Movable body

Abstract

To provide a movable body that can achieve flight of a 6 freedom degree with a less-restricted simple structure.SOLUTION: A movable body 1 according to the present invention comprises a main body part 10 having a reference surface 10S, and at least three thrust generating units 20a-20d which respectively generate thrust in an inclining direction toward the reference surface 10S, whose force components on the reference surface 10S are different in direction from one another. Each of the at least three thrust generating units 20a-20d includes a plurality of thrust generating devices 21-28, mounted on the main body part 10, which generate thrust. Thrust shafts of at least two thrust generating devices of the plurality of thrust generating devices 21-28 do not cross a gravity center shaft passing on a position of a gravity center of the movable body 1 to cross the reference surface 10S.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobile body capable of flying with six degrees of freedom. [Background technology]

[0002] In recent years, the scope of use of unmanned mobile vehicles such as drones has been expanding.

[0003] In this regard, Patent Document 1 below proposes an aircraft with six rotors (see paragraphs

[0064] to

[0066] and Figure 9). The aircraft disclosed in Patent Document 1 has three pairs of rotors arranged opposite each other around a central axis, with the rotation axis of one rotor inclined at a predetermined angle toward the central axis, while the rotation axis of the other rotor is inclined at a predetermined angle away from the central axis.

[0004] With an aircraft configured in this manner, the rotation surfaces of each rotor are not arranged on the same plane, which makes it possible to control translational and rotational motion independently along the X, Y, and Z axes, enabling the aircraft to fly with six degrees of freedom. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2020-131779 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the above aircraft, the rotation axis of one rotor is tilted toward the central axis, while the rotation axis of the other rotor is tilted away from the central axis. As a result, in the above aircraft, three of the six rotors face inward toward the center of the aircraft, which creates a problem of restricting the space above the center of the aircraft. In addition, in the above aircraft, the rotation axes of adjacent rotors around the central axis are tilted in opposite directions, which makes the structure complex and undesirable.

[0007] The present invention has been made to solve the above-mentioned problems, and therefore, an object of the present invention is to provide a moving body that can achieve flight with six degrees of freedom using a simple structure with few constraints. [Means for solving the problem]

[0008] The above object of the present invention can be achieved by the following means.

[0009] The mobile body of the present invention is a mobile body having a main body portion having a reference surface, and at least three thrust generating units that each generate a thrust that is inclined with respect to the reference surface, the thrust having force components on the reference surface in different directions from each other, wherein each of the at least three thrust generating units is attached to the main body portion and includes a plurality of thrust generating devices that generate the thrust, and the thrust axes of at least two of the plurality of thrust generating devices do not intersect with a center of gravity axis that passes through the center of gravity position of the mobile body and is perpendicular to the reference surface. [Effects of the Invention]

[0010] According to the moving body of the present invention, flight with six degrees of freedom can be achieved with a simple structure with few constraints. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a schematic configuration of a moving body according to an embodiment of the present invention; [Figure 2] FIG. 2 is a bottom view showing a schematic configuration of the moving body. [Figure 3] FIG. 10 is a diagram for explaining the direction of airflow in a moving body. [Figure 4] FIG. 1 is a diagram illustrating a usage environment of a moving object. [Figure 5] FIG. 1 is a diagram for explaining the operation of a moving body. [Figure 6] 10A and 10B are diagrams for explaining the principle of operation of moving in the horizontal direction while maintaining the posture. [Figure 7] FIG. 10 is a diagram for explaining a moving body according to Modification 1. [Figure 8] FIG. 10 is a diagram for explaining a moving body according to Modification 2. [Figure 9] FIG. 10 is a diagram for explaining a moving body according to Modification 3. [Figure 10] FIG. 10 is a diagram for explaining a moving body according to Modification 4. [Figure 11] FIG. 10 is a diagram for explaining a moving body according to Modification 5. [Figure 12] FIG. 13 is a diagram for explaining a moving body according to Modification 6. [Figure 13] FIG. 13 is a diagram for explaining a moving body according to Modification 7. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that the following description will be given taking as an example a case where a mobile object of the present invention is applied to a small unmanned aircraft that can be used on land and in the air.

