Unmanned air vehicle

Abstract

To prevent damage of a rotor and a crush caused by interference between a mooring cable and the rotor.SOLUTION: An unmanned air vehicle 100 may fly moored from below an airframe 200 with a mooring cable 700 and includes: the airframe 200; horizontal rotors (first rotors) 400 which are provided at one side part of the airframe 200 and generate propulsion force for moving the unmanned air vehicle 100 in a horizontal direction; and a connection member 600 which is provided protruding downward from the airframe 200 and connected with one end of the mooring cable 700. A connection part (a mooring point) 610 which is a portion of the connection member 600 to which the one end of the mooring cable 700 is connected is disposed below a lower end of a rotation range of each horizontal rotor 400.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to unmanned air vehicles. [Background technology]

[0002] Conventionally, there are unmanned aerial vehicles with rotors called drones. For example, by mounting an imaging device on these drones and remotely controlling the drones, it is possible to capture images of and observe facilities installed at high altitudes. For example, Patent Document 1 discloses a drone equipped with an imaging device that can observe the vicinity of an overhead ground wire installed on a utility pole or an overhead ground wire installed on a steel tower.

[0003] The drone described in Patent Document 1 is equipped with a safety device to prevent the drone from crashing to the ground if it becomes unable to fly due to aircraft malfunction or weather conditions. The safety device described in Patent Document 1 includes an engaging member that can engage with an overhead ground wire installed on a utility pole or a steel tower, and a wire member that connects the engaging member to the drone. This allows the engaging member to be tethered to the overhead ground wire via the wire member, preventing the drone from crashing to the ground if it becomes unable to fly. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-75105 Summary of the Invention [Problem to be solved by the invention]

[0005] Drones are equipped with vertical rotors that generate propulsion in the vertical direction and horizontal rotors that generate propulsion in the horizontal direction. However, the drone described in Patent Document 1 is equipped with a wire member as a mooring rope to prevent the drone from crashing to the ground if it becomes unable to fly, as described above. This has led to problems such as interference between the wire member and the rotors during drone flight, which can damage the rotors or cause the drone to crash.

[0006] The object of the present disclosure is to provide an unmanned aerial vehicle that can prevent damage to and crashes of the rotor blades due to interference between the mooring lines and the rotor blades. [Means for solving the problem]

[0007] In order to solve the above problems, the unmanned aerial vehicle disclosed herein is an unmanned aerial vehicle that can fly while tethered from below the aircraft by a mooring line, and comprises the aircraft, a first rotor provided on one side of the aircraft and generating thrust to move the unmanned aerial vehicle horizontally, and a connecting member that protrudes downward from the aircraft and to which one end of the mooring line is connected, and the mooring point, which is the portion of the connecting member to which one end of the mooring line is connected, is located below the lower end of the rotation range of the first rotor.

[0008] The connecting member may be foldable relative to the airframe, and when the unmanned aerial vehicle is flying, the connecting member may stand up relative to the airframe, and when the unmanned aerial vehicle takes off or lands, the connecting member may collapse along with the airframe.

[0009] When the unmanned aerial vehicle takes off or lands, the connecting member may fall to the side opposite the first rotor.

[0010] The unmanned aerial vehicle may be provided with legs that support the body when the unmanned aerial vehicle lands, and when the unmanned aerial vehicle is flying, the mooring point of the connecting member may be positioned below the lower end of the legs.

[0011] The other end of the mooring line may be fixed to a fixture installed below the target flight area of ​​the unmanned aerial vehicle.

[0012] In order to solve the above problems, the unmanned aerial vehicle disclosed herein is an unmanned aerial vehicle that can fly while tethered from above the aircraft by a mooring line, and comprises: an aircraft; a second rotor that is provided on the top of the aircraft and generates propulsion to move the unmanned aerial vehicle in an up and down direction; and a connecting member that protrudes upward from the aircraft or the second rotor and to which one end of the mooring line is connected; and the mooring point, which is the portion of the connecting member to which one end of the mooring line is connected, is located above the second rotor.

[0013] The mooring point of the connecting member may be located above the second rotor in the vertical direction and outside the rotation range of the second rotor in the horizontal direction.

[0014] The other end of the mooring line may be fixed to a fixture installed above the target flight area of ​​the unmanned aerial vehicle. [Effects of the Invention]

[0015] According to the present disclosure, it is possible to prevent damage and crashing of the rotor due to interference between the mooring line and the rotor. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram of the unmanned aerial vehicle according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing the hardware configuration of the control device according to the first embodiment. [Figure 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the control device according to the first embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the second state of the connecting member according to the first embodiment. [Figure 5] FIG. 5 is a schematic diagram of the unmanned aerial vehicle according to the second embodiment. [Figure 6] FIG. 6 is a schematic diagram of the unmanned aerial vehicle according to the third embodiment. [Figure 7] FIG. 7 is a schematic diagram of the unmanned aerial vehicle according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for ease of understanding and, unless otherwise specified, do not limit the present disclosure. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present disclosure are not shown.

