Flying device, propeller abnormality detection system, and propeller

Abstract

To provide a flying device capable of more appropriately detecting malfunctions that may occur in a propeller and further enhancing reliability.SOLUTION: A detection unit 21 provided in a propeller 15 detects changes in electrical characteristics of a circuit including a conductor wire 23 embedded in a blade part 15b when deformation or disconnection occurs in the conductor wire 23 due to damage of the blade part 15b. The conductor wire 23 embedded in the blade part 15b functions as a damage sensor 21a that directly detects damage that may occur in the blade part 15b itself. The detection unit 21 transmits the change in the electrical characteristics of the conductor wire 23 to a monitoring unit 22 provided in a body part 11 of a flying device 10, and the monitoring unit 22 grasps the degree of damage of the propeller 15 on the basis of the change in the electrical characteristics of the conductor wire 23 received from the detection unit 21.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a flight device, a propeller anomaly detection system, and a propeller. [Background technology]

[0002] One example of a propeller-based flying device that enables vertical takeoff and landing is the unmanned multicopters, or drones, which have been used in various industrial fields in recent years. Propeller-based flying devices such as drones generate lift through the high-speed rotation of the propellers. However, if a foreign object strikes the propeller, damaging it, potentially affecting the reliability of the flying device.

[0003] Therefore, devices that detect malfunctions in propellers are being investigated. One such device is a technology that irradiates a rotating propeller with near-infrared light and detects the rotation state of the propeller from the light reflected from the propeller (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6446491 Summary of the Invention [Problem to be solved by the invention]

[0005] In the flight devices using the propellers described above, there is a demand for constantly ensuring high flight stability and further improving reliability. The inventors are studying how to more appropriately detect defects that may affect reliability by directly detecting damage that may occur to the propellers, particularly to the blades.

[0006] The object of the present disclosure is to provide a flying device that can more appropriately detect malfunctions that may occur in propellers and further increase reliability, a propeller abnormality detection system for a flying device, and a propeller used in a flying device. [Means for solving the problem]

[0007] A flying device according to one embodiment of the present disclosure is a flying device (10) that rotates a propeller (15) based on the drive of a drive source (14) to generate lift for flight, wherein the propeller has conductive members (23, 24) incorporated into at least its blade portion (15b) so that the conductive members can deform or break when the blade portion is damaged, thereby functioning as a damage sensor (21a), and is equipped with a detection unit (21) configured to be able to transmit changes in the electrical characteristics of a circuit including the conductive members to the outside of the propeller, and the main body of the flying device is configured to receive changes in the electrical characteristics of the conductive members incorporated into the propeller from the detection unit and to determine the extent of damage to the propeller based on the changes in the electrical characteristics of the conductive members.

[0008] According to the flying device, when damage to the blades causes deformation or breakage of the conductive members built into the blades, the detection unit installed in the propeller detects changes in the electrical characteristics of the circuit including the conductive members. In other words, the conductive members installed in the blades function as damage sensors that directly detect possible damage to the blades themselves. The detection unit transmits the changes in the electrical characteristics of the conductive members to a monitoring unit installed in the main body of the flying device, and the monitoring unit determines the extent of damage to the propeller based on the changes in the electrical characteristics of the conductive members received from the detection unit. This configuration makes it possible to more appropriately detect propeller malfunctions that affect reliability.

[0009] A propeller abnormality detection system according to one embodiment of the present disclosure is a propeller abnormality detection system (20) for a flying device (10) that rotates a propeller (15) based on the drive of a drive source (14) to generate lift for flight, and includes: a detection unit (21) provided on the propeller, which incorporates conductive members (23, 24) into at least its blade portion (15b) so that the conductive members can deform or break when the blade portion is damaged, thereby functioning as a damage sensor (21a), and which is configured to be able to transmit changes in the electrical characteristics of a circuit including the conductive members to the outside of the propeller; and a monitoring unit (22) provided on the main body of the flying device, which receives changes in the electrical characteristics of the conductive members incorporated in the propeller from the detection unit and determines the extent of damage to the propeller based on the changes in the electrical characteristics of the conductive members.

[0010] The propeller anomaly detection system described above directly detects and monitors damage that may occur to the blades, making it possible to more appropriately detect propeller malfunctions that could affect reliability, and is therefore suitable for use in flying devices that use propellers.

