rotating part 10C is substantially cylindrical with a central axis (rotation axis OC) extending in the left-right direction Y. As shown in Fig. 13, the rear RR portion of the rotating part 10C has a shape that tapers in the up-down direction Z toward a rear end portion 16C, which is the tip of the rear RR. The tip of the front FR of the rotating part 10C, which is located on the opposite side of the rotation axis OC to the rear end portion 16C, is referred to as tip portion 11C.

[0097] The main body portion 20C includes a base portion 21C and a plurality of propulsion portions 22C. The base portion 21C is generally cylindrical with a central axis extending in the left-right direction Y. The base portion 21C is surrounded by the inner peripheral surface of the rotating portion 10C. The central axes of the rotating portion 10C and the base portion 21C extending in the left-right direction Y coincide with each other, and the rotating portion 10C is rotatable in a rotation direction RC relative to the base portion 21C around the central axis, which is a rotation axis OC.

[0098] The multiple propulsion units 22C are thrust generating devices that generate thrust for moving the moving body 1C. In this embodiment, the multiple propulsion units 22C include four thrust generating devices, a first propulsion unit 22Ca, a second propulsion unit 22Cb, a third propulsion unit 22Cc, and a fourth propulsion unit 22Cd.

[0099] In this embodiment, the multiple propulsion units 22C are propellers that generate propulsive force by rotating blades, as shown in Fig. 13. A substantially rod-shaped member extending in the front-rear direction X is connected to the left side LT and the right side RT of the base unit 21C. The multiple propulsion units 22 are provided at the ends of the substantially rod-shaped member.

[0100] The first propulsion unit 22Ca is provided on the front FR and the right RT and includes a propeller that rotates around the first rotation shaft CC1 to generate a propulsive force. The second propulsion unit 22Cb is provided on the front FR and the left LT and includes a propeller that rotates around the second rotation shaft CC2 to generate a propulsive force. The third propulsion unit 22Cc is provided on the rear RR and the right RT and includes a propeller that rotates around the third rotation shaft CC3 to generate a propulsive force. The fourth propulsion unit 22Cd is provided on the rear RR and the left LT and includes a propeller that rotates around the fourth rotation shaft CC4 to generate a propulsive force.

[0101] The first rotation shaft CC1, the second rotation shaft CC2, the third rotation shaft CC3, and the fourth rotation shaft CC4 extend in the same direction as shown in Fig. 13. The movable body 1C can move in any of a plurality of directions by controlling the rotation speeds of the propellers of the first propulsion unit 22Ca, the second propulsion unit 22Cb, the third propulsion unit 22Cc, and the fourth propulsion unit 22Cd, and by controlling the propulsive force generated by each propulsion unit 22.

[0102] The moving body 1C includes a control device (not shown) having a communication unit that receives operations input by an operator to a controller, and a control unit that controls the multiple propulsion units 22C. For example, the control device is built into the base unit 21C. The control device controls the multiple propulsion units 22C based on control signals received from an external controller, allowing the moving body 1C to fly by remote control.

[0103] The moving body 1C shown in Fig. 13 is flying toward a moving direction D. At this time, as shown in Fig. 13, the first rotation axis CC1, the second rotation axis CC2, the third rotation axis CC3, and the fourth rotation axis CC4 of the multiple propulsion units 22C rotate in an attitude tilted from the up-down direction Z toward the moving direction D, generating a propulsive force that moves the moving body 1C in the moving direction D.

[0104] Moreover, the air around the moving object 1C moving in the moving direction D flows in an air flow direction FC opposite to the moving direction D, and the moving object 1C receives resistance (air resistance) from the air flowing in the air flow direction FC.

[0105] For example, in the case of a conventional aerial drone with a flat body, there is a risk that the speed of the drone will decrease due to the resistance of the air flowing in the opposite direction to the direction of movement. In addition, the air resistance on the upper surface of the flat body generates a downward lift force, which may cause the drone to lose altitude or crash.

[0106] When the moving body 1C moves in the moving direction D and encounters air resistance in the air flow direction FC, the air resistance causes the rotating part 10C to rotate in the rotation direction RC relative to the base part 21C. Specifically, the leading end part 11C faces the direction in which the air resistance is received (here, the moving direction D). At this time, the tapered rear end part 16C faces the opposite direction to the moving direction D as shown in FIG.

