Movable body and flight method of movable body

Abstract

To provide a movable body capable of stably moving irrespective of an external factor such as wind.SOLUTION: A movable body 1 includes: a body part 10 including a plurality of poles; a rotary blade module 20 located at each vertex of the body part 10, attached to the body part 10, and includes a rotary blade 21 and a drive part 22 that drives the rotary blade 21; and a blade part 12 attached to the body part 10 in a state of being capable of changing an angle with respect to the poles. The body part 10 forms a three-dimensional shape when all vertices are connected.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a mobile object and a flight method of the mobile object.

Background Art

[0002] Conventionally, technologies related to mobile objects including drones and the like have been widely spread. For example, Patent Document 1 discloses a device that achieves both vibration prevention and shock buffering of an unmanned aircraft with a rotating spherical frame. For example, Patent Document 2 discloses an aircraft with a flexible and useful usage that can fly with wings after vertical takeoff from a narrow space, can hover, can move on the ground after landing, and can take off again.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] As the fields of application of mobile objects expand, it is also desired to automate the operation of mobile objects in the future. At this time, the ability of a mobile object to move stably without depending on external factors such as wind is an important requirement.

[0005] An object of the present disclosure is to provide a mobile object and a flight method of the mobile object that can move stably without depending on external factors such as wind.

Means for Solving the Problems

[0006] A mobile object according to a first aspect for solving the above problems is a main body portion having a plurality of struts, A rotor module that is located at each vertex of the main body part and is attached to the main body part, and includes a rotor and a drive part that drives the rotor; A wing part that is attached to the main body part in a state where the angle with respect to the support column can be changed; and includes The main body part forms a three-dimensional shape when all the vertices are connected.

[0007] In the flight method of the moving body according to the second aspect, With one face of the first polyhedron located on the upper face in the vertical direction, only the rotor module arranged at the vertex of the one face is operated to perform movement and attitude maintenance.

[0008] In the flight method of the moving body according to the third aspect, With the rotor module located at one vertex of the first polyhedron positioned vertically upward and the rotor module located at the other vertex on the opposite side positioned vertically downward, only the two rotor modules are operated so that the rotation directions of the two rotors are opposite to each other to perform movement and attitude maintenance.

Advantages of the Invention

[0009] According to the present disclosure, it is possible to provide a moving body and a flight method of the moving body that can move stably without depending on external factors such as wind.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11A

Figure 11B

Figure 11C

Figure 11D

Figure 11E

Figure 11F

Figure 11G

Figure 11H

Figure 11I

Mode for Carrying Out the Invention

[0011] Hereinafter, an embodiment of the present disclosure will be mainly described with reference to the accompanying drawings.

[0012] FIG. 1 is an external perspective view schematically showing the configuration of the moving body 1 according to an embodiment of the present disclosure. With reference to FIG. 1, the configuration of the moving body 1 according to an embodiment will be mainly described.

[0013] The moving body 1 according to an embodiment of the present disclosure includes any flying object or the like. The flying object includes, for example, a flying drone and a multicopter. The moving body 1 moves in at least one of the outdoors and indoors.

[0014] The moving body 1 uses wireless communication to control operations related to movement, including a movement route, a movement posture, and a movement speed. The moving body 1 does not carry a human and receive an operation by the human, but can move unmanned by cooperating with an arbitrary control device via wireless communication. The moving body 1 can move by cooperating with an arbitrary control device via wireless communication without receiving an operation by the human even when a human is on board. In the present disclosure, the "control device" includes, for example, a controller that a human operates to control operations related to the movement of the moving body 1 and a server that is communicably connected to the moving body 1 on a network via wireless communication.

[0015] The moving body 1 can also move autonomously with the progress of autonomous driving without depending on such a control device. For example, the moving body 1 may autonomously move by identifying an object such as an obstacle existing at a moving destination with an ultrasonic sensor, a millimeter-wave radar, a LiDAR (Light Detection And Ranging), or the like, or measuring the distance from the moving body 1 to the object. For example, the moving body 1 may autonomously turn around the periphery of a target object or a target position in combination with a measurement unit including an acceleration sensor and a gyroscope.

[0016] In addition to the sensor device including the ultrasonic sensor as described above, the mobile body 1 may further include any other sensor device including an imaging device, etc., and may acquire any data and information, etc. using the other sensor device. For example, while flying in a narrow space, the mobile body 1 images an inspection target portion included in a floor, wall, ceiling, etc. constituting the narrow space with the imaging device, and outputs the captured image as data to any external device for inspection purposes via wireless communication.

[0017] Also, the mobile body 1, for example, images an inspection target portion included in a wall, floor, ceiling, etc. in an inspection from the outside of a building such as a tunnel, bridge, retaining wall, iron tower, chimney, plant, mansion, and building with the imaging device, and outputs the captured image as data to any external device for inspection purposes via wireless communication. In this case, the imaging device includes a vision sensor (camera) and an infrared camera, etc. Also, during inspection, the mobile body 1 may inspect while contacting an inspection target portion included in a wall, floor, ceiling, etc. using the imaging device and the sensor device, etc.

[0018] Also, the mobile body 1 may further include an impact inspection device having an impact device including an impact inspection rod and a hammer, etc. for the purpose of impact inspection of the structure, etc. Thereby, the mobile body 1 can inspect the state of the surface and inside of an inspection target portion such as a wall by the sound obtained by hitting the inspection target portion using the impact device. Also, during inspection, the mobile body 1 may inspect while contacting an inspection target portion included in a wall, floor, ceiling, etc. using the impact inspection device.

[0019] The mobile body 1 mainly includes a main body portion 10, a rotary wing module 20, and a cage 30.

[0020] The rotary wing module 20 includes a rotary wing 21 and a drive unit 22 that drives the rotary wing 21. The rotary wing module 20 is attached to the main body portion 10 based on an arbitrary attachment structure. The mobile body 1 can move by the operation of the rotary wing module 20.

[0021] The cage 30 is attached to the main body 10 based on an arbitrary attachment structure. The cage 30 forms the outer shape of the moving body 1 so as to surround the main body 10 and the rotor module 20 from the outside. The cage 30 is fixed to the main body 10. That is, when the cage 30 rotates as the moving body 1 rotates, the main body 10 rotates following the rotation of the cage 30. Conversely, if the cage 30 maintains a certain posture, the main body 10 is maintained in a posture corresponding to that of the cage 30. The posture of the main body 10 corresponds one-to-one with the posture of the cage 30.

[0022] FIG. 2 is an external perspective view schematically showing a part of the configuration of the moving body 1 in FIG. 1. In FIG. 2, the illustration of the cage 30 in the moving body 1 is omitted, and only the main body 10 and the rotor module 20 are shown.

[0023] The main body 10 forms a three-dimensional shape when all the vertices of the main body 10 are connected. For example, the main body 10 is formed as a first polyhedron. The first polyhedron is, as an example, a cube. The main body 10 is formed, for example, such that its outer shape is a cube. The main body 10 has a plurality of struts. More specifically, the main body 10 has four struts F11, F12, F13, and F14 that form the upper surface of the cube in FIG. 2. The main body 10 has four struts F21, F22, F23, and F24 located on the four side surfaces of the cube in FIG. 2. The main body 10 has four struts F31, F32, F33, and F34 that form the lower surface of the cube in FIG. 2. The main body 10 has the outer shape of a cube formed by these 12 struts.

[0024] The main body 10 has four vertices located on the upper surface side of a regular hexahedron in FIG. 2. More specifically, the main body 10 has a first vertex P1, a second vertex P2, a third vertex P3, and a fourth vertex P4. The first vertex P1 is located at the intersection of the support columns F11, F14, and F21. The second vertex P2 is located at the intersection of the support columns F12, F11, and F22. The third vertex P3 is located at the intersection of the support columns F13, F12, and F23. The fourth vertex P4 is located at the intersection of the support columns F14, F13, and F24.

[0025] The main body 10 has four vertices located on the lower surface side of a regular hexahedron in FIG. 2. More specifically, the main body 10 has a fifth vertex P5, a sixth vertex P6, a seventh vertex P7, and an eighth vertex P8. The fifth vertex P5 is located at the intersection of the support columns F31, F34, and F21. The sixth vertex P6 is located at the intersection of the support columns F32, F31, and F22. The seventh vertex P7 is located at the intersection of the support columns F33, F32, and F23. The eighth vertex P8 is located at the intersection of the support columns F34, F33, and F24.

[0026] The main body 10 has support columns extending from each of the four vertices located on the upper surface side of the regular hexahedron in FIG. 2 into the interior of the main body 10. One end of the support column is connected to the vertex of the main body 10. The other end of the support column is located inside the main body 10. In the present disclosure, "inside" corresponds to the direction toward the reference point P0 of the moving body 1 or the main body 10. "Outside" is the opposite of the inside.

[0027] In the present disclosure, the "reference point P0" is, for example, the center of gravity of the main body 10. The "center of gravity" means the center of mass representing the weighted arithmetic mean of all points of the target physical object. When the target physical object has a uniform density and is symmetrically formed in three axial directions, the center of mass coincides with the geometric center of the figure. The "geometric center" means the position of the arithmetic mean obtained over all points belonging to the figure.