[0013] FIG. 1 is a perspective view showing a schematic configuration of a moving body 1 according to one embodiment of the present invention, and FIG. 2 is a bottom view showing a schematic configuration of the moving body 1. As shown in FIG.

[0014] 1 and 2, the moving body 1 according to this embodiment has a main body 10 having a reference surface 10S, first to fourth thrust generating units 20a to 20d that generate thrusts in different directions, and first to fourth buoyancy generating members 30a to 30d that impart buoyancy to the main body 10. Note that, hereinafter, the "first to fourth thrust generating units 20a to 20d" may be collectively referred to as "thrust generating units 20," and the "first to fourth buoyancy generating members 30a to 30d" may be collectively referred to as "buoyancy generating members 30."

[0015] <Main body 10> The main body 10 has a roughly rectangular parallelepiped shape and houses various devices (not shown) for controlling the operation of the moving body 1. The main body 10 also houses a first auxiliary thrust generator 40 that generates a vertically upward thrust. The first auxiliary thrust generator 40 is a centrifugal rotor (centrifugal fan) that takes in air from the top of the main body 10 and generates a vertically downward airflow at the bottom of the main body 10. When the moving body 1 is placed horizontally, the reference surface 10S of the main body 10 is parallel to the horizontal plane.

[0016] <Thrust generating unit 20> The first to fourth thrust generating units 20a to 20d generate thrusts in first to fourth directions, which are different from one another. The first thrust generating unit 20a includes first and second thrust generating devices 21 and 22 for generating a thrust in the first direction. The second thrust generating unit 20b includes third and fourth thrust generating devices 23 and 24 for generating a thrust in the second direction. The third thrust generating unit 20c includes fifth and sixth thrust generating devices 25 and 26 for generating a thrust in the third direction, and the fourth thrust generating unit 20d includes seventh and eighth thrust generating devices 27 and 28 for generating a thrust in the fourth direction. The thrusts in the first to fourth directions are thrusts in directions inclined with respect to the reference plane 10S.

[0017] The first to eighth thrust generating units 21 to 28 are speed-adjustable axial flow rotors that generate airflow along their rotation axes (thrust axes). The first to eighth thrust generating units 21 to 28 are attached in pairs to the sides of the main body 10 so that their rotation axes are inclined toward the center of the moving body 1, and the rotation plane of each rotor is inclined away from the center of the moving body 1. The first to eighth thrust generating units 21 to 28 each generate airflows that are diagonally downward and outward from the sides of the main body 10. The airflows generated by the first to eighth thrust generating units 21 to 28 will be described in detail later.

[0018] <Buoyancy generating member 30> The first to fourth buoyancy generating members 30a to 30d are provided at the bottom of the main body 10 and provide buoyancy to the main body 10. The first to fourth buoyancy generating members 30a to 30d are donut-shaped float-type elastic members having a central opening 30h and containing air therein. An opening 10h is provided on the bottom surface of the main body 10 for releasing the airflow generated by the first auxiliary thrust generator 40, and the opening 10h is exposed to the outside through the central openings 30h of the first to fourth buoyancy generating members 30a to 30d. Therefore, the vertically downward airflow generated by the first auxiliary thrust generator 40 is released from the central openings 30h of the first to fourth buoyancy generating members 30a to 30d, respectively. In other words, the moving body 1 releases downward airflow from four locations at the bottom of the main body 10.

[0019] Next, the direction of the airflow in the moving body 1 will be described with reference to FIG. 3. FIG. 3(A) is a diagram schematically showing the direction of the airflow in a plan view, and FIG. 3(B) is a diagram schematically showing the direction of the airflow in a side view. In the diagram, black dots indicate thrust generators, and dashed lines indicate thrust axes of the thrust generators. Thin arrows indicate airflows generated by the thrust generators, and thick arrows indicate thrusts generated by the thrust generators. The directions of the airflow and thrust are opposite to each other. In FIG. 3, the vertical direction is the Z-axis, and the X-axis and Y-axis are set to be orthogonal to each other in a horizontal plane perpendicular to the Z-axis.