[0018] Fig. 1 is a schematic diagram of an unmanned aerial vehicle 100 according to the first embodiment. The unmanned aerial vehicle 100 is an unmanned aerial vehicle that can fly by remote control or automatic piloting, and is a so-called drone. Fig. 1 shows the unmanned aerial vehicle 100 in flight.

[0019] The unmanned aerial vehicle 100 includes an airframe 200, a vertical rotor 300 (second rotor), a horizontal rotor 400 (first rotor), legs 500, a connecting member 600, a mooring line 700, a drive unit 800, and a control unit 900.

[0020] The airframe 200 includes a main body 210, a first support member 220, and a second support member 230. The main body 210 is configured, for example, as a hollow box. The external shape of the main body 210 is, for example, cylindrical, but is not limited to this and may be an elliptical cylindrical shape or a polyhedral shape. Inside the main body 210, which is a hollow box, a control device 900, a sensor S described below, a power supply (not shown), etc. are stored. The power supply is, for example, a battery, and supplies power to the vertical rotors 300, the horizontal rotors 400, the drive unit 800, and the control device 900.

[0021] The first support member 220 is provided on the upper part of the side surface of the main body 210. The first support member 220 extends radially from the side surface of the main body 210. However, the first support member 220 may extend in a direction inclined relative to the radial direction of the main body 210. One end of the first support member 220 is connected to the main body 210, and the other end of the first support member 220 is connected to the vertical rotor 300. The first support member 220 is an arm that supports the vertical rotor 300. One first support member 220 is provided for each vertical rotor 300. The unmanned aerial vehicle 100 of the first embodiment has six vertical rotors 300, and six first support members 220 are attached to the main body 210 to support each vertical rotor 300. The control device 900 and power source are electrically connected to each vertical rotor 300 via the first support member 220.

[0022] The second support member 230 is provided on the lower surface of the main body 210. The second support member 230 includes a first support portion 232, a second support portion 234, and a third support portion 236. The first support portion 232 is provided on the lower surface of the main body 210. The first support portion 232 is a rod-shaped member extending downward from the lower surface of the main body 210. However, the first support portion 232 may extend in a direction inclined with respect to the downward direction of the main body 210. One end of the first support portion 232 is connected to the main body 210, and the other end of the first support portion 232 is connected to the second support portion 234. The first support portion 232 supports the second support portion 234.

[0023] The second support portion 234 is a rod-shaped member extending horizontally. However, the second support portion 234 may extend in a direction inclined relative to the horizontal direction. In the first embodiment, the first support portion 232 is connected to the center of the second support portion 234. The third support portion 236 is connected to one end of the second support portion 234. The second support portion 234 supports the third support portion 236.

[0024] Here, for example, an imaging device, an actuator, an ejection device, etc. may be attached to the other end of the second support unit 234. For example, by attaching an imaging device to the other end of the second support unit 234, it is possible to capture an image of the scenery on the other end side of the second support unit 234 while the unmanned aerial vehicle 100 is flying. Furthermore, by attaching an actuator to the other end of the second support unit 234, it is possible to push or pull an object using the actuator on the other end side of the second support unit 234 while the unmanned aerial vehicle 100 is flying. Furthermore, by attaching an ejection device to the other end side of the second support unit 234, it is possible to eject particulate matter using the ejection device on the other end side of the second support unit 234 while the unmanned aerial vehicle 100 is flying.

[0025] The third support part 236 is a rod-shaped member extending horizontally in a direction perpendicular to the longitudinal direction of the second support part 234. However, the third support part 236 may extend in a direction inclined with respect to the direction perpendicular to the longitudinal direction of the second support part 234, or in a direction inclined with respect to the horizontal direction. In other words, the third support part 236 may extend in a direction non-perpendicular to the longitudinal direction of the second support part 234. In the first embodiment, the second support part 234 is connected at the center of the third support part 236. Horizontal rotors 400 are connected to both ends of the third support part 236. The unmanned aerial vehicle 100 of the first embodiment is equipped with two horizontal rotors 400. One end of the third support part 236 is connected to one of the two horizontal rotors 400, and the other end of the third support part 236 is connected to the other of the two horizontal rotors 400. The third support portion 236 supports the pair of horizontal rotors 400. The control device 900 and power source are electrically connected to each horizontal rotor 400 and the drive device 800 via the second support member 230.

[0026] The vertical rotor 300 is provided on the upper part of the airframe 200. Specifically, the vertical rotor 300 is supported by a first support member 220 attached to the upper part of the side surface of the main body 210. The rotation axis of the vertical rotor 300 extends in the vertical direction of the airframe 200. In the first embodiment, six vertical rotors 300 are provided on the airframe 200. The number of vertical rotors 300 provided on the airframe 200 may be seven or more, or five or less. Although the number of vertical rotors 300 provided on the airframe 200 is plural in the first embodiment, it may be single. The vertical rotor 300 generates a propulsive force that moves the airframe 200 in the vertical direction. The upper end of the rotation range of the vertical rotor 300 is approximately flush with the upper surface of the main body 210. However, the upper end of the rotation range of the vertical rotor 300 may be located above the upper surface of the main body 210. In other words, the upper end of the rotation range of the vertical rotor 300 may be the uppermost part of the unmanned aerial vehicle 100. Alternatively, the upper end of the rotation range of the vertical rotor 300 may be located below the top surface of the main body 210.