[0011] A propeller according to one embodiment of the present disclosure is a propeller (15) that generates lift for flight of a flying device (10) by its own rotation, and is configured with conductive members (23, 24) incorporated into at least its blade portion (15b) so that the conductive members can be deformed or broken when the blade portion is damaged, thereby functioning as a damage sensor (21a), and is equipped with a detection unit (21) configured to be able to transmit changes in the electrical characteristics of a circuit including the conductive members to the outside of the propeller.

[0012] The propeller described above directly detects damage that may occur to the blades, and by using it in conjunction with a monitoring unit that receives the detection results, it is possible to more appropriately detect malfunctions in the propeller that may affect reliability. Therefore, it can be suitably implemented in flight devices that use propellers. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a configuration diagram of a flight device according to one embodiment. [Figure 2] Figure 2 is a diagram of the propeller configuration. [Figure 3] FIG. 3 is an explanatory diagram showing an example of damage determination for a propeller of the same configuration. [Figure 4] FIG. 4 is an explanatory diagram showing another example of damage determination for a propeller in the same manner. [Figure 5] FIG. 5 is a structural diagram of a propeller in a modified example. [Figure 6] FIG. 6 is a structural diagram of a propeller in a modified example. [Figure 7] FIG. 7 is a configuration diagram of a propeller in a modified example. [Figure 8] FIG. 8 is a structural diagram of a propeller in a modified example. [Figure 9] FIG. 9 is a configuration diagram of a flight device in a modified example. [Figure 10] FIG. 10 is a configuration diagram of a flight device in a modified example. [Figure 11] FIG. 11 is a configuration diagram of a flight device in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of a flight device, a propeller abnormality detection system, and a propeller will be described below. (Flight device configuration) A flying device 10 of this embodiment, a portion of which is shown in Figure 1, is configured as, for example, an unmanned multicopter (a so-called drone). The flying device 10 has a main body 11 equipped with a plurality of arms 12 (only one is shown in Figure 1), and each arm 12 extends in a predetermined direction and has a drive unit 13 at its tip. The drive unit 13 has a drive motor 14 and a propeller 15. The flying device 10 is configured to fly by rotating the propeller 15 via the rotational drive of the drive motor 14.

[0015] (Driver configuration) The drive unit 13 includes a drive motor 14 made of an electric motor, and a propeller 15 that rotates integrally with a rotary shaft 14a of the drive motor 14.

[0016] The drive motor 14 receives power from a battery (not shown) mounted on the main body 11 of the flight device 10 and is driven to rotate. The drive motor 14 is attached so that its rotation shaft 14a faces up and down when the flight device 10 is placed on a horizontal surface. A propeller 15 is attached to the upper end of the rotation shaft 14a of the drive motor 14 so that it can rotate integrally with the drive motor. The propeller 15 may have, for example, two blades. The propeller 15 has a base 15a that is attached to the tip of the rotation shaft 14a, and two blades 15b that extend in opposite directions from the base 15a, perpendicular to the rotation shaft 14a. The propeller 15 of this embodiment is configured to be able to detect any damage that may occur to the propeller itself.

[0017] (Configuration of the propeller abnormality detection system) As shown in Figure 1, the propeller abnormality detection system 20 of this embodiment is composed of a detection unit 21 provided on the propeller 15 and a monitoring unit 22 provided on the main body 11 of the flying device 10, for example, on the tip of the arm 12.

[0018] (Detection unit configuration) As shown in FIG. 2, in the propeller 15 of this embodiment, conductor wires 23 are incorporated in the base portion 15a and each of the two blade portions 15b.

[0019] The conductor wire 23 incorporated into each blade 15b is provided in a ring shape around the entire outer periphery of the blade 15b. The conductor wire 23 incorporated into each blade 15b is preferably provided at least at the edge portion on the front side in the rotation direction of the propeller 15, i.e., in a portion that is likely to collide with foreign objects during rotation of the propeller 15. As an example, the conductor wire 23 incorporated into each blade 15b is formed by integrally attaching a conductive wire to the outer periphery of the blade 15b. In FIG. 2, for drawing purposes, the conductor wire 23 is drawn slightly inward from the outer periphery end of the blade 15b. Note that the conductor wire 23 incorporated into each blade 15b is provided so as to sufficiently minimize the impact on the rotational balance of the propeller 15 and the aerodynamic forces during rotation. The conductor wire 23, which is looped into each blade portion 15b, functions as a damage sensor 21a, in that the conductor wire 23 itself is deformed or broken when the blade portion 15b collides with a foreign object, causing a change in its own resistance value and a change in the current value of the current flowing through it.