[0107] In the moving body 1C moving in the moving direction D, the tip 11C of the rotating part 10C faces the moving direction D, and thus an air flow is generated at the upper side UP and the lower side LO of the rotating part 10C, flowing from the front FR to the rear RR along the rotating part 10C. Therefore, lift is generated in the upward direction UP, like the main wing of a general airplane, and the moving body 1C can fly stably. In addition, the air resistance from the air flowing in the airflow direction FC is reduced, and the decrease in moving speed is suppressed, allowing efficient movement.

[0108] In the rotating part 10C of this embodiment, for example, a position where the tip part 11C does not face the movement direction D is a first position, and a position where the tip part 11C faces the movement direction D is a second position. The rotating part 10C can rotate with respect to the base part 21C about a rotation axis OC as a rotation center between the first position and a second position where the resistance from the surrounding fluid (e.g., air) is lower than that at the first position.

[0109] The movable body 1C of this embodiment includes a rotating part 10C and a main body part 20C having a plurality of propulsion parts 22C, and is capable of moving in a plurality of movement directions D by the propulsive forces generated by the plurality of propulsion parts 22C. The rotating part 10C rotates in a rotation direction RC relative to the main body part 20C about a rotation axis OC as a rotation center, and is capable of rotating between a first position and a second position where the resistance received from the surrounding fluid (e.g., air) is lower than that received from the first position.

[0110] Therefore, the rotating part 10C rotates due to the resistance from the surrounding fluid, and moves from the first position to a direction (second position) that reduces the resistance from the fluid. Specifically, the tip 11 of the rotating part 10 faces the direction in which the resistance is mainly received. As a result, even if the moving direction D of the moving body 1C is changed, the resistance from the fluid can be reduced, and the moving body 1 can move efficiently in multiple moving directions D.

[0111] (Variation 2-1) In the above embodiment, the rotation axes of the multiple propulsion units 22C (the first rotation axis CC1, the second rotation axis CC2, the third rotation axis CC3, and the fourth rotation axis CC4) extend in the same direction, but the configuration of the multiple propulsion units is not limited to this. The rotation axes of the multiple propulsion units may extend in different directions.

[0112] Although each embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design modifications and the like that do not depart from the gist of the present invention are also included. Also, the components shown in each of the above-mentioned embodiments and each modified example can be appropriately combined to configure the present invention. [Explanation of symbols]

[0113] 1, 1A, 1B, 1C Mobile 10, 10A, 10B, 10C Rotating part 20, 20C main body 21, 21C Base 22, 22C Multiple propulsion units 22a, 22Ca First propulsion section 22b, 22Cb 2nd propulsion section 22c, 22Cc Third Promotion Department 22d, 22Cd Fourth Propulsion Department 23 Control device 24 Imaging Equipment D Moving direction O, OC rotation axis Z vertical direction UP upward LO Downward

Claims

1. A moving body capable of moving in a plurality of moving directions, A main body portion having a base portion and a plurality of propulsion portions provided on the base portion and capable of generating propulsive forces in the plurality of movement directions; a rotating part that can rotate with respect to the base part about a rotation axis as a rotation center between a first position and a second position in which the resistance from the surrounding fluid is lower than that of the first position, and that surrounds the base part in a direction approximately perpendicular to the extension direction of the rotation axis; Equipped with Mobile body.

2. The rotating part covers a lower part of the base part and is capable of floating on the water surface, The plurality of propulsion units are provided above the base unit. The moving body according to claim 1 .

3. The plurality of propulsion units include A first propulsion unit that generates a propulsive force in a first propulsion direction; A second propulsion unit that generates a propulsive force in a second propulsion direction perpendicular to the first propulsion direction; A third propulsion unit that generates a propulsive force in a direction opposite to the first propulsion direction; A fourth propulsion unit that generates a propulsive force in a direction opposite to the second propulsion direction; having The moving body according to claim 2.

4. The main body has an imaging device provided above the base and capable of imaging the surroundings. The moving body according to claim 3.

5. The main body has a control device capable of controlling the plurality of propulsion units and the imaging device. The moving body according to claim 4.

6. The rotating portion rotates between the first position and the second position due to resistance from the surrounding fluid. A moving body according to any one of claims 1 to 5.

Images