[0027] The horizontal rotor 400 is provided on one side of the airframe 200. Specifically, the horizontal rotor 400 is supported by a third support part 236 connected to one end of the second support part 234. The rotation axis of the horizontal rotor 400 extends in a direction parallel to the horizontal direction of the airframe 200. In the first embodiment, two horizontal rotors 400 are provided on the airframe 200. The number of horizontal rotors 400 provided on the airframe 200 may be three or more, or may be one. The horizontal rotor 400 generates a thrust force that moves the airframe 200 in the horizontal direction. The horizontal rotor 400 is disposed radially outward of the main body 210 relative to the vertical rotor 300. However, this is not limited thereto, and the horizontal rotor 400 may also be disposed radially inward of the main body 210 relative to the vertical rotor 300.

[0028] A pair of legs 500 are provided on the underside of the main body 210, sandwiching the second support part 234. The legs 500 are provided to extend downward from the underside of the main body 210. The legs 500 support the airframe 200 during takeoff and landing of the unmanned aerial vehicle 100. During takeoff and landing of the unmanned aerial vehicle 100, the lower ends 500a of the legs 500 contact the ground. The lower ends 500a of the legs 500 are at the same height as the lower ends 400a of the horizontal rotors 400 in their rotation range, or at a lower height than the lower ends 400a of the horizontal rotors 400 in their rotation range. In other words, the lower ends 500a of the legs 500 may be positioned lower than the lower ends 400a of the horizontal rotors 400 in their rotation range. This makes it possible to avoid contact between the ground and the horizontal rotors 400 during takeoff and landing of the unmanned aerial vehicle 100. In the first embodiment, an example is shown in which the lower end 500a of the leg 500 is at the same height as the lower end 400a of the horizontal rotor 400 in the rotation range.

[0029] The connecting member 600 protrudes downward from the airframe 200. Specifically, the connecting member 600 is connected to the lower center of the second support part 234. The connecting member 600 is a rod-shaped member extending downward from the lower center of the second support part 234. However, the connecting member 600 may extend in a direction inclined with respect to the downward direction of the second support part 234. The connecting member 600 is not flexible but is a rigid member, and may be in any shape, such as a rod-shaped member, a plate-shaped member, a block-shaped member, or a ring-shaped member, or made of any material, such as metal or resin. Here, the connecting member 600 is a rigid rod-shaped member made of metal.

[0030] In the first embodiment, the first support portion 232 is connected to the upper center portion of the second support portion 234, and the connecting member 600 is connected to the lower center portion of the second support portion 234. In other words, the second support portion 234 is provided between the first support portion 232 and the connecting member 600. One end of the connecting member 600 is connected to the lower center portion of the second support portion 234, and the other end of the connecting member 600 has a connecting portion 610. The connecting portion 610 is a portion of the connecting member 600 to which one end of the mooring line 700 is connected. In this manner, the connecting portion 610 is configured as a mooring point to which one end of the mooring line 700 is connected. Note that the connecting member 600 is configured to be foldable with respect to the airframe 200, as will be described in detail later, and is configured to be able to transition between a first state in which it stands up relative to the airframe 200 and a second state in which it collapses relative to the airframe 200. Here, "standing" preferably means standing vertically (90°), but may also be standing at an angle diagonally downward (for example, 45° or more and less than 90°).

[0031] The mooring line 700 is a flexible, elongated linear member, and may be, for example, a wire, rope, chain, or any other type of string. The mooring line 700 may be made of any flexible material, such as resin, fiber, or metal. The mooring line 700 is made of a material with lower rigidity than the connecting member 600. In other words, the connecting member 600 is made of a material with higher rigidity than the mooring line 700. One end of the mooring line 700 is connected to the connecting portion 610 of the connecting member 600, and the other end of the mooring line 700 is fixed to a fixing device 710. The fixing device 710 is a fixing device that fixes the other end of the mooring line 700, and is, for example, a heavy object such as a weight block. The fixing device 710 is installed on the object T to be fixed.

[0032] The fixed object T may be, for example, the ground or the rooftop floor of a building such as a building. Here, an example will be described in which the fixed object T is the rooftop floor of a building. The area above the fixed object T and the fixing device 710 is the target flight area TA of the unmanned aerial vehicle 100. In the first embodiment, the fixing device 710 is installed below the target flight area TA of the unmanned aerial vehicle 100. In the first embodiment, the fixing device 710 is installed on the rooftop floor of a building that is higher than the ground and lower than the target flight area TA of the unmanned aerial vehicle 100. This allows the unmanned aerial vehicle 100 to fly while being tethered from below the airframe 200 by the mooring line 700, as shown in FIG. 1. Here, the height from the ground to the fixing device 710 is greater than the total length of the mooring line 700. This prevents the unmanned aerial vehicle 100 from crashing to the ground if it becomes unable to fly.