[0020] As described above, the movable body 1 of this embodiment has first to fourth thrust generation units 20a to 20d that generate thrusts in first to fourth directions, respectively. The first to fourth thrust generation units 20a to 20d are arranged around the main body 10 at 90-degree intervals with respect to the center of gravity axis GX (vertical axis) of the movable body 1. The first thrust generation unit 20a generates a thrust in a first direction (+X direction / +Z direction). The second thrust generation unit 20b generates a thrust in a second direction (+Y direction / +Z direction). The third thrust generation unit 20c generates a thrust in a third direction (-X direction / +Z direction). The fourth thrust generation unit 20d generates a thrust in a fourth direction (-Y direction / +Z direction). Here, the force component of the thrust in the first direction on the horizontal plane (reference plane 10S) is the +X direction, and the force component of the thrust in the second direction is the +Y direction. The force component of the thrust in the third direction is the -X direction, and the force component of the thrust in the fourth direction is the -Y direction. In other words, the directions of the force components of the thrusts generated by the first to fourth thrust generating units 20a to 20d on the horizontal plane are different from one another.

[0021] <First thrust generating section 20a> The first thrust generating unit 20a includes a first thrust generating device 21 having a first thrust axis TX1 and a second thrust generating device 22 having a second thrust axis TX2. The first and second thrust generating devices 21, 22 are arranged at both ends of the first side portion 11 of the main body 10. The first and second thrust axes TX1, TX2 are inclined at a predetermined angle θ (0<θ<90 degrees) with respect to the horizontal plane (reference plane 10S) and extend parallel to each other in the X-axis and Z-axis directions.

[0022] The first and second thrust generating devices 21, 22 are rotors whose rotation axes and thrust axes coincide with each other. The first and second thrust generating devices 21, 22 generate airflows Af1, Af2 directed diagonally downward and outward in the vertical direction (-X direction / -Z direction), and generate thrusts Th1, Th2 directed diagonally upward and inward in the vertical direction (+X direction / +Z direction).

[0023] The first and second thrust axes TX1, TX2 extend in the X-axis and Z-axis directions at positions away from the midpoint of the first side portion 11 of the main body 10, and therefore do not intersect with the center of gravity axis GX.

[0024] <Second thrust generating section 20b> The second thrust generation unit 20b includes a third thrust generator 23 having a third thrust axis TX3 and a fourth thrust generator 24 having a fourth thrust axis TX4. The third and fourth thrust generators 23, 24 are disposed at both ends of the second side portion 12 of the main body 10. The third and fourth thrust axes TX3, TX4 are inclined at a predetermined angle θ (0<θ<90 degrees) with respect to the horizontal plane and extend parallel to each other in the Y-axis and Z-axis directions.

[0025] The third and fourth thrust generators 23, 24 are rotors whose rotation axes coincide with their thrust axes. The third and fourth thrust generators 23, 24 generate airflows Af3, Af4 directed diagonally downward and outward in the vertical direction (-Y direction / -Z direction), which generate thrusts Th3, Th4 directed diagonally upward and inward in the vertical direction (+Y direction / +Z direction).

[0026] The third and fourth thrust axes TX3, TX4 extend in the Y-axis and Z-axis directions at positions away from the midpoint of the second side portion 12 of the main body 10, and therefore do not intersect with the center of gravity axis GX.

[0027] <Third thrust generating section 20c> The third thrust generation unit 20c includes a fifth thrust generator 25 having a fifth thrust axis TX5 and a sixth thrust generator 26 having a sixth thrust axis TX6. The fifth and sixth thrust generators 25, 26 are disposed at both ends of the third side portion 13 of the main body 10. The fifth and sixth thrust axes TX5, TX6 are inclined at a predetermined angle θ (0<θ<90 degrees) with respect to the horizontal plane and extend parallel to each other in the X-axis and Z-axis directions.

[0028] The fifth and sixth thrust generators 25, 26 are rotors whose rotation axes and thrust axes coincide with each other. The fifth and sixth thrust generators 25, 26 generate airflows Af5, Af6 directed diagonally downward and outward in the vertical direction (+X direction / -Z direction), which generate thrusts Th5, Th6 directed diagonally upward and inward in the vertical direction (-X direction / +Z direction).

[0029] The fifth and sixth thrust axes TX5, TX6 extend in the X-axis and Z-axis directions at positions away from the midpoint of the third side portion 13 of the main body 10, and therefore do not intersect with the center of gravity axis GX.