[0028] The main body 10 has a support column F41 extending from the first vertex P1 into the interior of the main body 10. The main body 10 has a support column F42 extending from the second vertex P2 into the interior of the main body 10. The main body 10 has a support column F43 extending from the third vertex P3 into the interior of the main body 10. The main body 10 has a support column F44 extending from the fourth vertex P4 into the interior of the main body 10.

[0029] The main body 10 has support columns extending from each of the four vertices located on the lower surface side of the regular hexahedron in FIG. 2 into the interior of the main body 10. One end of each of the support columns is connected to the vertex of the main body 10. The other end of each of the support columns is located inside the main body 10. More specifically, the main body 10 has a support column F51 extending from the fifth vertex P5 into the interior of the main body 10. The main body 10 has a support column F52 extending from the sixth vertex P6 into the interior of the main body 10. The main body 10 has a support column F53 extending from the seventh vertex P7 into the interior of the main body 10. The main body 10 has a support column F54 extending from the eighth vertex P8 into the interior of the main body 10.

[0030] The main body 10 has a storage box 11 located inside a regular hexahedron formed by twelve support columns F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. The storage box 11 is connected to the other end located on the side opposite to the corresponding vertex of the regular hexahedron at each of the eight support columns F41, F42, F43, F44, F51, F52, F53, and F54.

[0031] The storage box 11 is formed as a regular hexahedron as an example. The main body 10 is configured by arranging the storage box 11 as a regular hexahedron at the central part of the regular hexahedron as the first polyhedron constituting the outer shape, for example. The storage box 11 incorporates a function module, which will be described later in FIG. 10, necessary for the moving body 1 to execute various operations.

[0032] FIG. 3 is a side view schematically showing the side surface of the hexahedron in FIG. 2. FIG. 3 is a side view when looking at the side surface formed by the support columns F14, F24, F34, and F21 among the plurality of side surfaces of the hexahedron in FIG. 2 from the front. FIG. 3 shows how the moving body 1 is seen from the side surface side. Since the moving body 1 is symmetrically configured with respect to the three-axis directions including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the state of seeing the moving body 1 from each of the other five surfaces is the same as that in FIG. 3.

[0033] As shown in FIGS. 2 and 3, the rotor module 20 including the rotor 21 and the drive unit 22 for driving the rotor 21 is located at each vertex of the first polyhedron of the main body 10 and is attached to the main body 10. More specifically, the rotor module 20 is rotatably arranged around the corresponding rotation axis at each of the first vertex P1, the second vertex P2, the third vertex P3, the fourth vertex P4, the fifth vertex P5, the sixth vertex P6, the seventh vertex P7, and the eighth vertex P8. The rotor module 20 is rotatable around the corresponding rotation axis in at least one of the clockwise and counterclockwise directions.

[0034] At this time, the rotor 21 and the drive unit 22 included in the rotor module 20 are located outside the main body 10. That is, the rotor 21 and the drive unit 22 are arranged to rotate outside the hexahedron formed by the twelve support columns F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34.

[0035] The eight rotor modules 20 are arranged symmetrically with respect to each other in the main body 10. The shape and size of each of the eight rotor modules 20 are the same as each other. That is, the shape and size of the rotor 21 included in the rotor module 20 are the same as each other among the eight rotor modules 20. The shape and size of the drive unit 22 included in the rotor module 20 are the same as each other among the eight rotor modules 20.

[0036] The rotary wing 21 and the drive unit 22 use as the rotation axis the straight line connecting the reference point P0 located inside the main body 10 and the vertex of the first polyhedron. For example, referring to FIG. 3, the rotary wing 21 and the drive unit 22 located at the first vertex P1 use as the rotation axis the straight line connecting the reference point P0 and the first vertex P1. The rotary wing 21 and the drive unit 22 located at the fourth vertex P4 use as the rotation axis the straight line connecting the reference point P0 and the fourth vertex P4. The rotary wing 21 and the drive unit 22 located at the eighth vertex P8 use as the rotation axis the straight line connecting the reference point P0 and the eighth vertex P8. The rotary wing 21 and the drive unit 22 located at the fifth vertex P5 use as the rotation axis the straight line connecting the reference point P0 and the fifth vertex P5. The same explanation also applies to the rotary wing 21 and the drive unit 22 located at the other second vertex P2, third vertex P3, sixth vertex P6, and seventh vertex P7.

[0037] For example, the moving body 1 is configured symmetrically with respect to three axial directions. At this time, when the density of the main body 10 including the accommodation box 11 is not biased to a predetermined location and is uniform at any location, the reference point P0 coincides with the geometric center of the main body 10. That is, the reference point P0 is also the geometric center of the first polyhedron forming the main body 10.

[0038] In the moving body 1, the geometric center of the accommodation box 11 and the geometric center of the first polyhedron coincide with each other at the reference point P0. Each of the eight diagonal struts F41, F42, F43, F44, F51, F52, F53, and F54 that connect the first polyhedron, which is a regular hexahedron formed by the twelve struts F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34, and the accommodation box 11 is arranged on the rotation axis of the corresponding rotary wing 21 and drive unit 22.

[0039] For example, referring to FIG. 3, the support column F41 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the first vertex P1. The support column F44 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the fourth vertex P4. The support column F54 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the eighth vertex P8. The support column F51 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the fifth vertex P5. The same description applies to the other support columns F42, F43, F52, and F53.

[0040] The rotor 21 located at each vertex rotates in a plane orthogonal to the rotation axis. The plane faces the reference point P0. For example, referring to FIG. 3, the rotor 21 located at the first vertex P1 rotates in a plane orthogonal to the rotation axis, that is, orthogonal to the support column F41. The rotor 21 located at the fourth vertex P4 rotates in a plane orthogonal to the rotation axis, that is, orthogonal to the support column F44. The rotor 21 located at the eighth vertex P8 rotates in a plane orthogonal to the rotation axis, that is, orthogonal to the support column F54. The rotor 21 located at the fifth vertex P5 rotates in a plane orthogonal to the rotation axis, that is, orthogonal to the support column F51. The same description applies to the rotors 21 located at the other second vertex P2, third vertex P3, sixth vertex P6, and seventh vertex P7.

[0041] FIG. 4 is an enlarged perspective view schematically showing an enlarged part of the configuration of the moving body 1 shown in FIG. 2. FIG. 4 schematically shows an enlargement centered on the rotor module 20 disposed with respect to the second vertex P2 among the plurality of vertices of the main body 10 in FIG. 2. FIG. 4 shows a state when the moving body 1 is enlarged around the second vertex P2. Since the moving body 1 is symmetrically configured with respect to the three-axis directions including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the state when the moving body 1 is enlarged around each of the other seven vertices is the same as that in FIG. 4.

[0042] The mobile body 1 further has a wing portion 12 attached to the support column constituting the main body portion 10 in a state where the angle with respect to the support column can be changed. The wing portion 12 is attached to the support column so as to be swingable around a predetermined axis in response to the airflow generated by the rotation of the rotary wing 21. For example, the wing portion 12 is attached to each of the eight diagonal support columns F41, F42, F43, F44, F51, F52, F53, and F54. In FIG. 2, for the purpose of simplified illustration, for the wing portions 12 that are not visible because they overlap with other components depending on the viewing angle among all the wing portions 12 of the mobile body 1, not only the solid line display but also the perspective display by the dashed line is omitted.

[0043] Hereinafter, with reference to FIG. 4, a first example of the configuration and function of the wing portion 12 attached to the support column F42 will be mainly described, but the same description also applies to the wing portions 12 attached to each of the other seven diagonal support columns.

[0044] The predetermined axis when the wing portion 12 swings includes a first axis A1 that connects a first connection point on one support column and a second connection point on another support column adjacent to the one support column. In the first example shown in FIG. 4, the first axis A1 connects the first connection point P11 on the support column F42 and the second connection point P21 on the support column F11 adjacent to the support column F42. The first axis A1 connects the first connection point P12 on the support column F42 and the second connection point P22 on the support column F12 adjacent to the support column F42. The first axis A1 connects the first connection point P13 on the support column F42 and the second connection point P23 on the support column F22 adjacent to the support column F42.

[0045] The wing part 12 includes a first wing 121 attached to both one strut and the other strut by a first connection point and a second connection point. In the first example shown in FIG. 4, the wing part 12 includes three first wings 121 attached to the strut F42. The first wing 121 is attached to both the strut F42 and the strut F11 by a first connection point P11 and a second connection point P21. The first wing 121 is attached to both the strut F42 and the strut F12 by a first connection point P12 and a second connection point P22. The first wing 121 is attached to both the strut F42 and the strut F22 by a first connection point P13 and a second connection point P23.

[0046] Each of the three first wings 121 attached to the strut F42 is swingable about a first axis A1 according to the airflow generated mainly by the rotation of the rotary wing 21 disposed at the second vertex P2 closest to a plurality of vertices of the main body 10. Each of the first wings 121 is disposed in a state where the balance is maintained about the first axis A1 by the own weight of the first wing 121 when the rotary wing 21 is stationary and no airflow is generated. When an airflow is generated around each of the first wings 121 as the rotary wing 21 rotates, each of the first wings 121 swings about the first axis A1 from the state where the balance is maintained according to the airflow. The three first wings 121 may swing in the same direction as each other or may swing in different directions from each other.