[0033] The drive unit 800 is provided at the connection point between the second support unit 234 and the connecting member 600. The drive unit 800 rotates the connecting member 600 around the connection point between the second support unit 234 and the connecting member 600. By rotating the connecting member 600 around the connection point, the drive unit 800 can transition the connecting member 600 between a first state and a second state. Specifically, the drive unit 800 rotates the connecting member 600 to the first state shown in FIG. 1 when the unmanned aerial vehicle 100 is flying, and rotates the connecting member 600 to the second state shown in FIG. 4, which will be described in detail later, when the unmanned aerial vehicle 100 takes off or lands. The first and second states of the connecting member 600 will be described in detail later.

[0034] The control device 900 controls the entire unmanned aerial vehicle 100. The control device 900 is also electrically connected to the sensor S as shown in FIG. 2 and acquires data transmitted from the sensor S. The sensor S is, for example, an altitude sensor that detects the altitude of the unmanned aerial vehicle 100. However, without being limited to this, the sensor S may also be a sensor that estimates the altitude of the unmanned aerial vehicle 100. For example, the sensor S may be a laser measurement sensor.

[0035] Fig. 2 is a block diagram showing the hardware configuration of the control device 900 according to the first embodiment. As shown in Fig. 2, the control device 900 includes an I / F 910, a data storage device 920, a system bus 930, one or more processors 940, and one or more memories 950. The I / F 910 is an interface for communicating information with the sensor S and a controller (not shown) for remotely operating the machine body 200 from the outside.

[0036] The data storage device 920 is composed of RAM, flash memory, HDD, etc., and stores various information necessary for processing by the processor 940 in controlling the machine body 200. The system bus 930 electrically connects the I / F 910, the data storage device 920, the processor 940, and the memory 950, and is a transmission path for transmitting data among them.

[0037] The processor 940 includes, for example, a CPU (Central Processing Unit). The memory 950 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM is a storage element that stores programs used by the CPU, calculation parameters, etc. The RAM is a storage element that temporarily stores data such as variables and parameters used in processing executed by the CPU.

[0038] Fig. 3 is a block diagram showing an example of the functional configuration of the control device 900 according to the first embodiment. For example, as shown in Fig. 3, the control device 900 includes a drive control unit 900a and a position estimation unit 900b.

[0039] Note that various processes performed by the drive control unit 900a and the position estimation unit 900b, including the processes described below, can be executed by the processor 940 in cooperation with programs stored in the memory 950. In detail, the various processes are performed by the processor 940 executing the programs stored in the memory 950.

[0040] The drive control unit 900a controls the drive of the vertical rotor 300, the horizontal rotor 400, and the drive unit 800. By controlling the drive of the vertical rotor 300, the up and down movement of the airframe 200 can be controlled. Furthermore, by controlling the drive of the horizontal rotor 400, the horizontal movement of the airframe 200 can be controlled. This allows the unmanned aerial vehicle 100 to perform control of its ascent, descent, hovering, horizontal movement, and the like. The drive control unit 900a controls the operation of the airframe 200, for example, based on a control signal transmitted from a remote controller. However, this is not limited to this, and the drive control unit 900a may also control the operation of the airframe 200 so that it flies autonomously according to a pre-entered program. Furthermore, by controlling the drive of the drive unit 800, the connecting member 600 can be controlled to a first state or a second state.

[0041] The position estimation unit 900b estimates the position or altitude of the aircraft 200. The position estimation unit 900b estimates the position or altitude of the aircraft 200 based on data acquired from the sensor S. In the first embodiment, the position estimation unit 900b estimates the altitude of the aircraft 200 based on data acquired from an altitude sensor.

[0042] Next, the drive control of the connecting member 600 by the drive control unit 900a according to the first embodiment will be described. The drive control unit 900a controls the drive unit 800 according to the altitude of the airframe 200 estimated by the position estimation unit 900b, and transitions the connecting member 600 between a first state and a second state. Specifically, when the altitude of the airframe 200 is equal to or higher than a predetermined altitude, the drive control unit 900a determines that the unmanned aerial vehicle 100 is flying, and controls the drive unit 800 to transition the connecting member 600 to the first state. Furthermore, when the altitude of the airframe 200 is lower than the predetermined altitude, the drive control unit 900a determines that the unmanned aerial vehicle 100 is taking off or landing, and controls the drive unit 800 to transition the connecting member 600 to the second state. The predetermined altitude is, for example, a height equivalent to the total length of the connecting member 600 in the longitudinal direction. However, the predetermined height may be a height equivalent to the total length of the connecting member 600 in the longitudinal direction plus a predetermined value.