[0020] The conductor wire 23 incorporated into the base 15a is arranged in a coil shape. Similar to the blades 15b, the conductor wire 23 incorporated into the base 15a is arranged on the surface or inside of the base 15a by attaching a wire rod, insert molding a wire rod, wiring printing, or the like. Note that the conductor wire 23 incorporated into the base 15a is also arranged so as to sufficiently minimize the impact on the rotational balance of the propeller 15 and the aerodynamic forces during rotation. The conductor wire 23 incorporated into the base 15a in a coil shape functions as a secondary coil 21b that forms a pair with a primary coil 22b (described below) provided in the monitoring unit 22 (see FIG. 1 ) of the main body 11 of the flight device 10. The secondary coil 21b is connected to the conductor wire 23 incorporated into each blade 15b as a damage sensor 21a. The conductor wire 23 functioning as the damage sensor 21a and the secondary coil 21b are integrally formed with the propeller 15 itself as the detection unit 21.

[0021] (Configuration of monitoring unit) 1, a monitoring unit 22 is provided at the tip of the arm 12 of the flight device 10. The monitoring unit 22 includes an AC power supply 22a, a primary coil 22b, a shunt resistor 22c, and a current sensor 22d.

[0022] The AC power supply 22a is connected to the primary coil 22b and supplies AC power to the primary coil 22b. The primary coil 22b is arranged so as to be magnetically coupled to the secondary coil 21b provided on the propeller 15 and capable of mutual induction. In this embodiment, the primary coil 22b is arranged at one end of the rotating shaft 14a made of a magnetic metal material of the drive motor 14, and the secondary coil 21b is arranged at the other end of the rotating shaft 14a. That is, the rotating shaft 14a is arranged on the central axis of the primary coil 22b and the secondary coil 21b, and functions as an iron core for mutual induction between the primary coil 22b and the secondary coil 21b, thereby achieving a structure in which the magnetic coupling between them is strong.

[0023] The shunt resistor 22c is connected between the primary coil 22b and the AC power supply 22a. The current sensor 22d is connected to the shunt resistor 22c, and the current sensor 22d detects the current flowing through the shunt resistor 22c from the voltage between the terminals of the shunt resistor 22c. In other words, the current sensor 22d detects the current value of the current flowing through the primary coil 22b.

[0024] The monitoring unit 22 detects the secondary current flowing through the secondary coil 21b based on the detection of the primary current flowing through the primary coil 22b by the current sensor 22d. As described above, the primary coil 22b and the secondary coil 21b are magnetically coupled, so the primary current and the secondary current change relative to each other. In other words, the damage sensor 21a connected to the secondary coil 21b, specifically the conductor wire 23 functioning as the damage sensor 21a, changes its own resistance when deformed or broken due to a foreign object striking the blade 15b, resulting in a corresponding change in the current value of the secondary current. The monitoring unit 22 is configured to detect changes in the primary current value linked to changes in the current value of the secondary current, thereby enabling non-contact detection of damage to the propeller 15, particularly to the blade 15b. The primary and secondary currents are alternating currents. The monitoring unit 22 converts the detected AC primary current value into a numerical value comparable to various thresholds using a well-known method, and compares it with the various thresholds to determine the damage status. The detection result of the damage status of the propeller 15 by the monitoring unit 22 is used by a higher-level control unit (not shown) provided in the main body 11 of the flight device 10.

[0025] (Action of this embodiment) The operation of this embodiment will be described. The flight device 10 flies by rotating the propeller 15 driven by the drive motor 14. If the propeller 15 of the flight device 10 collides with a foreign object while rotating and damages each blade 15b, this could affect the stability of flight and impair reliability.

[0026] In propeller 15 of this embodiment, conductor wire 23 is embedded in the outer periphery of each blade portion 15b to function as damage sensor 21a. When a foreign object strikes blade portion 15b, damaging blade portion 15b itself and deforming or breaking conductor wire 23, the resistance value of conductor wire 23 changes, and the current value of the current flowing through conductor wire 23 also changes. In other words, the secondary current flowing through conductor wire 23 has a current value that corresponds to the degree of damage to blade portion 15b.

[0027] Monitoring unit 22 detects the primary current, which changes in conjunction with the secondary current due to magnetic coupling between primary coil 22b and secondary coil 21b. Monitoring unit 22 determines the value of the secondary current based on the value of the primary current, and determines the state of deformation or disconnection of conductor wire 23. In other words, monitoring unit 22 determines the state of damage to each blade 15b of propeller 15.