[0030] <Fourth thrust generating unit 20d> The fourth thrust generation unit 20d includes a seventh thrust generator 27 having a seventh thrust axis TX7 and an eighth thrust generator 28 having an eighth thrust axis TX8. The seventh and eighth thrust generators 27, 28 are disposed at both ends of the fourth side portion 14 of the main body 10. The seventh and eighth thrust axes TX7, TX8 are inclined at a predetermined angle θ (0<θ<90 degrees) with respect to the horizontal plane and extend parallel to each other in the Y-axis and Z-axis directions.

[0031] The seventh and eighth thrust generators 27, 28 are rotors whose rotation axes coincide with their thrust axes. The seventh and eighth thrust generators 27, 28 generate airflows Af7, Af8 directed diagonally downward and outward in the vertical direction (+Y direction / -Z direction), which generate thrusts Th7, Th8 directed diagonally upward and inward in the vertical direction (-Y direction / +Z direction).

[0032] The seventh and eighth thrust axes TX7, TX8 extend in the Y-axis and Z-axis directions at positions away from the midpoint of the fourth side portion 14 of the main body 10, and therefore do not intersect with the center of gravity axis GX.

[0033] The mobile body 1 of this embodiment configured as described above achieves six degrees of freedom of flight with the four pairs of thrust generators 21-28 attached diagonally to both ends of the four side portions 11-14 of the main body 10. This configuration allows for six degrees of freedom of flight with a simpler structure with fewer constraints than when six thrust generators (rotors) are used to achieve six degrees of freedom of flight. Specifically, the mobile body 1 of this embodiment allows for the eight thrust generators 21-28, each consisting of a rotor, to be inclined in the same direction away from the center of the mobile body 1, thereby making it possible to utilize the space above the main body 10. Furthermore, the inclination of adjacent thrust generators 21-28 around the center axis GX is the same, allowing for a simple structure. As a result, for example, a monocoque structure using rotor guards can be easily realized.

[0034] In this specification, the term "parallel" means that two axes or planes are substantially parallel, and includes cases where the two axes or planes are tilted by approximately ±2 degrees. Furthermore, the term "center of gravity axis" means an axis (vertical axis) that passes through the substantial center of gravity of the aircraft 1, and includes cases where the axis position is slightly offset from the center of gravity.

[0035] Next, the operation of the moving body 1 will be described with reference to Figures 4 and 5. As described above, the moving body 1 of this embodiment is a small unmanned aircraft that can be used on land and in the air. Note that for the sake of convenience, some thrust generating devices of the moving body 1 are omitted from Figures 4 and 5.

[0036] Fig. 4 is a diagram illustrating the environment in which the moving body 1 is used. As shown in Fig. 4, the moving body 1 of this embodiment moves between a high place, such as on a bridge 100, and water / land. Specifically, the moving body 1 flies from on the bridge 100 and lands on water. The moving body 1 then moves while floating above the water. Thereafter, the moving body 1 flies up from above the water and flies back up to above the bridge 100. The operation of the moving body 1 (the operation of the first to eighth thrust generating devices 21 to 28) is computer-controlled.

[0037] FIG. 5 is a diagram for explaining the operation of the moving object 1 that moves while floating on the water surface.

[0038] 5, in the moving body 1 of this embodiment, eight thrust generators 21-28 generate airflows Afa-Afc diagonally downward and outward from the moving body 1. Also, in the moving body 1 of this embodiment, a first auxiliary thrust generator 40 provided inside the main body 10 generates downward airflows Afd at four locations on the bottom of the main body 10.

[0039] Therefore, the moving body 1 of this embodiment can move horizontally at high speed with low friction while floating on the water. In particular, the diagonally downward and outward air flows Afa to Afc generated by the first to eighth thrust generating devices 21 to 28 hit the water surface, so a greater horizontal thrust can be obtained compared to when flying in the air. Furthermore, because the air flow Afc stagnates on the water surface near the buoyancy generating member 30, the pressure increases compared to when flying in the air, and the horizontal thrust is further strengthened.