[0043] FIG. 1 shows the first state of the connecting member 600 when the unmanned aerial vehicle 100 is flying. When the altitude of the airframe 200 is equal to or greater than a predetermined altitude and the unmanned aerial vehicle 100 is determined to be in flight, the drive control unit 900a controls the drive unit 800 to place the connecting member 600 in the first state. As shown in FIG. 1, in the first state, the connecting member 600 is positioned so that it stands upright downward from the lower center of the second support part 234. At this time, the connecting part 610 of the connecting member 600 is positioned a predetermined height Δh below the lower end 500a of the leg 500 and the lower end 400a of the rotation range of the horizontal rotor 400. Therefore, one end of the mooring line 700 connected to the connecting part 610 is also positioned below the lower end 500a of the leg 500 and the lower end 400a of the rotation range of the horizontal rotor 400.

[0044] In this way, one end of the mooring line 700 in the first embodiment is connected to the connecting portion 610, which is the other end of the connecting member 600. Therefore, one end of the mooring line 700 is located downward from the second support portion 234 by the entire length of the connecting member 600 in the longitudinal direction. In other words, one end of the mooring line 700 is located at a position further downward from the second support portion 234 than when it is connected to the second support portion 234, which is the lower part of the airframe 200. Therefore, compared to when one end of the mooring line 700 is connected to the second support portion 234, there is less interference between the mooring line 700 and the horizontal rotor 400 during flight of the unmanned aerial vehicle 100. As a result, it is possible to reduce damage to and crashes of the horizontal rotor 400 during flight of the unmanned aerial vehicle 100.

[0045] 4 is a schematic diagram showing the second state of the connecting member 600 according to the first embodiment. When the drive control unit 900a determines that the altitude of the airframe 200 is below a predetermined altitude and that the unmanned aerial vehicle 100 is taking off or landing, the drive control unit 900a controls the drive unit 800 to place the connecting member 600 in the second state. As shown in FIG. 4, in the second state, the connecting member 600 is positioned so that it leans horizontally from the lower center of the second support portion 234.

[0046] In the first embodiment, the connecting member 600 is disposed parallel to the longitudinal direction of the second support portion 234. In the second state, the connecting portion 610 is disposed closer to the other end of the second support portion 234 than the connection portion between the connecting member 600 and the second support portion 234. In other words, the connecting member 600 is disposed so as to lean away from the connection portion between the connecting member 600 and the second support portion 234 to the side opposite the horizontal rotor 400. However, this is not limited thereto, and the connecting member 600 may be disposed so as to lean toward the same side as the horizontal rotor 400 from the connection portion between the connecting member 600 and the second support portion 234. In the second state, the connecting portion 610 of the connecting member 600 is positioned above the lower end 500a of the leg 500.

[0047] Thus, in the second state of the connecting member 600, the connecting portion 610 is positioned above the lower end 500a of the leg 500. Therefore, when the unmanned aerial vehicle 100 lands, the leg 500 will touch the ground before the connecting portion 610. Therefore, when the unmanned aerial vehicle 100 lands, by avoiding the connecting portion 610 from touching the ground and allowing the leg 500 to touch the ground, it is possible to prevent the unmanned aerial vehicle 100 from tipping over.

[0048] 4, the connecting portion 610 is disposed on the opposite side of the horizontal rotor 400 from the connection portion between the connecting member 600 and the second support portion 234. Therefore, one end of the mooring line 700 connected to the connecting portion 610 is disposed in a direction away from the horizontal rotor 400 relative to the connection portion between the connecting member 600 and the second support portion 234. Therefore, interference between the mooring line 700 and the horizontal rotor 400 is less likely than when the connecting member 600 falls toward the horizontal rotor 400. As a result, damage to and crashes of the horizontal rotor 400 can be reduced when the unmanned aerial vehicle 100 takes off or lands.

[0049] As described above, the unmanned aerial vehicle 100 of the first embodiment is equipped with a connecting member 600, and the connecting portion 610 to which one end of the mooring line 700 is connected is positioned below the lower end 400a of the rotation range of the horizontal rotor 400. This makes it less likely for the mooring line 700 and the horizontal rotor 400 to interfere with each other when the unmanned aerial vehicle 100 is flying, compared to when one end of the mooring line 700 is connected to the second support portion 234. As a result, it is possible to prevent damage to and crash of the horizontal rotor 400 caused by interference between the mooring line 700 and the horizontal rotor 400 when the unmanned aerial vehicle 100 is flying.

[0050] Furthermore, the connecting member 600 of the first embodiment is positioned so that it stands up relative to the airframe 200 when the unmanned aerial vehicle 100 is flying, and collapses along the airframe 200 when the unmanned aerial vehicle 100 takes off or lands. This prevents the connecting part 610 from touching the ground when the unmanned aerial vehicle 100 lands, and allows the legs 500 to touch the ground, thereby preventing the unmanned aerial vehicle 100 from tipping over. Furthermore, the connecting member 600 collapses to the side opposite the horizontal rotor 400 when the unmanned aerial vehicle 100 takes off or lands. This makes it less likely that the mooring rope 700 will interfere with the horizontal rotor 400 compared to when the connecting member 600 collapses toward the horizontal rotor 400. As a result, it is possible to prevent damage to and crashes of the horizontal rotor 400 when the unmanned aerial vehicle 100 takes off or lands.