[0028] As shown in Figure 3, the damage to the blades 15b correlates with a gradual deterioration as the secondary current value decreases. The monitoring unit 22, for example, determines the damage to each blade 15b of the propeller 15 based on the detection of the secondary current value via the detection of the primary current. When it detects that the secondary current value has fallen below a first threshold T1i, it recognizes that the propeller 15 is in a deteriorated state where damage has progressed to a certain extent. Next, when it detects that the secondary current value has fallen below a second threshold T2i set lower than the first threshold T1i, it recognizes that the propeller 15 is in a faulty state where damage has progressed sufficiently.

[0029] Furthermore, the current value and the resistance value are inversely proportional to each other. That is, as shown in FIG. 4, the damage to the blades 15b is correlated to gradually worsen as the secondary-side resistance value increases. As another example, the monitoring unit 22 may be configured to grasp the damage to each blade 15b of the propeller 15 based on the detection of the secondary-side resistance value via the detection of the primary-side current. When it is detected that the secondary-side resistance value is higher than a first threshold value T1r, it is recognized that the propeller 15 is in a deteriorated state where damage has progressed to a certain extent. Next, when it is detected that the secondary-side resistance value is higher than a second threshold value T2r set higher than the first threshold value T1r, it is also possible to recognize that the propeller 15 is in a fault state where damage has progressed sufficiently.

[0030] The monitoring unit 22 then outputs a signal corresponding to the damage status of each blade 15b of the propeller 15 to a higher-level control unit (not shown). The higher-level control unit controls the flight of the flight device 10, including the damage status of the propeller 15. Examples of control include flight control that compensates for the damage to the damaged propeller 15 by driving other propellers 15, and prohibiting flight after damage to a propeller 15 occurs.

[0031] (Effects of this embodiment) The effects of this embodiment will be described. (1) In the flying device 10 of this embodiment, when damage to the blade 15b causes deformation or breakage of the conductor wire 23 incorporated in the blade 15b, the detection unit 21 provided in the propeller 15 changes the electrical characteristics of the circuit including the conductor wire 23. In other words, the conductor wire 23 incorporated in the blade 15b functions as a damage sensor 21a that directly detects possible damage to the blade 15b itself. The detection unit 21 transmits the change in the electrical characteristics of the conductor wire 23 to the monitoring unit 22 provided in the main body 11 of the flying device 10, and the monitoring unit 22 determines the level of damage to the propeller 15 based on the change in the electrical characteristics of the conductor wire 23 received from the detection unit 21. This configuration enables more appropriate detection of malfunctions in the propeller 15, which is expected to further improve the reliability of the flying device 10.

[0032] (2) The monitoring unit 22 provided on the main body 11 of the flying device 10 and the detection unit 21 provided on the propeller 15 are configured so that changes in the electrical characteristics of the conductor wire 23 incorporated in the propeller 15 are transmitted without contact with each other. This allows for easy signal transmission between the propeller 15, which is a rotating body, and the main body 11 of the flying device 10, which is a stationary body.

[0033] (3) The monitoring unit 22 includes a primary coil 22b, and the detection unit 21 includes a secondary coil 21b, and mutual induction between the primary coil 22b and the secondary coil 21b is used to transmit changes in the electrical characteristics of the conductor wire 23 from the detection unit 21 to the monitoring unit 22 in a contactless manner. This allows contactless signal transmission between the detection unit 21 and the monitoring unit 22 to be achieved with a simple configuration.

[0034] (4) The rotating shaft 14a of the drive motor 14 that rotates the propeller 15 is made of a magnetic metal material and functions as an iron core for mutual induction between the primary coil 22b and the secondary coil 21b. This allows for more reliable contactless signal transmission between the detection unit 21 and the monitoring unit 22.

[0035] (5) Conductor wire 23 functioning as damage sensor 21a is provided to include the edge portion on the front side in the direction of rotation of blade portion 15b of propeller 15. Because the edge portion on the front side in the direction of rotation of blade portion 15b is a location that is more likely to collide with foreign objects when propeller 15 rotates, this allows for more appropriate detection of defects in propeller 15.

[0036] (Example of change) This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0037] In the above embodiment, the conductor wire 23 as a conductive member incorporated into the propeller 15 is provided in a ring shape around the entire outer periphery of the blade portion 15b to function as the damage sensor 21a, but this is not limiting and may be modified as appropriate. In the above embodiment shown in Figure 2, the conductor wire 23 is provided in a ring shape along the outer periphery of the blade portion 15b, and no conductor wire 23 is provided inside the ring.