[0040] Additionally, according to the moving body 1 of this embodiment, the air released from the first auxiliary thrust generator 40 increases the pressure in the space defined by the central openings 30h (see FIG. 2) of the buoyancy generating members 30, thereby strengthening buoyancy. Furthermore, according to the moving body 1 of this embodiment, air is supplied to the four spaces defined by the central openings 30h of the four buoyancy generating members 30, respectively, thereby reducing imbalance in the posture of the moving body 1 that occurs when air leaks from the water surface (or the ground).

[0041] Next, the operating principle of moving the moving object 1 in the horizontal direction while maintaining its posture will be described with reference to Fig. 6. Fig. 6(A) is a conceptual diagram for explaining the forces acting on the moving object 1, and Fig. 6(B) is a diagram for explaining the locations where the forces are generated. Note that, for simplicity of explanation, the following description will be given taking as an example a case where clockwise / counterclockwise moments acting on the moving object 1 on the paper surface of Fig. 6 are canceled.

[0042] As shown in Figure 6(B), the pair of thrust generating devices 23, 24 arranged on the second side 12 of the main body 10 are assumed to be "Group A," the two thrust generating devices 21, 26 arranged on the first side 11 and the third side 13, respectively, are assumed to be "Group B," the remaining two thrust generating devices 22, 25 arranged on the first side 11 and the third side 13, respectively, are assumed to be "Group C," and the pair of thrust generating devices 27, 28 arranged on the fourth side 14 are assumed to be "Group D." As shown in FIG. 6(A), assuming that the thrust on the paper surface generated by the thrust generators 23 and 24 of the "A group" is thrust Fa, the thrust on the paper surface generated by the thrust generators 21 and 26 of the "B group" is thrust Fb, the thrust on the paper surface generated by the thrust generators 22 and 25 of the "C group" is thrust Fc, and the thrust on the paper surface generated by the thrust generators 27 and 28 of the "D group" is thrust Fd, the relationships between the thrusts Fa to Fd are expressed by the following equations (1) and (2).

[0043] -Fd·cosθ+Fa·cosθ=Fy …(1) Fd·sinθ+Fb+Fc+Fa·sinθ=Fz…(2) Here, Fy is the thrust force in the left direction on the paper, and Fz is the thrust force in the upward direction on the paper.

[0044] In order to cancel the moment acting on the moving body 1, the following equation (3) must be satisfied.

[0045] (Fd-Fa)×La+(Fb-Fc)×Lb=0 …(3) Here, assuming that the moving object 1 moves only leftward on the paper surface and Fd=0, the relationships of the following equations (4) to (6) are obtained.

[0046] Fa·cosθ=Fy …(4) Fb+Fc+Fa·sinθ=Fz …(5) -Fa×La+(Fb-Fc)×Lb=0 …(6) By solving equations (4) to (6) for Fa to Fc, the conditions for obtaining thrusts in the left-right direction and the up-down direction of the paper can be obtained. Therefore, the moving body 1 can move in the horizontal direction while maintaining its posture. In practice, however, it is necessary to consider not only thrusts and moments on the paper surface but also various other thrusts and moments, so matrix calculations are performed.

[0047] [Variations] Modifications of this embodiment will be described below. Note that the same components as those in the above-described embodiment will be denoted by the same reference numerals and the description thereof will be omitted.

[0048] (Variation 1) In the above-described embodiment, eight thrust generators 21 to 28 are attached to the main body 10 having a square shape in a plan view (see FIG. 3(A)). However, for example, as shown in FIG. 7, eight thrust generators 21 to 28 may be attached to the main body 10 having a rectangular shape in a plan view. In this case, the distances d1 to d4 between two thrust generators 21 to 28 attached to the same side portions 11 to 14 of the main body 10 may be different between adjacent side portions 11 to 14, or may be the same for all side portions 11 to 14.

[0049] (Variation 2) In the above-described embodiment, the pair of thrust generating devices 21 to 28 included in each thrust generating section 20a to 20d are arranged so that their thrust axes are parallel to each other. However, as shown in Fig. 8, the pair of thrust generating devices 21 to 28 may be arranged so that their thrust axes (parallel to the airflows Af1 to Af8) intersect with each other.