[0051] Furthermore, the connecting portion 610 of the connecting member 600 in the first embodiment is positioned below the lower end 500a of the leg 500 when the unmanned aerial vehicle 100 is flying. This makes it less likely that the mooring line 700 and the horizontal rotor 400 will interfere with each other when the unmanned aerial vehicle 100 is flying, compared to when the connecting portion 610 is positioned above the lower end 500a of the leg 500. As a result, it is possible to prevent damage to and crash of the horizontal rotor 400 when the unmanned aerial vehicle 100 is flying.

[0052] In addition, the other end of the mooring line 700 in the first embodiment is fixed to a fixture 710 installed below the target flight area TA of the unmanned aerial vehicle 100. This allows the unmanned aerial vehicle 100 to fly while being moored from below by the mooring line 700.

[0053] Figure 5 is a schematic diagram of the unmanned aerial vehicle 1000 according to the second embodiment. Components that are substantially the same as those of the unmanned aerial vehicle 100 of the first embodiment described above are given the same reference numerals and will not be described again. In the second embodiment, the fixing device 710 is installed above the target flight area TA of the unmanned aerial vehicle 1000. For example, the fixing device 710 is installed on the roof floor of building B above the target flight area TA of the unmanned aerial vehicle 1000. This allows the unmanned aerial vehicle 1000 to fly while being moored from above the aircraft 200 by a mooring rope 700, as shown in Figure 5.

[0054] The unmanned aerial vehicle 1000 of the second embodiment is equipped with a connecting member 1600 instead of the connecting member 600 of the unmanned aerial vehicle 100 of the first embodiment. The connecting member 1600 protrudes upward from the airframe 200 or the vertical rotor 300. Specifically, the connecting member 1600 is provided on the upper part of the main body 210 and is arranged to extend upward from the top surface of the main body 210. However, the connecting member 1600 may extend in a direction inclined relative to the upward direction of the main body 210.

[0055] In the second embodiment, one end of the connecting member 1600 is connected to the center of the upper surface of the main body 210, and the other end of the connecting member 1600 has a connecting portion 1610. The connecting portion 1610 is a portion of the connecting member 1600 to which one end of the mooring line 700 is connected. In this manner, the connecting portion 1610 is configured as a mooring point to which one end of the mooring line 700 is connected. Note that the connecting member 1600 of the second embodiment is fixed to the upper surface of the main body 210 and is not configured to be foldable relative to the airframe 200. Therefore, in the second embodiment, a drive unit 800 is not provided at the connection portion between the connecting member 1600 and the main body 210.

[0056] 5, the connecting member 1600 is disposed so as to stand upward from the upper surface of the main body 210. At this time, the connecting portion 1610 of the connecting member 1600 is located a predetermined height Δh above the upper surface of the main body 210 and the upper end 300a of the rotation range of the vertical rotor 300. Therefore, one end of the mooring line 700 connected to the connecting portion 1610 is also located above the upper surface of the main body 210 and the upper end 300a of the rotation range of the vertical rotor 300.

[0057] As described above, the unmanned aerial vehicle 1000 of the second embodiment is equipped with a connecting member 1600, and the connecting portion 1610 to which one end of the mooring line 700 is connected is positioned above the upper end 300a of the rotation range of the vertical rotor 300. This makes it less likely for the mooring line 700 and the vertical rotor 300 to interfere with each other when the unmanned aerial vehicle 100 is flying, compared to when one end of the mooring line 700 is connected to the main body 210. As a result, it is possible to prevent damage to and crash of the vertical rotor 300 caused by interference between the mooring line 700 and the vertical rotor 300 when the unmanned aerial vehicle 100 is flying.

[0058] In addition, the other end of the mooring line 700 in the second embodiment is fixed to a fixture 710 installed above the target flight area TA of the unmanned aerial vehicle 1000. This allows the unmanned aerial vehicle 1000 to fly while being moored from above by the mooring line 700.

[0059] Figure 6 is a schematic diagram of the unmanned aerial vehicle 2000 according to the third embodiment. Components that are substantially the same as those of the unmanned aerial vehicle 1000 according to the second embodiment are given the same reference numerals and will not be described again. In the third embodiment, the fixing device 710 is installed above the target flight area TA of the unmanned aerial vehicle 2000. For example, the fixing device 710 is installed on the roof floor of building B above the target flight area TA of the unmanned aerial vehicle 2000. This allows the unmanned aerial vehicle 2000 to fly while being moored from above by a mooring line 700, as shown in Figure 6.

[0060] The unmanned aerial vehicle 2000 according to the third embodiment includes a connecting member 2600 instead of the connecting member 1600 of the unmanned aerial vehicle 1000 according to the second embodiment. The connecting member 2600 protrudes upward from the airframe 200 or the vertical rotor 300. Specifically, the connecting member 2600 is provided on the upper part of the main body 210 and is arranged to extend diagonally upward from the top surface of the main body 210. In the third embodiment, the connecting member 2600 extends in a direction inclined with respect to the upward direction of the main body 210. Because the connecting member 2600 is inclined with respect to the upward direction of the main body 210, the connecting portion 2610 is arranged outside the rotation range R of the vertical rotor 300 in the horizontal direction.