[0047] FIG. 5 is an enlarged perspective view schematically showing another example of the configuration of a part of the moving body 1 shown in FIG. 4. Similar to FIG. 4, FIG. 5 is an enlarged and schematically shown view centered on the rotary wing module 20 disposed with respect to the second vertex P2 among the plurality of vertices of the main body 10 in FIG. 2. FIG. 5 shows a state when the moving body 1 is enlarged around the periphery of the second vertex P2. Since the moving body 1 is symmetrically configured with respect to the three-axis directions including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the state when the moving body 1 is enlarged around the periphery of each of the other seven vertices is also the same as that in FIG. 5.

[0048] Hereinafter, while using FIG. 5, the second example of the configuration and function of the wing portion 12 attached to the support column F42 will be mainly described, but the same description also applies to the wing portions 12 attached to each of the other seven diagonal support columns.

[0049] A predetermined axis when the wing portion 12 swings includes a second axis A2 along the support column. In the second example shown in FIG. 5, the second axis A2 is along the support column F42. The second axis A2 extends at a position slightly offset from the central axis of the support column F42 while remaining parallel to the central axis.

[0050] The wing portion 12 includes a second wing 122 attached to the surface of the support column. In the second example shown in FIG. 5, the wing portion 12 includes a second wing 122 attached to the surface of the support column F42. The second wing 122 is attached to a portion of the surface of the support column F42 that is located on the side opposite to the support column F22.

[0051] One second wing 122 attached to the support column F42 is swingable about the second axis A2 in response to the airflow generated mainly by the rotation of the rotary wing 21 disposed at the second vertex P2 closest to among the plurality of vertices of the main body portion 10. The second wing 122 is disposed in a state where the balance is maintained about the second axis A2 by the own weight of the second wing 122 when the rotary wing 21 is stationary and no airflow is generated. When an airflow is generated around the second wing 122 as the rotary wing 21 rotates, the second wing 122 swings about the second axis A2 in response to the airflow from the state where the balance is maintained.

[0052] FIG. 6 is an enlarged perspective view schematically showing another example of the configuration of a part of the moving body 1 shown in FIG. 4. Similar to FIG. 4, FIG. 6 is an enlarged and schematically shown view centered on the rotary wing module 20 disposed with respect to the second vertex P2 among the plurality of vertices of the main body portion 10 in FIG. 2. FIG. 6 shows the state when the moving body 1 is enlarged centering around the periphery of the second vertex P2. Since the moving body 1 is symmetrically configured with respect to the three-axis directions including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the state when the moving body 1 is enlarged centering around the periphery of each of the other seven vertices is also the same as FIG. 6.

[0053] Hereinafter, a third example of the configuration and function of the wing portion 12 attached to the support column F42 will be mainly described with reference to FIG. 6. The same description also applies to the wing portions 12 attached to each of the other seven diagonal support columns.

[0054] A predetermined axis when the wing portion 12 swings includes a third axis A3 orthogonal to the support column. In the third example shown in FIG. 6, the third axis A3 is orthogonal to the support column F42. For example, the third axis A3 includes an axis extending from the support column F42 toward the support column F11 side and an axis extending from the support column F42 toward the support column F12 side. These two third axes A3 may be coaxial with each other. That is, the two third axes A3 may be parallel to each other and the intersection points on the support column F42 may coincide with each other. Without being limited thereto, the two third axes A3 may not be coaxial with each other. That is, the two third axes A3 may not be parallel to each other and / or the intersection points on the support column F42 may not coincide with each other.

[0055] The wing portion 12 includes a third wing 123 attached so as to be orthogonal to the support column. In the third example shown in FIG. 6, the wing portion 12 includes two third wings 123 attached so as to be orthogonal to the support column F42. For example, the third wing 123 is attached to the support column F42 so as to extend from the support column F42 toward the support column F11 side. The third wing 123 is attached to the support column F42 so as to extend from the support column F42 toward the support column F12 side.

[0056] Each of the two third wings 123 attached to the support column F42 is swingable about a third axis A3 in response to the airflow generated mainly by the rotation of the rotary wing 21 disposed at the second vertex P2 closest to the plurality of vertices of the main body 10. Each of the third wings 123 is disposed in a state where the balance is maintained about the third axis A3 by the own weight of the third wing 123 when the rotary wing 21 is stationary and no airflow is generated. When an airflow is generated around the third wing 123 as the rotary wing 21 rotates, each of the third wings 123 swings about the third axis A3 from the state where the balance is maintained in response to the airflow. The two third wings 123 may swing in the same direction as each other or may swing in different directions from each other.

[0057] The two third wings 123 may be arranged such that their central axes coincide with each other in alignment with the two third axes A3, respectively, in the state where the balance is maintained. That is, the two central axes may be parallel to each other and the intersection points may coincide with each other. However, the present invention is not limited to this, and the two central axes may not coincide with each other. That is, the two central axes may be non-parallel to each other and / or the intersection points may not coincide with each other.

[0058] FIG. 7 is an enlarged perspective view schematically showing another example of the configuration of a part of the moving body 1 shown in FIG. 4. Similar to FIG. 4, FIG. 7 is an enlarged and schematic view centered on the rotary wing module 20 disposed with respect to the second vertex P2 among the plurality of vertices of the main body 10 in FIG. 2. Although FIG. 7 shows a state when the moving body 1 is enlarged around the periphery of the second vertex P2, since the moving body 1 is symmetrically configured with respect to the three-axis directions including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the state when the moving body 1 is enlarged around the periphery of each of the other seven vertices is the same as that of FIG. 7.

[0059] Hereinafter, a fourth example of the configuration and function of the wing portion 12 attached to the support column F42 will be mainly described with reference to FIG. 7, but the same description also applies to the wing portions 12 attached to each of the other seven diagonal support columns.

[0060] When the wing part 12 swings, the predetermined axis includes a fourth axis A4 extending from the vertex of the main body part 10 to the outside of the main body part 10. In the fourth example shown in FIG. 7, the fourth axis A4 extends from the second vertex P2 of the main body part 10 to which the support column F42 is connected to the outside of the main body part 10. As an example, the fourth axis A4 may be coaxial with the support column F42. That is, the fourth axis A4 may coincide with the central axis of the support column F42. However, the present invention is not limited to this, and the fourth axis A4 may not be coaxial with the support column F42. That is, the fourth axis A4 may not coincide with the central axis of the support column F42.

[0061] The wing part 12 includes a fourth wing 124 attached to the main body part 10 so as to be located at the vertex of the main body part 10 and extend to the outside of the main body part 10. In the fourth example shown in FIG. 7, the wing part 12 includes a fourth wing 124 attached to the main body part 10 so as to be located at the second vertex P2 of the main body part 10 and extend to the outside of the main body part 10. The fourth wing 124 is attached to the second vertex P2 of the main body part 10 in a shape and arrangement that does not interfere with the rotation of the rotary wing module 20 disposed at the second vertex P2.

[0062] One fourth wing 124 attached to the main body part 10 is swingable about the fourth axis A4 in response to the airflow generated mainly by the rotation of the rotary wing 21 disposed at the second vertex P2 closest to the plurality of vertices of the main body part 10. When the rotary wing 21 is stationary and no airflow is generated, the fourth wing 124 is arranged in a state where the balance is maintained about the fourth axis A4 by the self-weight of the fourth wing 124. When an airflow is generated around the fourth wing 124 as the rotary wing 21 rotates, the fourth wing 124 swings about the fourth axis A4 from the state where the balance is maintained in response to the airflow.

[0063] FIG. 8 is an external perspective view schematically showing another part of the configuration of the moving body 1 in FIG. 1. In FIG. 8, the illustration of the main body part 10 and the rotary wing module 20 in the moving body 1 is omitted, and only the cage 30 is shown. FIG. 9 is a schematic view showing a cross section along the IX-IX arrow line in FIG. 8.

[0064] The cage 30 is formed as a second polyhedron. The second polyhedron is a lattice dome. More specifically, the lattice dome is a Fuller dome (geodesic dome). The cross-section of the cage 30 formed as a Fuller dome is surrounded by, for example, a regular dodecagon, or the outer periphery of an icosahedron or a truncated icosahedron which is a semiregular polyhedron. The cage 30 is configured by connecting a plurality of sets of struts that form the minimum constituent unit, i.e., triangles. The area portion of the triangle sandwiched by the sets of struts is actually a cavity. No components are formed in the area portion. In FIG. 8, for the purpose of simplicity of illustration, the illustration of the struts on the back side of the cage 30 is omitted, but actually the struts on the back side are visible through the area portion of each triangle on the front side.

[0065] The main body 10 as the first polyhedron and the cage 30 as the second polyhedron are connected to each other based on an arbitrary attachment structure. For example, the cage 30 and the main body 10 are connected to each other by at least one arm. One end of at least one arm is connected to at least one of the 12 struts, such as struts F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34, respectively. When one end of the 12 arms is connected to each of the 12 struts, the connection strength between the cage 30 and the main body 10 is improved. The other end of at least one arm is connected to an arbitrary strut of the second polyhedron that constitutes the cage 30.

[0066] The main body 10 and the cage 30 are connected via the arm in a state of being fixed to each other. At this time, the arm may be connected to the cage 30 and the main body 10 so as to be detachable from at least one of the cage 30 and the main body 10. The arm may be configured to be detachable from at least one of the cage 30 and the main body 10, for example, by screwing, fitting, engaging, etc.