[0050] (Variation 3) The number of thrust generators included in each of the thrust generators 20a to 20d is not limited to two, and for example, as shown in Fig. 9, each of the thrust generators 20a to 20d may include three thrust generators 21 to 28, 41 to 44. In this case, the thrust axes (parallel to the airflows Af9 to Af12) of the thrust generators 41 to 44 located at the midpoints of the side portions 11 to 14 of the main body 10 differ from the thrust axes (parallel to the airflows Af1 to Af8) of the thrust generators 21 to 28 located at both ends and intersect with the center of gravity axis GX.

[0051] (Variation 4) In the above-described embodiment, the pair of thrust generating devices included in each of the thrust generating units 20a to 20d is arranged on the same side of the rectangular main body 10. However, the pair of thrust generating devices may be arranged on different sides of the main body 10.

[0052] FIG. 10 is a diagram showing the direction of airflow in a moving body according to Modification 4. FIG. 10(A) is a diagram showing the direction of airflow in a plan view, and FIG. 10(B) is a diagram showing the direction of airflow in a side view. As shown in FIG. 10(A), in the moving body 1 according to this modification, the first thrust generating unit 20a includes a pair of thrust generating devices 21 and 22 provided on the first side 11 and the third side 13 of the main body 10, respectively. The second thrust generating unit 20b includes a pair of thrust generating devices 23 and 24 provided on the second side 12 and the fourth side 14 of the main body 10, respectively. Similarly, the third thrust generating section 20c includes a pair of thrust generating devices 25, 26 provided on the first side 11 and the third side 13 of the main body 10, respectively, and the fourth thrust generating section 20d includes a pair of thrust generating devices 27, 28 provided on the second side 12 and the fourth side 14, respectively. In this case, two thrust generating devices (e.g., the first and fifth thrust generating devices 21, 25) arranged on the same side may be configured in the form of a single thrust generating unit.

[0053] (Variation 5) 11(A) and 11(B), the moving body 1 may further include a second auxiliary thrust generator 50 that generates horizontal thrust. The second auxiliary thrust generator 50 is, for example, a rotor, and generates a horizontally outward airflow Af13. This configuration improves the horizontal movement capability of the moving body 1.

[0054] (Variation 6) In the above-described embodiment, the four buoyancy generating members 30a to 30d are provided on the lower part of the main body 10, and the airflow generated by the first auxiliary thrust generator 40 is discharged from a total of four locations through the central openings 30h of the four buoyancy generating members 30a to 30d. However, as shown in FIG. 12 , the airflow Afd generated by the first auxiliary thrust generator 40 may be discharged from only one location, the center of the lower part of the main body 10.

[0055] (Variation 7) As shown in FIG. 13, the moving body 1 does not necessarily have to include the first auxiliary thrust generator 40.

[0056] The above describes the moving body according to the present invention through embodiments and modified examples, but the present invention is not limited to the configurations described, and can be modified as appropriate based on the description of the claims.

[0057] For example, in the above-described embodiment, the moving body has been described as having four thrust generating units 20a to 20d. However, the number of thrust generating units provided in the moving body is not limited to four. The moving body according to the present invention may have eight thrust generating units, each having two thrust generating devices (rotors). In this case, the eight thrust generating units may be arranged at 45-degree intervals around the main body. Alternatively, the moving body according to the present invention may have three thrust generating units, each having two thrust generating devices. In this case, the three thrust generating units may be arranged at 120-degree intervals around the main body.

[0058] In the above-described embodiment, the eight thrust generators are provided symmetrically with respect to the center axis GX of gravity of the moving body 1. However, the eight thrust generators do not need to be provided symmetrically with respect to each other, and may be provided asymmetrically. For example, a pair of thrust generators may be provided at different distances from the midpoint of the side of the main body. Furthermore, two pairs of thrust generators provided on opposite sides of the center axis GX of gravity may be provided so that the distances between the thrust generators on the same side are different from each other.

[0059] In the above-described embodiment, the mobile body 1 is described as an unmanned mobile body that can be used on land or water. However, the mobile body 1 does not have to be used on water or land. When the mobile body 1 is not used on water or land, landing legs are provided at the bottom of the main body 10 instead of the buoyancy generating members 30a to 30d.