[0061] In the third embodiment, one end of the connecting member 2600 is connected to the center of the upper surface of the main body 210, and the other end of the connecting member 2600 has a connecting portion 2610. The connecting portion 2610 is a portion of the connecting member 2600 to which one end of the mooring line 700 is connected. In this manner, the connecting portion 2610 is configured as a mooring point to which one end of the mooring line 700 is connected. Note that the connecting member 2600 of the third embodiment is fixed to the upper surface of the main body 210 and is not configured to be foldable relative to the aircraft body 200.

[0062] As shown in FIG. 6 , the connecting member 2600 is disposed so as to stand obliquely upward from the upper surface of the main body 210. In this case, the connecting portion 2610 of the connecting member 2600 is positioned above the upper surface of the main body 210 and the upper end 300a of the rotation range of the vertical rotor 300 in the vertical direction. Therefore, one end of the mooring line 700 connected to the connecting portion 2610 is also positioned above the upper surface of the main body 210 and the upper end 300a of the rotation range of the vertical rotor 300. Furthermore, the connecting portion 2610 is positioned outside the rotation range R of the vertical rotor 300 in the horizontal direction. Therefore, even if the mooring line 700 hangs down in a U-shape as shown in FIG. 6 , interference between the mooring line 700 and the vertical rotor 300 can be avoided in the vertical and horizontal directions.

[0063] As described above, the connecting portion 2610 of the third embodiment is positioned above the vertical rotor 300 in the up-down direction and outside the rotation range R of the vertical rotor 300 in the horizontal direction. This positions one end of the mooring line 700 outside the rotation range R of the vertical rotor 300, making it less likely for the mooring line 700 and the vertical rotor 300 to interfere with each other when the unmanned aerial vehicle 100 is flying. As a result, it is possible to prevent damage to and crash of the vertical rotor 300 caused by interference between the mooring line 700 and the vertical rotor 300 when the unmanned aerial vehicle 100 is flying.

[0064] Figure 7 is a schematic diagram of an unmanned aerial vehicle 3000 according to the fourth embodiment. Components that are substantially the same as those of the unmanned aerial vehicle 100 according to the first embodiment are given the same reference numerals and will not be described again. In the fourth embodiment, the fixing device 710 is installed below the target flight area TA of the unmanned aerial vehicle 3000. For example, the fixing device 710 is installed on a fixed object T below the target flight area TA of the unmanned aerial vehicle 3000. This allows the unmanned aerial vehicle 3000 to fly while being moored from below by a mooring rope 700, as shown in Figure 7.

[0065] The unmanned aerial vehicle 3000 according to the fourth embodiment is equipped with a cover member 3600 instead of the connecting member 600 of the unmanned aerial vehicle 100 according to the first embodiment. The cover member 3600 protrudes downward from the airframe 200. Specifically, the cover member 3600 is provided at the lower part of the second support part 234 and is arranged to extend downward from the lower part of the second support part 234. However, this is not limited to this, and the cover member 3600 may extend in a direction inclined with respect to the downward direction of the second support part 234.

[0066] In the fourth embodiment, one end of the cover member 3600 is connected to the lower center of the second support portion 234, and the other end of the cover member 3600 is located a predetermined height Δh below the lower ends 500a of the legs 500 and the lower ends 400a of the horizontal rotors 400. The cover member 3600 is a hollow cylindrical member. For example, the cover member 3600 is a cylindrical tube cover that is more rigid than the mooring line 700. However, the cover member 3600 is not limited to a cylindrical shape as long as it is capable of covering the mooring line 700. For example, the cover member 3600 may have a triangular, rectangular, or polygonal cylindrical shape. Furthermore, one end of the mooring line 700 is disposed inside the hollow cover member 3600 and is connected to the lower center of the second support portion 234 inside the cover member 3600. A portion of the mooring line 700 including one end of the mooring line 700 is disposed inside the hollow cover member 3600 and is covered by the cover member 3600 .

[0067] As described above, the cover member 3600 of the fourth embodiment covers a portion of the mooring line 700. The cover member 3600 is made of a material with higher rigidity than the mooring line 700. This restricts the movement of the portion of the mooring line 700 covered by the cover member 3600 toward the horizontal rotor 400. Therefore, the mooring line 700 and the horizontal rotor 400 are less likely to interfere with each other than when the cover member 3600 is not provided. As a result, damage to and crashing of the horizontal rotor 400 due to interference between the mooring line 700 and the horizontal rotor 400 during flight of the unmanned aerial vehicle 3000 can be reduced. The material of the cover member 3600 is not particularly limited as long as it is more rigid than the mooring line 700. For example, the mooring line 700 may be made of an aluminum alloy, and the cover member 3600 may be made of steel, which has higher rigidity than the aluminum alloy.

[0068] Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such embodiments. It is clear that a person skilled in the art can conceive of various modifications and alterations within the scope of the claims, and it is understood that such modifications and alterations also fall within the technical scope of the present disclosure.