[0067] On the other hand, the arm may be connected to at least one of the cage 30 and the main body 10 so as to be detachable from at least one of the cage 30 and the main body 10. The arm may be configured to be detachable from at least one of the cage 30 and the main body 10 by, for example, integral molding and adhesion.

[0068] As also shown as an example in FIG. 1, in the moving body 1, the geometric center of the first polyhedron and the geometric center of the second polyhedron coincide with each other at the reference point P0. The center of gravity and the geometric center of the storage box 11 coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire main body 10 including the storage box 11 coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire eight rotary wing modules 20 coincide with each other at the reference point P0. The center of gravity and the geometric center of the cage 30 coincide with each other at the reference point P0. Thereby, the center of gravity and the geometric center of the entire moving body 1 composed of the main body 10, the eight rotary wing modules 20, and the cage 30 coincide with each other at the reference point P0.

[0069] The moving body 1 is configured symmetrically with respect to the three-axis directions for each configuration of the main body 10, the eight rotary wing modules 20, and the cage 30. The moving body 1 is configured symmetrically with respect to the three-axis directions for the overall configuration including the main body 10, the eight rotary wing modules 20, and the cage 30. That is, even if the moving body 1 rotates 90° to any one of the four side surfaces of the main body 10 from the state of FIG. 1, it returns to the same state as FIG. 1.

[0070] When one of the six outer surfaces of the main body 10 formed as a regular hexahedron of the moving body 1 faces in the vertically upward direction, the moving body 1 obtains the same state as when the other outer surfaces face in the vertically upward direction. The moving body 1 is symmetrically configured such that when one of the six outer surfaces of the main body 10 faces in the vertically upward direction, the combination of the four rotary wing modules 20 located on the upper surface side has the same shape, size, arrangement, and orientation as when the other outer surfaces face in the vertically upward direction.

[0071] Each strut constituting the first polyhedron and each strut of the lattice dome constituting the second polyhedron preferably have a flexural modulus of elasticity of 5.0 GPa or more, more preferably 8.0 GPa or more, and preferably 250.0 GPa or less, more preferably 60.0 GPa or less, and even more preferably in the range of 20.0 GPa or less, from the viewpoint of enhancing impact absorbency while suppressing excessive deformation and suppressing contact of the lattice dome with the rotor module 20. From the same viewpoint, the flexural strength of the material is preferably 50.0 MPa or more, more preferably 100.0 MPa or more, even more preferably 250.0 MPa or more, and preferably 30.0 GPa or less. The flexural modulus of elasticity and flexural strength are based on the flexural strength defined in ISO178.

[0072] In order to obtain at least one of the flexural modulus of elasticity and flexural strength, as the above material, for example, one or more of thermoplastic resins such as polyethylene resin, polypropylene resin, polystyrene resin, ABS resin, vinyl chloride resin, methyl methacrylate resin, nylon resin, fluororesin, polycarbonate resin, polyester resin, polyetheretherketone resin, polyimide resin, polyphenylene sulfide resin, etc., and additives such as thermoplastic elastomers such as olefin-based elastomers, styrene-based elastomers, polyester-based elastomers, silicone-based elastomers, acrylate-based elastomers, urethane-based elastomers, etc. A thermoplastic resin composition containing these, a curable resin composition containing these thermoplastic resins and a curable resin such as an epoxy resin or a phenol resin, or a fiber-reinforced material obtained by reinforcing them with a fiber material may be used. As the fiber material, one or more of glass fiber, carbon fiber, aramid fiber, etc. can be used. These resin materials can be formed into a specific shape as a material and used for each strut.

[0073] The above-mentioned material is not limited to the above-mentioned resin material. For example, metallic materials such as pure titanium, titanium alloy, steel, aluminum alloy, magnesium alloy, maraging steel, stainless steel, and mild steel may be used. These metallic materials can be formed into a specific shape as the material and used for each support column. However, in order to further endow each support column with light weight and high strength, each support column may have a hollow structure, a honeycomb structure, etc. Further, as the above-mentioned material, for example, carbon materials such as carbon rods and carbon pipes may be used.

[0074] From the viewpoint of enhancing the shock absorbability by the second polyhedron, it is preferable that each support column constituting the lattice dome uses the above-mentioned resin material as the material. From the same viewpoint, each support column constituting the first polyhedron can also use the above-mentioned resin material as the material. However, from the viewpoint of suppressing excessive deformation, it may have a higher flexural modulus or higher flexural strength than the material of each support column constituting the lattice dome. In that case, the above-mentioned metallic material or carbon material can also be used.

[0075] FIG. 10 is a functional block diagram schematically showing an example of the configuration of the moving body 1 in FIG. 1. The moving body 1 includes a first control unit 2a, a second control unit 2b, a communication unit 3, an acquisition unit 4, and a storage unit 5 in addition to a rotor module 20 including a rotor 21 and a drive unit 22. In the moving body 1, while the rotor module 20 is disposed outside the main body 10, the first control unit 2a, the second control unit 2b, the communication unit 3, the acquisition unit 4, and the storage unit 5 are accommodated inside the accommodation box 11.

[0076] The rotor 21 includes a blade that applies a propulsive force to the moving body 1 by rotating in a predetermined direction. The rotor 21 includes, for example, a propeller and a rotor. The rotor 21 rotates at a predetermined rotational speed around the corresponding rotation axis described above. In the present disclosure, the "predetermined rotational speed" can take any value included in the range from the maximum value that can be output as the performance of the rotor module 20 to zero. The eight rotors 21 can rotate in the same rotation direction and at the same rotational speed, or can rotate such that at least one of the rotation direction and the rotational speed is different from each other.

[0077] The drive unit 22 includes a mechanism for driving the rotary blades 21. The drive unit 22 includes, for example, a motor or the like. The drive unit 22 rotates the rotary blades 21 attached to the drive unit 22 based on a control signal output from the first control unit 2a. The drive unit 22 rotates the rotary blades 21 at a predetermined rotational speed around the corresponding rotation axis described above. The eight drive units 22 can each rotate the eight rotary blades 21 in the same rotation direction and at the same rotational speed, or can each rotate the eight rotary blades 21 such that at least one of the rotation direction and the rotational speed is different from each other.

[0078] The first control unit 2a includes one or more processors. In the present disclosure, the "processor" includes, for example, a general-purpose processor and a dedicated processor specialized for specific processing. The first control unit 2a functions as a motor output control module such as an ESC (Electric Speed Controller) in a drone for flight, for example. The first control unit 2a is communicably connected to the second control unit 2b and the drive unit 22. The first control unit 2a outputs a control signal to the drive unit 22 based on the first control information output from the second control unit 2b, and controls the operation of the drive unit 22. The first control unit 2a is arranged one by one for each of the eight rotary blade modules 20.

[0079] The communication unit 3 includes a communication module that enables communication between the moving body 1 and the control device. The communication module includes, for example, an antenna. The communication unit 3 receives a signal wave from the control device in wireless communication using the antenna. In the present disclosure, the "signal wave" includes, for example, radio waves, visible light, infrared rays, and ultraviolet rays. The communication unit 3 receives, by wireless communication, second control information for the moving body 1 to control operations related to movement including the movement route, movement attitude, and movement speed of the moving body 1. In addition, the communication unit 3 is configured to be able to receive any information used for the operation of the moving body 1.

[0080] The acquisition unit 4 includes one or more receivers corresponding to an arbitrary satellite positioning system. For example, the acquisition unit 4 includes a GPS (Global Positioning System) receiver. The acquisition unit 4 acquires the measured value of the position of the moving body 1 as position information. The position information includes an address, latitude, longitude, altitude, and the like. The acquisition unit 4 may constantly acquire the position information of the moving body 1, or may acquire it periodically or aperiodically.

[0081] In addition, the acquisition unit 4 may include one or more imaging devices such as a camera, for example, an infrared camera, as sensor devices. The acquisition unit 4 may acquire arbitrary image data or the like using such an imaging device. The acquisition unit 4 may further have any other sensor device. The acquisition unit 4 may acquire arbitrary data and information or the like using the sensor device. For example, the acquisition unit 4 may further include any sensor capable of acquiring information on an air flow. The sensor includes, for example, a wind speed sensor and a wind direction sensor. The acquisition unit 4 may acquire information on the air flow based on the sensor.

[0082] The storage unit 5 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. The storage unit 5 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 5 stores any information used for the operation of the moving body 1. The storage unit 5 stores a system program, an application program, and various information received or transmitted by the communication unit 3. The information stored in the storage unit 5 can be updated with the information received by wireless communication via the communication unit 3.

[0083] According to the mobile body 1 according to the above-described embodiment, it can move stably without depending on external factors such as wind and collisions with obstacles. In the mobile body 1, the main body 10 forms a three-dimensional shape when all the vertices are connected. As a result, even if the posture of the mobile body 1 changes, when one surface based on the three-dimensional shape faces the vertically upward direction, it is possible to obtain a state similar to when other surfaces face the vertically upward direction. When one surface based on the three-dimensional shape of the mobile body 1 faces the vertically upward direction, the combination of the same number of rotor modules 20 located on the upper surface side can be configured to have a similar arrangement and orientation as when other surfaces face the vertically upward direction.