[0060] In the above-described embodiment, the thrust generating devices are arranged at the same height in the vertical direction. However, the thrust generating devices may be arranged at different heights.

[0061] In the above-described embodiment, the multiple thrust generators are attached to the main body 10 so as to be inclined at the same angle θ with respect to the reference plane 10S. However, the inclination angles of the multiple thrust generators may be different from each other. For example, if each thrust generator unit includes three thrust generators, the inclination angle of the thrust generator located at the midpoint of each side may be different from the inclination angles of the remaining two thrust generators located at both ends.

[0062] In the above-described embodiment, an example has been described in which an axial flow rotor (propeller, ducted fan) is used as the thrust generating device. However, the thrust generating device may also be a centrifugal rotor (turbo fan, sirocco fan). Furthermore, a contra-rotating rotor type rotor may be used for the first auxiliary thrust generating device 40. Furthermore, the thrust generating device is not limited to a rotor, and various types of thrusters such as a jet thruster or an ion thruster may be used as the thrust generating device.

[0063] In the above-described embodiment, the first auxiliary thrust generator 40 is housed inside the main body 10. However, unlike the above-described embodiment, the first auxiliary thrust generator 40 may be provided so as to be exposed to the bottom or top of the main body 10, for example.

[0064] In the above-described embodiment, a floating elastic member containing air is used as the buoyancy generating member. However, the buoyancy generating member is not limited to a floating elastic member, and may be a skirt-type member. When a skirt-type member is used as the buoyancy generating member, for example, the space defined by the skirt-type member may be divided into multiple spaces, so that the airflow generated by the first auxiliary thrust generator 40 is released to the outside through the multiple spaces. [Explanation of symbols]

[0065] 1. Mobile object, 10 main body, 10S reference plane, 11,12,13,14 Sides, 20, 20a to 20d thrust generating unit, 21-28, 41-44 Thrust generating device, 30, 30a to 30d buoyancy generating members, 40 First auxiliary thrust generator, 50 Second auxiliary thrust generator, Af1~Af13,Afa~Afd air flow, GX center of gravity axis, Th1~Th8 thrust, TX1~TX8 Thrust axis.

Claims

1. a main body having a reference surface; a moving body having at least three thrust generating units that respectively generate thrusts in a direction inclined with respect to the reference plane, the thrusts having force components on the reference plane in different directions from each other, Each of the at least three thrust generating units a plurality of thrust generating devices attached to the main body portion and configured to generate the thrust; A moving body, wherein the thrust axes of at least two thrust generating devices among the plurality of thrust generating devices do not intersect with a center of gravity axis that passes through the center of gravity position of the moving body and is perpendicular to the reference plane.

2. The moving body according to claim 1 , wherein the at least three thrust generating units are arranged at equal angular intervals around the main body with the central axis of gravity as a reference.

3. 3. The moving body according to claim 1, wherein the at least two thrust generating devices are arranged so that their thrust axes are parallel to each other.

4. 3. The moving body according to claim 1, wherein the thrust generating device is a rotor attached to the main body so that a thrust axis thereof is inclined with respect to the reference plane.

5. 5. The moving body according to claim 4, wherein four pairs of the rotor blades are attached around the main body at 90 degree intervals with respect to the central axis of gravity.

6. 3. The moving body according to claim 1, further comprising a first auxiliary thrust generating device that generates a thrust in a direction perpendicular to the reference plane.

7. The moving body according to claim 6 , wherein the first auxiliary thrust generating device is a rotor attached to the main body.

8. a plurality of buoyancy generating members attached to the main body portion to provide buoyancy to the main body portion; 8. The moving body according to claim 7, wherein the airflows generated by the rotors are discharged into a plurality of spaces defined by the plurality of buoyancy generating members.

9. a buoyancy generating member attached to the main body portion to provide buoyancy to the main body portion; The internal space of the buoyancy generating member is divided into a plurality of spaces, The moving body according to claim 7 , wherein the airflows generated by the rotors are discharged into the plurality of spaces.

10. 3. The moving body according to claim 1, further comprising a buoyancy generating member attached to said main body portion for applying buoyancy to said main body portion.

11. 3. The moving body according to claim 1, further comprising a second auxiliary thrust generating device that generates a thrust in a specific direction on the reference plane.

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