[0069] In the first and fourth embodiments, examples have been described in which the unmanned aerial vehicle 100, 3000 is equipped with both the vertical rotor 300 and the horizontal rotor 400. However, this is not limited to this, and the unmanned aerial vehicle 100, 3000 does not have to be equipped with the vertical rotor 300.

[0070] In the second and third embodiments, examples have been described in which the unmanned aerial vehicles 1000 and 2000 are equipped with both the vertical rotors 300 and the horizontal rotors 400. However, this is not limited to this, and the unmanned aerial vehicles 1000 and 2000 do not have to be equipped with the horizontal rotors 400.

[0071] In the first embodiment, an example has been described in which the connecting member 600 is connected to the central lower part of the second support part 234. However, this is not limiting, and the connecting member 600 may be connected to the lower end 500a of the leg 500. In this case, the driving device 800 is provided at the connection portion between the connecting member 600 and the lower end 500a of the leg 500.

[0072] In the first embodiment, an example was described in which the unmanned aerial vehicle 100 is equipped with legs 500. However, the legs 500 are not a required component, and the unmanned aerial vehicle 100 does not have to be equipped with legs 500. In addition, the drive unit 800 is not a required component, and the unmanned aerial vehicle 100 does not have to be equipped with the drive unit 800.

[0073] In the first embodiment, an example has been described in which the control device 900 acquires data from the sensor S and includes a position estimation unit 900b that estimates the position or altitude of the airframe 200 based on the data. However, this is not limited to this, and the control device 900 does not need to include the position estimation unit 900b. In that case, for example, the position of the airframe 200 may be sensed by an external device, and the position or altitude of the airframe 200 may be estimated using SLAM (Simultaneous Localization and Mapping) or the like. Data related to the estimated position or altitude may then be transmitted to the control device 900. Furthermore, the method for estimating the position or altitude of the airframe 200 is not limited to SLAM, and the position or altitude of the airframe 200 may be estimated using a sensor such as LiDAR (Light Detection and Ranging). [Explanation of symbols]

[0074] 100 Unmanned Aerial Vehicles 200 aircraft 210 Main Unit 220 first support member 230 second support member 232 1st support part 234 Second support part 236 Third support part 300 Vertical rotor (second rotor) 400 horizontal rotor (first rotor) 500 legs 600 Connecting member 610 Connection part (mooring point) 700 Mooring line 710 Fixtures 800 Drive Unit 900 Control device 900a Drive control unit 900b Position estimation part 1000 Unmanned Aerial Vehicles 1600 Connecting member 1610 Connection part (mooring point) 2000 Unmanned Aerial Vehicle 2600 Connecting member 2610 Connection part (mooring point) 3000 Unmanned Aerial Vehicles 3600 Cover material

Claims

1. An unmanned aerial vehicle that can fly while being tethered from below the aircraft by a mooring line, The aircraft and a first rotor provided on one side of the airframe and configured to generate a propulsive force for moving the unmanned aerial vehicle in a horizontal direction; a connecting member that protrudes downward from the aircraft body and to which one end of the mooring rope is connected; Equipped with An unmanned aerial vehicle in which the mooring point, which is the portion of the connecting member to which one end of the mooring line is connected, is positioned below the lower end of the rotation range of the first rotor.

2. the connecting member is foldable relative to the airframe, When the unmanned aerial vehicle is flying, the connecting member stands upright relative to the airframe, The unmanned aerial vehicle of claim 1 , wherein the connecting member collapses along the airframe when the unmanned aerial vehicle takes off or lands.

3. The unmanned aerial vehicle according to claim 2 , wherein the connecting member falls to the side opposite the first rotor when the unmanned aerial vehicle takes off or lands.

4. the unmanned aerial vehicle includes legs that support the vehicle when the unmanned aerial vehicle lands; An unmanned aerial vehicle as described in any one of claims 1 to 3, wherein when the unmanned aerial vehicle is flying, the mooring point of the connecting member is positioned lower than the lower end of the leg.

5. An unmanned aerial vehicle as described in any one of claims 1 to 3, wherein the other end of the mooring line is fixed to a fixture installed below the target flight area of ​​the unmanned aerial vehicle.

6. An unmanned aerial vehicle that can fly while being tethered from above the aircraft by a mooring line, The aircraft and A second rotor provided on the upper part of the airframe and generating a propulsive force to move the unmanned aerial vehicle in the vertical direction; a connecting member that protrudes upward from the airframe or the second rotor and to which one end of the mooring rope is connected; Equipped with An unmanned aerial vehicle in which the mooring point, which is the portion of the connecting member to which one end of the mooring line is connected, is positioned above the second rotor.

7. The unmanned aerial vehicle described in claim 6, wherein the mooring point of the connecting member is positioned above the second rotor in the vertical direction and outside the rotation range of the second rotor in the horizontal direction.

8. An unmanned aerial vehicle as described in claim 6 or 7, wherein the other end of the mooring line is fixed to a fixture installed above the target flight area of ​​the unmanned aerial vehicle.

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