[0084] For example, consider a case where the mobile body 1 rotates due to external factors such as wind and collisions with obstacles, changing its posture, and the upper surface of the mobile body 1 changes from one surface based on the three-dimensional shape to another surface. Even in such a case, the mobile body 1 can continue to move with the same propulsive force by the combination of the rotor modules 20 having similar numbers, arrangements, and orientations between one surface and the other surface. Therefore, even if the mobile body 1 greatly changes its posture by rotation or the like, it is possible to suppress falling during flight, unlike, for example, a conventional drone. The mobile body 1 can continue to fly stably even if its posture is disturbed and has excellent gust resistance.

[0085] The mobile body 1 can obtain a similar state even when it rotates at a rotation angle corresponding to the rotational symmetry based on the three-dimensional shape. For example, when the mobile body 1 has n-fold symmetry with respect to the rotational symmetry based on the three-dimensional shape, when it rotates at an angle of 360 / n° from a state where one surface is the upper surface, it can also make another surface the upper surface. That is, the mobile body 1 can be configured symmetrically with respect to the directions of a plurality of axes intersecting each other at an angle of 360 / n°. The mobile body 1 can also fly nimbly and precisely in all directions of the X-axis, Y-axis, and Z-axis in three-dimensional space.

[0086] The mobile body 1 has a wing part 12 attached to the main body part 10 in a state where the angle with respect to the support column can be changed, so that it is possible to adjust the direction of the airflow generated by the rotation of each rotary wing 21. As a result, the mobile body 1 can also suppress the interference of the airflows generated from different rotary wings 21 inside the main body part 10. Therefore, the mobile body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can float stably. The mobile body 1 can sufficiently obtain the propulsive force in the vertically upward direction regardless of the posture of the main body part 10, and can also float stably without depending on external factors such as wind and collisions with obstacles. As a result, the mobile body 1 can move stably. The mobile body 1 can also change the direction of the airflow by the arrangement of the wing part 12 and stabilize the posture of the mobile body 1.

[0087] The wing part 12 is attached so as to be swingable around a predetermined axis in response to the airflow generated by the rotation of the rotary wing 21. As a result, as described above, the mobile body 1 can adjust the direction of the airflow, sufficiently obtain the propulsive force in the vertically upward direction, and can float stably. As a result, the mobile body 1 can move stably.

[0088] As shown as an example in FIG. 4, since the predetermined axis includes the first axis A1 and the wing part 12 includes the first wing 121, the mobile body 1 can also adjust the direction of the airflow flowing between one support column and the other support column. As a result, as described above, the mobile body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can float stably. As a result, the mobile body 1 can move stably.

[0089] As shown as an example in FIG. 5, since the predetermined axis includes the second axis A2 and the wing part 12 includes the second wing 122, the mobile body 1 can also adjust the direction of the airflow flowing along the surface of the support column to which the second wing 122 is attached. As a result, as described above, the mobile body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can float stably. As a result, the mobile body 1 can move stably.

[0090] As shown as an example in FIG. 6, since a predetermined axis includes the third axis A3 and the wing portion 12 includes the third wing 123, the moving body 1 can also adjust the direction of the airflow flowing along the column to which the third wing 123 is attached. Thereby, as described above, the moving body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can stably float. As a result, the moving body 1 can move stably.

[0091] As shown as an example in FIG. 7, since a predetermined axis includes the fourth axis A4 and the wing portion 12 includes the fourth wing 124, the moving body 1 can also adjust the direction of the airflow flowing outside the apex of the main body portion 10 to which the fourth wing 124 is attached. Thereby, the moving body 1 can also suppress the interference of the airflow from the other rotary wings 21 inside the main body portion 10 as the airflow goes from the outside to the inside of the main body portion 10. Therefore, the moving body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can stably float. The moving body 1 can sufficiently obtain the propulsive force in the vertically upward direction regardless of the posture of the main body portion 10 and can stably float without depending on external factors such as wind and collision with obstacles. As a result, the moving body 1 can move stably.

[0092] One end of the column to which the wing portion 12 is attached is connected to the apex of the main body portion 10, and the other end is located inside the main body portion 10. Thereby, the moving body 1 can also adjust the direction of the airflow flowing along each of the columns obliquely attached to the main body portion 10, for example, the columns F41, F42, F43, F44, F51, F52, F53, and F54. Thereby, as described above, the moving body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can stably float. As a result, the moving body 1 can move stably.

[0093] The rotary wing 21 has a rotation axis that is a straight line connecting a reference point P0 located inside the main body 10 and a vertex of the first polyhedron. As a result, even if the posture of the main body 10 formed as the first polyhedron changes, when one face of the first polyhedron faces vertically upward, a state similar to when another face faces vertically upward can be obtained. The moving body 1 can be configured such that when one face of the first polyhedron faces vertically upward, the combination of the same number of rotary wing modules 20 located on the upper surface side has an arrangement and orientation similar to those when another face faces vertically upward.

[0094] For example, consider a case where the moving body 1 rotates due to external factors such as wind and collision with an obstacle, changing its posture, and the upper surface of the moving body 1 changes from one face of the first polyhedron to another face. Even in such a case, the moving body 1 can continue to move with the same propulsive force by the combination of the rotary wing modules 20 having similar numbers, arrangements, and orientations between one face and another face of the first polyhedron. Therefore, even if the moving body 1 greatly changes its posture by rotation or the like, it can suppress falling during flight, unlike, for example, a conventional drone. The moving body 1 can continue to fly stably even if its posture is disturbed and has excellent gust resistance.

[0095] The moving body 1 can obtain a similar state even when it rotates at a rotation angle corresponding to the rotational symmetry of the first polyhedron. For example, when the first polyhedron has n-fold symmetry with respect to rotational symmetry, the moving body 1 can rotate at an angle of 360 / n° from a state where one face of the first polyhedron is the upper surface to make another face the upper surface. That is, the moving body 1 can be configured symmetrically with respect to the directions of a plurality of axes intersecting each other at an angle of 360 / n°.

[0096] The moving body 1 can more significantly exhibit the above-described effects related to stable movement because the reference point P0 is the center of gravity of the main body 10. More specifically, the moving body 1 can be configured such that when one face of the first polyhedron is the upper surface, each of the plurality of rotary wings 21 arranged at a plurality of vertices of the one face faces the center of gravity. Thereby, in the flight when the one face is the upper surface, for example, the moving body 1 can operate the corresponding plurality of rotary wing modules 20 in accordance with the center of gravity of the main body 10, and can maintain its posture more stably.

[0097] The moving body 1 can improve its symmetry because the reference point P0 is the center of gravity of the main body 10 and also the geometric center of the first polyhedron forming the main body 10. More specifically, if each rotary wing module 20 has the same shape and size as each other, even if the posture of the main body 10 formed as the first polyhedron changes, when one face of the first polyhedron faces vertically upward, it is possible to obtain a state more similar to when another face faces vertically upward. The moving body 1 can be configured such that when one face of the first polyhedron faces vertically upward, the combination of the rotary wing modules 20 having the same number as the number of vertices of the one face located on the upper surface side has an arrangement and orientation more similar to those when another face faces vertically upward.

[0098] For example, consider a case where the moving body 1 rotates due to external factors such as wind and collision with an obstacle, changing its posture, and the upper surface of the moving body 1 changes from one face of the first polyhedron to another face. Even in such a case, the moving body 1 can continue to move with the same thrust by the combination of the rotary wing modules 20 having similar numbers, arrangements, and orientations between one face and another face of the first polyhedron. Therefore, even if the moving body 1 greatly changes its posture by rotation or the like, unlike a conventional drone, for example, it can further suppress falling during flight. The moving body 1 can continue to fly more stably even if its posture is disturbed, and is more excellent in gust resistance.

[0099] The mobile body 1 can move stably in the same manner as above by adjusting the rotation speed of each rotary wing module 20 according to the deviation of the center of gravity from the geometric center even when the center of gravity of the main body 10 and the geometric center of the first polyhedron are different from each other and the reference point P0 is the geometric center of the first polyhedron.

[0100] The mobile body 1 can further improve its symmetry by having the first polyhedron be a cube. More specifically, if each rotary wing module 20 has the same shape and size as each other and the reference point P0 coincides with the geometric center of the first polyhedron, the mobile body 1 can obtain the same state whether one face of the first polyhedron faces the vertically upward direction or another face faces the vertically upward direction even when the posture of the main body 10 formed as the first polyhedron changes. The mobile body 1 can be configured such that when one face of the first polyhedron faces the vertically upward direction, the combination of the four rotary wing modules 20 has the same arrangement and orientation as when another face faces the vertically upward direction.

[0101] For example, consider the case where the mobile body 1 rotates due to external factors such as wind and collision with an obstacle, changing its posture, and the upper surface of the mobile body 1 changes from one face of the first polyhedron to another face. Even in such a case, the mobile body 1 can continue to move with the same propulsive force by the combination of the rotary wing modules 20 having the same number, arrangement, and orientation between one face and another face of the first polyhedron. Therefore, even if the mobile body 1 greatly changes its posture by rotation or the like, it can further suppress falling during flight, unlike, for example, a conventional drone. The mobile body 1 can continue to fly more stably even if its posture is disturbed and is more excellent in gust resistance.