[0038] 5, conductor wires 23 are provided in a single ring shape along the outer periphery of blade portion 15b, and in addition, conductor wires 23 are provided in a mesh pattern inside the ring. In this modification, damage can be detected over the entire blade portion 15b, including the edge portion on the front side in the rotation direction of blade portion 15b.

[0039] 6, conductor wire 23 is provided in a ring shape along the outer periphery of blade 15b, and in addition, is provided in four ring shapes that gradually become smaller on the inner side of the ring. In this modification, too, it is possible to detect damage over the entire blade 15b, including the edge on the front side in the rotation direction of blade 15b.

[0040] 7, conductor wire 23 is provided in a single ring shape along the outer periphery on both the front and back surfaces of blade 15b. In this modification, damage can be detected on both the front and back surfaces, including the edge on the front side in the rotation direction of blade 15b.

[0041] 8, conductive resin 24 serving as a conductive member is provided in a shape having a predetermined width that occupies approximately half of the front side of blade portion 15b in the direction of rotation. In this modification, damage can be detected over a set surface area that includes the front edge of blade portion 15b in the direction of rotation.

[0042] Other than the above, the arrangement, shape, number, etc. of the conductive members incorporated in the propeller 15 may be changed as appropriate. Although the conductor wire 23 made of conductive wire material is used as the conductive member incorporated into the propeller 15, materials other than conductive wire material, such as conductive plate material, conductive thin film, printed wiring, etc. may also be used. Also, as mentioned above, conductive resin sheet material, paste material, etc. may also be used.

[0043] The conductive member may be incorporated into the propeller 15 by adhering it to the body of the propeller 15, by insert molding, by printing, or by other methods. In this case, the conductive member may be entirely exposed on the surface, partially exposed and partially buried, or entirely buried. Alternatively, the conductive member may be integrally formed in advance in the material for the propeller 15, and the propeller 15 with the conductive member may be produced using a 3D printer. Furthermore, when the propeller 15 is produced from a fiber-reinforced composite material (prepreg), the conductive member may be woven into the fiber material.

[0044] Signal transmission between the detection unit 21 provided on the propeller 15 and the monitoring unit 22 provided on the main body 11 of the flight device 10 is performed without contact, and in the above embodiment, mutual induction between the primary coil 22b and the secondary coil 21b is used, but this is not limited to this and may be changed as appropriate.

[0045] 9, optical element 21x may be used in propeller 15 and optical element 22x in main body 11 of flight device 10, allowing for signal transmission between them. This modification is a form in which signal transmission is performed without contact, similar to the above embodiment.

[0046] 10, a transmitter 21y may be used on the propeller 15 and a receiver 22y may be used on the main body 11 of the flight device 10, allowing for contactless signal transmission between them. This modification, like the above embodiment, also allows for contactless signal transmission.

[0047] In the modified example shown in Fig. 11, a slip ring 21z is used on the rotating shaft 14a of the drive motor 14, and a detector 22z provided in the main body 11 detects changes in electrical characteristics such as the resistance value of the conductor wire 23 of the propeller 15. Current values ​​may also be detected. This modified example is an example in which signals are transmitted directly via wire.

[0048] The configuration of the flight device 10 may be modified as appropriate. For example, the rotating shaft 14a is coaxially arranged between the primary coil 22b and the secondary coil 21b, and functions as an iron core for mutual induction. However, the rotating shaft 14a does not have to be used as an iron core. In this case, a non-magnetic material can be used for the rotating shaft 14a. Furthermore, although the monitoring unit 22 is provided at the tip of the arm 12 on the main body 11 of the flight device 10, it may be provided at another location on the main body 11. Furthermore, although an electric drive motor 14 is used as the drive source for the flight device 10, other drive sources, such as an internal combustion engine, may also be used.

[0049] (Addendum) The technical ideas that can be understood from the above-described embodiment and modified examples will be described. [1] A flight device (10) that generates lift for flight by rotating a propeller (15) based on the drive of a drive source (14), The propeller has conductive members (23, 24) incorporated into at least its blade portion (15b) so that deformation or disconnection of the conductive members can occur in response to damage to the blade portion, thereby functioning as a damage sensor (21a), and is equipped with a detection unit (21) configured to be able to transmit a change in electrical characteristics of a circuit including the conductive members to the outside of the propeller; The main body of the flying device is configured with a monitoring unit (22) that receives changes in the electrical properties of the conductive member incorporated in the propeller from the detection unit and determines the extent of damage to the propeller based on the changes in the electrical properties of the conductive member.