[0102] At this time, since the first polyhedron has four-fold symmetry with respect to rotational symmetry, when the moving body 1 rotates at an angle of 90° from the state where one face of the first polyhedron is the upper face, other faces can be used as the upper face. That is, the moving body 1 can be symmetrically configured with respect to the directions of the three axes of the X-axis, Y-axis, and Z-axis that intersect each other at an angle of 90°. The moving body 1 can fly extremely nimbly and precisely in all directions of such three axes. That is, the moving body 1 can move stably regardless of the front-back, left-right, up-down directions.

[0103] The moving body 1 may move and maintain its attitude by operating only the rotary wing module 20 disposed at the vertex of one face in a state where one face of the first polyhedron is located on the upper side in the vertical direction. For example, the moving body 1 can also move and hover by operating only the four rotary wing modules 20 respectively disposed at the four vertices of one face in a state where one face of a regular hexahedron is located on the upper face. The moving body 1 can move without operating the remaining four rotary wing modules 20 disposed on the lower surface side. Thereby, the moving body 1 can reduce the energy consumed during movement as compared with the case where all eight rotary wing modules 20 are operated even when maintaining such a stable attitude. That is, the moving body 1 can achieve energy saving during movement.

[0104] As described above, the moving body 1 may operate the rotary wing module 20 located at each vertex of the upper face to move and maintain its attitude. On the other hand, in a state where the attitude of the moving body 1 changes and one face is no longer located on the upper face, the rotary wing module 20 located at each vertex of the first polyhedron is operated to change the attitude so that one face or another face different from one face is located on the upper face. For example, the moving body 1 can also change its attitude by operating the eight rotary wing modules 20 respectively disposed at the eight vertices of a regular hexahedron. Therefore, even if the attitude of the moving body 1 changes from the stable attitude for moving and maintaining the attitude, it can easily return to the same stable attitude and move stably without depending on external factors such as wind and collision with obstacles.

[0105] Since the cage 30 that forms the outer shape of the moving body 1 is formed as a second polyhedron, even if the moving body 1 comes into contact with an obstacle, it can continue to move by actively rotating according to the shape of the second polyhedron. More specifically, when the moving body 1 collides with an obstacle, the component that first comes into contact with the obstacle is the cage 30. Therefore, the moving body 1 can continue to move even if it collides with the obstacle by rotating relative to the obstacle in accordance with the shape of the second polyhedron that forms the cage 30. At this time, since the cage 30 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the cage 30.

[0106] Since the second polyhedron is a lattice dome, the symmetry of the cage 30 is improved, and the moving body 1 can more easily realize active rotation according to the shape of the second polyhedron when it comes into contact with an obstacle. Therefore, the moving body 1 can more easily continue moving even if it collides with an obstacle. As a result, even when the moving body 1 is used for inspection purposes in a narrow space, for example, it can continue moving without any problems even if it comes close to and comes into contact with the inspection target part to capture the inspection target part. For example, even if the moving body 1 comes close to and comes into contact with the inspection target part due to flying, the cage 30 can actively rotate the moving body 1, so the possibility of crashing can be reduced.

[0107] The moving body 1 can reduce air resistance during movement by improving the symmetry of the cage 30. This allows the moving body 1 to move stably without relying on external factors such as wind and collisions with obstacles. In addition, the moving body 1 can reduce external impacts that occur when it comes into contact with an obstacle. Furthermore, the moving body 1 can reduce the weight of the cage 30 by using a symmetrical structure. Therefore, the moving body 1 can reduce the energy consumed during movement according to its weight. In other words, the moving body 1 can achieve energy conservation during movement.

[0108] In the moving body 1, since the lattice dome constituting the second polyhedron is a fuller dome, all of the above-mentioned effects resulting from the symmetry of the cage 30 are more pronounced.

[0109] By fixing the cage 30 to the main body 10, the moving body 1 can suppress the fluctuation of the posture of the main body 10 with respect to the cage 30. If the cage 30 and the main body 10 are attached to each other in a gimbal structure to maintain the main body 10 horizontally, the main body 10 tries to maintain the horizontal position with respect to the rotation of the cage 30, but for this reason, the posture of the main body 10 will fluctuate. By having an attachment structure different from such a gimbal structure, the moving body 1 can sufficiently suppress such fluctuations in the posture of the main body 10.

[0110] It is obvious to those skilled in the art that the present disclosure can be realized in other predetermined forms other than the above-described embodiments without departing from its spirit or its essential features. Therefore, the foregoing description is illustrative and not restrictive. The scope of the disclosure is defined by the appended claims rather than by the foregoing description. Some changes within the scope of equivalents of any change are to be included therein.

[0111] For example, the shape, pattern, size, arrangement, orientation, type, and number of each of the above-described components are not limited to the content shown in the above description and the drawings. The shape, pattern, size, arrangement, orientation, type, and number of each component may be arbitrarily configured as long as its function can be realized. Each component of the illustrated moving body 1 is conceptually functional, and the specific form of each component is not limited to that shown.

[0112] For example, functions included in each configuration and the like can be rearranged so as not to be logically contradictory, and a plurality of configurations and the like can be combined into one or divided. In addition, changes can be made without departing from the gist of the present disclosure.

[0113] In the above-described embodiment, it has been described that the wing portion 12 is attached so as to be swingable about a predetermined axis in accordance with the airflow generated by the rotation of the rotary wing 21, but the present invention is not limited to this. Instead of or in addition to such a configuration regarding the wing portion 12, the moving body 1 may further include a drive unit attached to the wing portion 12. The drive unit may have a drive module that rotates the wing portion 12 about a predetermined axis. The drive module may include, for example, a servo motor or the like.

[0114] In the above-described embodiment, it has been described that when the rotary wing 21 is stationary and no airflow is generated, the wing portion 12 is arranged in a state where the balance is maintained about a predetermined axis by the weight of the wing portion 12 itself, but the present invention is not limited to this. Instead of or in addition to such a configuration, the wing portion 12 may be attached so as to be rotatable about a predetermined axis by a drive unit. Thereby, the wing portion 12 is attached to the main body portion 10 in a state where the angle with respect to the corresponding support column can be changed.

[0115] By further including a drive unit attached to the wing portion 12, the moving body 1 can actively change the attitude of the wing portion 12 with respect to the support column of the main body portion 10 by the drive unit. The moving body 1 can actively change the angle of the wing portion 12 with respect to the support column of the main body portion 10 by the drive unit. As described above, the moving body 1 can also control the attitude of each wing portion 12 with respect to the support column to more accurately control the airflow generated by the rotation of the rotary wing 21. Thereby, as described above, the moving body 1 can sufficiently obtain the propulsive force in the vertically upward direction and can float stably. As a result, the moving body 1 can move stably.

[0116] In the above embodiment, it has been described that the wing portion 12 is arranged with respect to each of the eight diagonal struts F41, F42, F43, F44, F51, F52, F53, and F54, but it is not limited thereto. The wing portion 12 may be arranged with respect to a part of the eight diagonal struts F41, F42, F43, F44, F51, F52, F53, and F54. Alternatively, the wing portion 12 may be arranged with respect to at least one of the twelve struts F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34 instead of or in addition to the diagonal struts.

[0117] As described above, the wing portion 12 only needs to be arranged with respect to at least one of the eight diagonal struts and the twelve struts that make up the main body portion 10. For example, the wing portion 12 may be attached only on the diagonal of the first polyhedron formed by the diagonal struts, as in the above embodiment. The wing portion 12 may be attached only on the side of the first polyhedron formed by each of the twelve struts. The wing portion 12 may be attached on both the diagonal and the side.

[0118] In the above embodiment, it has been described that the main body portion 10 is formed as the first polyhedron, but it is not limited thereto. If the main body portion 10 forms a three-dimensional shape when all the vertices are virtually connected, it may not have some struts. For example, the main body portion 10 may have only at least a part of the eight diagonal struts F41, F42, F43, F44, F51, F52, F53, and F54 without having the twelve struts F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. Conversely, the main body portion 10 may have only at least a part of the twelve struts F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34 without having the eight diagonal struts F41, F42, F43, F44, F51, F52, F53, and F54. The wing portion 12 only needs to be arranged according to the configuration of the struts of the main body portion 10.

[0119] In the above embodiment, the rotary blade 21 has been described as being located outside the main body 10, but it is not limited to this. The rotary blade 21 may be located inside the main body 10. The rotary blade 21 has been described as having a rotation axis that is a straight line connecting the reference point P0 and the vertex of the first polyhedron, but it is not limited to this. The rotation axis of the rotary blade 21 does not have to coincide with the straight line connecting the reference point P0 and the vertex of the first polyhedron.

[0120] In the above embodiment, the shape and size of the rotary blade 21 included in the rotary blade module 20 have been described as being the same for each of the eight rotary blade modules 20, but it is not limited to this. At least one of the shape and size of the rotary blade 21 may be different for each of the eight rotary blade modules 20. The shape and size of the drive unit 22 included in the rotary blade module 20 have been described as being the same for each of the eight rotary blade modules 20, but it is not limited to this. At least one of the shape and size of the drive unit 22 may be different for each of the eight rotary blade modules 20.

[0121] In the above embodiment, the reference point P0 has been described as being the center of gravity of the main body 10 and also the geometric center of the first polyhedron, but it is not limited to this. The reference point P0 may be any other point located inside the main body 10 that does not coincide with either the center of gravity of the main body 10 or the geometric center of the first polyhedron.

[0122] In the above embodiment, the center of gravity of the main body 10 and the geometric center of the first polyhedron have been described as coinciding with each other, but it is not limited to this. The center of gravity of the main body 10 and the geometric center of the first polyhedron may be different from each other. The reference point P0 may be either the center of gravity of the main body 10 or the geometric center of the first polyhedron, or any other point located inside the main body 10 that does not coincide with either of them.

[0123] In the above embodiment, it was described that in the moving body 1, the geometric center of the storage box 11 and the geometric center of the first polyhedron coincide with each other at the reference point P0, but the present invention is not limited thereto. The geometric center of the storage box 11 and the geometric center of the first polyhedron may be different from each other. The reference point P0 may be either the geometric center of the storage box 11 or the geometric center of the first polyhedron, or any other point located inside the main body 10 that does not coincide with either of them.

[0124] In the above embodiment, it was described that in the moving body 1, the geometric center of the first polyhedron and the geometric center of the second polyhedron coincide with each other at the reference point P0, but the present invention is not limited thereto. The geometric center of the first polyhedron and the geometric center of the second polyhedron may be different from each other. The reference point P0 may be either the geometric center of the first polyhedron or the geometric center of the second polyhedron, or any other point located inside the main body 10 that does not coincide with either of them.

[0125] In the above embodiment, it was described that the center of gravity and the geometric center of the storage box 11 coincide with each other at the reference point P0, but the present invention is not limited thereto. The center of gravity and the geometric center of the storage box 11 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the storage box 11, or any other point located inside the main body 10 that does not coincide with either of them.

[0126] In the above embodiment, it was described that the center of gravity and the geometric center of the entire main body 10 including the storage box 11 coincide with each other at the reference point P0, but the present invention is not limited thereto. The center of gravity and the geometric center of the entire main body 10 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the entire main body 10, or any other point located inside the main body 10 that does not coincide with either of them.

[0127] In the above embodiment, it was described that the center of gravity and the geometric center of the entire eight rotor modules 20 coincide with each other at the reference point P0, but the present invention is not limited to this. The center of gravity and the geometric center of the entire eight rotor modules 20 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the entire eight rotor modules 20, or may be any other point located inside the main body 10 that does not coincide with either of them.

[0128] In the above embodiment, it was described that the center of gravity and the geometric center of the cage 30 coincide with each other at the reference point P0, but the present invention is not limited to this. The center of gravity and the geometric center of the cage 30 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the cage 30, or may be any other point located inside the main body 10 that does not coincide with either of them.

[0129] In the above embodiment, it was described that the center of gravity and the geometric center of the entire moving body 1 composed of the main body 10, the eight rotor modules 20, and the cage 30 coincide with each other at the reference point P0, but the present invention is not limited to this. The center of gravity and the geometric center of the entire moving body 1 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the entire moving body 1, or may be any other point located inside the main body 10 that does not coincide with either of them.

[0130] In the above embodiment, it was described that the first polyhedron is a cube, but the present invention is not limited to this. The first polyhedron may be any solid surrounded by four or more planes. When the first polyhedron is a cube, it was described that the moving body 1 is symmetrically configured with respect to the three-axis directions including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, but the present invention is not limited to this. The moving body 1 may be symmetrically configured with respect to the directions of a plurality of axes that intersect each other at an angle of 360 / n° when the first polyhedron has n-fold symmetry with respect to rotational symmetry.

[0131] In the above-described embodiment, it was explained that the moving body 1 has a cage 30 that forms the outer shape of the moving body 1 so as to surround the main body 10 and the rotary wing module 20 from the outside, but the present invention is not limited thereto. The moving body 1 may not have the cage 30.

[0132] In the above-described embodiment, it was explained that the second polyhedron forming the cage 30 is a lattice dome, but the present invention is not limited thereto. The second polyhedron may be any solid surrounded by four or more planes.

[0133] FIG. 11A is an external perspective view schematically showing a part of the configuration of the cage 30 according to the first modification. FIG. 11B is an external perspective view schematically showing a part of the configuration of the cage 30 according to the second modification. FIG. 11C is an external perspective view schematically showing a part of the configuration of the cage 30 according to the third modification. FIG. 11D is an external perspective view schematically showing a part of the configuration of the cage 30 according to the fourth modification. FIG. 11E is an external perspective view schematically showing a part of the configuration of the cage 30 according to the fifth modification. FIG. 11F is an external perspective view schematically showing a part of the configuration of the cage 30 according to the sixth modification. FIG. 11G is an external perspective view schematically showing a part of the configuration of the cage 30 according to the seventh modification. FIG. 11H is an external perspective view schematically showing a part of the configuration of the cage 30 according to the eighth modification. FIG. 11I is an external perspective view schematically showing a part of the configuration of the cage 30 according to the ninth modification.

[0134] In the above-described embodiment, it was explained that the lattice dome is a Fuller dome, but the present invention is not limited thereto. The lattice dome may be a dome having a shape shown in any of FIGS. 11A to 11I, or a dome having any other arbitrary shape.

[0135] In the above-described embodiment, the cage 30 has been described as being fixed to the main body 10, but the present invention is not limited thereto. The cage 30 may be attached to the main body 10 by any rotational structure such as a gimbal structure so as to be rotatable with respect to the main body 10. Thereby, even if the cage 30 rotates, the moving body 1 can maintain the main body 10 horizontally. For example, even when the cage 30 contacts an obstacle and actively rotates according to the shape of the second polyhedron, the moving body 1 can maintain its posture horizontally without the main body 10 being interlocked with the rotation of the cage 30. Even in such a case, the description in the above embodiment regarding the connection between the cage 30 and the main body 10 by the arm is equally applicable.

[0136] In the above-described embodiment, the first control unit 2a has been described as being housed inside the storage box 11, but the present invention is not limited thereto. The first control unit 2a may be disposed outside the storage box 11. For example, the first control unit 2a may be disposed integrally with the rotor 21 and the drive unit 22, including each of the eight rotor modules 20.

[0137] In the above-described embodiment, it has been described that the moving body 1 can move by operating only the four rotor modules 20 respectively arranged at the four vertices of one surface when one surface of the regular hexahedron is located on the upper surface, but the present invention is not limited thereto. For example, in FIG. 2, the moving body 1 may be movable by operating only a pair of rotor modules 20 located on the longest diagonal line of the regular hexahedron.

[0138] For example, the moving body 1 may move in a posture such that the diagonal line connecting the third vertex P3 and the fifth vertex P5 in FIG. 2 is parallel to the vertical direction. At this time, the moving body 1 may move and hover by operating only the two rotary wing modules 20 such that the rotary wing modules 20 located at the third vertex P3 are positioned vertically upward and the rotary wing modules 20 located at the fifth vertex P5 are positioned vertically downward, and the rotation directions of the rotary wings 21 are opposite to each other. In this way, the moving body 1 may move and maintain its posture by operating only the two rotary wing modules 20 such that the rotary wing modules 20 located at one vertex of the first polyhedron are positioned vertically upward and the rotary wing modules 20 located at the other vertex on the opposite side are positioned vertically downward, and the rotation directions of the two rotary wings 21 are opposite to each other.

[0139] Thereby, when the moving body 1 maintains such a stable posture, the energy consumed during movement can be further reduced as compared with the case of operating the four rotary wing modules 20. That is, the moving body 1 can achieve energy saving during movement.

[0140] As described above, the moving body 1 may operate only the rotary wing modules 20 located at two vertices facing each other to move and maintain its posture. On the other hand, when the posture of the moving body 1 changes and the positions of one vertex and the other vertex facing each other are shifted, the moving body 1 operates the rotary wing modules 20 located at each vertex of the first polyhedron to change the posture such that the same set or different sets of two vertices facing each other are respectively positioned in the vertical up and down directions. For example, the moving body 1 can also change its posture by operating the eight rotary wing modules 20 respectively arranged at the eight vertices of the regular hexahedron. Thereby, even if the posture of the moving body 1 changes from the stable posture for moving and maintaining the posture, the moving body 1 can easily return to the same stable posture and can move stably without depending on external factors such as wind and collision with obstacles.

[0141] In the above-described embodiment, the mobile body 1 was described as including any aircraft or the like, but it is not limited thereto. The mobile body 1 may include any vehicle, conveyance, submarine, or the like. The mobile body 1 may include, for example, a submarine such as an underwater drone. The mobile body 1 may include, for example, a conveyance such as a hovercraft that can move on at least one of water and land.

[0142] In the above-described embodiment, the acquisition unit 4 was described as including an imaging device such as a camera as a sensor device. Such a camera may be attached to the main body 10 by a gimbal structure so as to maintain horizontal, for example, when the cage 30 is fixed to the main body 10 and the main body 10 rotates in conjunction with the rotation of the cage 30. Such a camera may be fixed to the main body 10, for example, when the cage 30 is attached to the main body 10 by a gimbal structure and the main body 10 maintains horizontal with respect to the rotation of the cage 30.

[0143] Some embodiments of the present disclosure are illustrated below. However, note that the embodiments of the present disclosure are not limited thereto. [Appendix 1] A main body having a plurality of struts; A rotor module including a rotor and a drive unit that drives the rotor, the rotor module being attached to the main body at each vertex of the main body; A wing portion attached to the main body in a state where the angle with respect to the strut can be changed; and the main body forms a three-dimensional shape when all the vertices are connected. Mobile body. [Appendix 2] The mobile body according to Appendix 1, wherein the wing portion is attached so as to be swingable about a predetermined axis in response to an air flow generated by the rotation of the rotor. Mobile body. [Appendix 3] The mobile body according to Appendix 1 or 2, further comprising a drive unit attached to the wing portion. The wing part is rotatably attached about a predetermined axis by the driving part. Moving body. [Appendix 4] The moving body according to Appendix 2 or 3, The predetermined axis includes a first axis connecting a first connection point on one of the struts and a second connection point on another strut adjacent to the one strut. The wing part includes a first wing attached to both one of the struts and the other strut by the first connection point and the second connection point. Moving body. [Appendix 5] The moving body according to any one of Appendices 2 to 4, The predetermined axis includes a second axis along the strut. The wing part includes a second wing attached to the surface of the strut. Moving body. [Appendix 6] The moving body according to any one of Appendices 2 to 5, The predetermined axis includes a third axis perpendicular to the strut. The wing part includes a third wing attached so as to be perpendicular to the strut. Moving body. [Appendix 7] The moving body according to any one of Appendices 2 to 6, The predetermined axis includes a fourth axis extending from the vertex to the outside of the main body part. The wing part includes a fourth wing located at the vertex and attached to the main body part so as to extend to the outside of the main body part. Moving body. [Appendix 8] The moving body according to any one of Appendices 1 to 7, One end of the strut to which the wing part is attached is connected to the vertex, and the other end is located inside the main body part. Moving body. [Appendix 9] The moving body according to any one of Appendices 1 to 8, The main body part is formed as a first polyhedron. The rotary wing is located outside the main body, and has a rotation axis that is a straight line connecting a reference point located inside the main body and the vertex of the first polyhedron. Moving body. [Appendix 10] The moving body according to Appendix 9, wherein the first polyhedron is a cube. Moving body. [Appendix 11] The moving body according to Appendix 9 or 10, further comprising a cage that is attached to the main body and forms the outer shape of the moving body so as to surround the main body and the rotary wing module from the outside. The cage is formed as a second polyhedron. Moving body. [Appendix 12] The moving body according to Appendix 11, wherein the cage is fixed to the main body. Moving body. [Appendix 13] The moving body according to Appendix 11 or 12, wherein the second polyhedron is a lattice dome. Moving body. [Appendix 14] The moving body according to Appendix 13, wherein the lattice dome is a Fuller dome. Moving body. [Appendix 15] The moving body according to any one of Appendices 9 to 14, wherein the moving body is a flying drone. Moving body. [Appendix 16] A method of flying the moving body according to any one of Appendices 9 to 15, wherein, with one face of the first polyhedron positioned as the upper face in the vertical direction, only the rotary wing module disposed at the vertex of the one face is operated to perform movement and attitude maintenance. Method of flying a moving body. [Appendix 17] A method of flying the moving body according to Appendix 16, In a state where the attitude of the moving body has changed and the one surface no longer lies on the upper surface, the rotary wing modules located at the respective vertices of the first polyhedron are operated to change the attitude of the moving body such that the one surface or another surface different from the one surface lies on the upper surface. Flight method of a moving body. [Appendix 18] A flight method of a moving body according to any one of Appendices 9 to 17, With the rotary wing module located at one vertex of the first polyhedron positioned in the vertically upward direction and the rotary wing module located at the other vertex on the opposite side positioned in the vertically downward direction, only the two rotary wing modules are operated such that the rotational directions of the two rotary wings are opposite to each other to perform movement and attitude maintenance. Flight method of a moving body. [Appendix 19] A flight method of a moving body according to Appendix 18, In a state where the attitude of the moving body has changed and the positions of the one vertex and the other vertex facing each other have shifted, the rotary wing modules located at the respective vertices of the first polyhedron are operated to change the attitude such that the same set or different sets of the two vertices facing each other are respectively positioned in the vertical up and down directions. Flight method of a moving body.

Explanation of Signs

[0144] 1 Moving body 2a First control unit 2b Second control unit 3 Communication unit 4 Acquisition unit 5 Storage unit 10 Main body unit 11 Storage box 12 Wing unit 121 First wing 122 Second wing 123 Third wing 124 Fourth wing 20 Rotary wing module 21 Rotary wing 22 Driving unit 30 Cage A1 First Axis A2 Second Axis A3 Third Axis A4 Fourth Axis F11 Support Pillar F12 Support Pillar F13 Support Pillar F14 Support Pillar F21 Support Pillar F22 Support Pillar F23 Support Pillar F24 Support Pillar F31 Support Pillar F32 Support Pillar F33 Support Pillar F34 Support Pillar F41 Support Pillar F42 Support Pillar F43 Support Pillar F44 Support Pillar F51 Support Pillar F52 Support Pillar F53 Support Pillar F54 Support Pillar P0 Reference Point P1 First Vertex P2 Second Vertex P3 Third Vertex P4 Fourth Vertex P5 Fifth Vertex P6 Sixth Vertex P7 Seventh Vertex P8 Eighth Vertex P11 First Connection Point P12 First Connection Point P13 First Connection Point P21 Second Connection Point P22 Second Connection Point P23 Second Connection Point

Claims

1. A main body having a plurality of struts, A rotor module located at each vertex of the main body and attached to the main body, including a rotor blade and a drive unit for driving the rotor blade, A wing portion attached to the main body in a state where the angle with respect to the strut can be changed, and comprising, The main body forms a three-dimensional shape when all the vertices are connected. A moving body.

2. The moving body according to claim 1, wherein the wing portion is attached so as to be swingable about a predetermined axis in response to the airflow generated by the rotation of the rotor blade. A moving body.

3. The moving body according to claim 1, further comprising a drive unit attached to the wing portion, wherein the wing portion is attached so as to be rotatable about a predetermined axis by the drive unit. A moving body.

4. The moving body according to claim 2 or 3, wherein the predetermined axis includes a first axis connecting a first connection point on one of the struts and a second connection point on another strut adjacent to the one strut, and the wing portion includes a first wing attached to both the one strut and the other strut by the first connection point and the second connection point. A moving body.

5. The moving body according to claim 2 or 3, wherein the predetermined axis includes a second axis along the strut, and the wing portion includes a second wing attached to the surface of the strut. A moving body.

6. The moving body according to claim 2 or 3, wherein the predetermined axis includes a third axis orthogonal to the strut, The wing portion includes a third wing attached so as to be orthogonal to the support column. Moving body.

7. The moving body according to claim 2 or 3, The predetermined axis includes a fourth axis extending from the vertex to the outside of the main body portion. The wing portion includes a fourth wing attached to the main body portion so as to be located at the vertex and extend to the outside of the main body portion. Moving body.

8. The moving body according to any one of claims 1 to 3, One end of the support column to which the wing portion is attached is connected to the vertex, and the other end is located inside the main body portion. Moving body.

9. The moving body according to any one of claims 1 to 3, The main body portion is formed as a first polyhedron. The rotary wing is located outside the main body portion and rotates about a straight line connecting a reference point located inside the main body portion and the vertex of the first polyhedron. Moving body.

10. The moving body according to claim 9, The first polyhedron is a hexahedron. Moving body.

11. The moving body according to claim 9, Further provided with a cage attached to the main body portion and forming the outer shape of the moving body so as to surround the main body portion and the rotary wing module. The cage is formed as a second polyhedron. Moving body.

12. The moving body according to claim 11, The cage is fixed to the main body portion. Moving body.

13. The mobile body according to claim 11, wherein the second polyhedron is a lattice dome, Mobile body.

14. The mobile body according to claim 13, wherein the lattice dome is a Fuller dome, Mobile body.

15. The mobile body according to claim 9, wherein the mobile body is a drone for flight, Mobile body.

16. A method of flying the mobile body according to claim 9, performing movement and attitude maintenance by operating only the rotary wing module disposed at the vertex of the one surface in a state where one surface of the first polyhedron is located on the upper surface in the vertical direction, Method of flying a mobile body.

17. A method of flying the mobile body according to claim 16, changing the attitude of the mobile body so that the one surface or another surface different from the one surface is located on the upper surface by operating the rotary wing modules located at the respective vertices of the first polyhedron in a state where the attitude of the mobile body has changed and the one surface is no longer located on the upper surface, Method of flying a mobile body.

18. A method of flying the mobile body according to claim 9, performing movement and attitude maintenance by operating only two of the rotary wing modules such that the rotational directions of the two rotary wings are opposite to each other in a state where the rotary wing module located at one vertex of the first polyhedron is located in the vertically upward direction and the rotary wing module located at the other vertex on the opposite side is located in the vertically downward direction, Method of flying a mobile body.

19. A method of flying the mobile body according to claim 18, With the posture of the moving body changed and the positions of the one vertex and the other vertex facing each other shifted, the rotary wing modules located at the respective vertices of the first polyhedron are operated to change the posture so that the same set or different sets of two vertices facing each other are respectively positioned in the vertical up-and-down direction. Flight method of a moving body.

Images