[0050] [2] The flying device described in [1] above, wherein the monitoring unit provided in the main body of the flying device and the detection unit provided in the propeller are configured so that the transmission of changes in the electrical properties of the conductive material incorporated in the propeller is performed without contact with each other.

[0051] [3] The flying device described in [2] above is configured such that the monitoring unit provided in the main body of the flying device includes a primary coil (22b), and the detection unit provided in the propeller includes a secondary coil (21b), and changes in the electrical properties of the conductive material incorporated in the propeller can be transmitted contactlessly from the detection unit to the monitoring unit through mutual induction between the primary coil and the secondary coil.

[0052] [4] the drive source is a drive motor (14), and a rotary shaft (14a) of the drive motor that rotates the propeller is made of a magnetic metal material; The flying device described in [3] above, wherein the rotating shaft is configured to function as an iron core for mutual induction between the primary coil and the secondary coil.

[0053] [5] The flying device described in [1] above, wherein the monitoring unit provided in the main body of the flying device and the detection unit provided in the propeller are configured so that the transmission of changes in the electrical properties of the conductive member incorporated in the propeller is carried out via a wire including a slip ring (21z).

[0054] [6] A flying device described in any one of [1] to [5] above, wherein the conductive member that functions as the damage sensor is provided to include the front edge portion of the propeller blade in the direction of rotation.

[0055] [7] The flying device described in any one of [1] to [6] above, wherein the flying device is an unmanned multicopter.

[0056] [8] A propeller abnormality detection system (20) for a flight device (10) that generates lift for flight by rotating a propeller (15) based on the drive of a drive source (14), comprising: a detection unit (21) provided on the propeller, incorporating conductive members (23, 24) into at least its blade portion (15b) so that the conductive members can be deformed or broken when the blade portion is damaged, thereby functioning as a damage sensor (21a), and configured to be able to transmit a change in electrical characteristics of a circuit including the conductive members to the outside of the propeller; a monitoring unit (22) provided in the main body of the flying device, which receives changes in the electrical characteristics of the conductive member incorporated in the propeller from the detection unit and determines the degree of damage to the propeller based on the changes in the electrical characteristics of the conductive member.

[0057] [9] A propeller (15) that generates lift for the flight of the flight device (10) by its own rotation, A propeller having conductive members (23, 24) incorporated into at least its blade portion (15b) so that the conductive members can be deformed or broken when the blade portion is damaged, thereby functioning as a damage sensor (21a), and having a detection unit (21) configured to be able to transmit changes in the electrical characteristics of a circuit including the conductive members to the outside of the propeller. [Explanation of symbols]

[0058] 10 Flight device, 14 Drive motor (drive source), 15 Propeller, 15b Blade portion, 20 Propeller abnormality detection system, 21 Detection portion, 21a Damage sensor, 22 Monitoring portion, 23 Conductor wire (conductive member), 24 Conductive resin (conductive member)

Claims

1. A flying device (10) that generates lift for flight by rotating a propeller (15) based on the drive of a drive source (14), The propeller incorporates conductive members (23, 24) into at least its blade portion (15b) so that the conductive members can be deformed or broken when the blade portion is damaged, thereby functioning as a damage sensor (21a), and includes a detection unit (21) configured to be able to transmit a change in electrical characteristics of a circuit including the conductive members to the outside of the propeller; The main body of the flying device is configured to include a monitoring unit (22) that receives changes in the electrical properties of the conductive member incorporated in the propeller from the detection unit and determines the extent of damage to the propeller based on the changes in the electrical properties of the conductive member.

2. 2. The flying device of claim 1, wherein the monitoring unit provided in the main body of the flying device and the detection unit provided in the propeller are configured so that changes in the electrical properties of the conductive material incorporated in the propeller are transmitted to each other without contact.

3. The flying device of claim 2, wherein the monitoring unit provided in the main body of the flying device includes a primary coil (22b), and the detection unit provided in the propeller includes a secondary coil (21b), and wherein mutual induction between the primary coil and the secondary coil enables contactless transmission of changes in the electrical properties of the conductive material incorporated in the propeller from the detection unit to the monitoring unit.

4. The drive source is a drive motor (14), and a rotary shaft (14a) of the drive motor that rotates the propeller is made of a magnetic metal material, 4. The flight device according to claim 3, wherein the rotation shaft is configured to function as an iron core for mutual induction between the primary coil and the secondary coil.

5. 2. The flying device of claim 1, wherein the monitoring unit provided in the main body of the flying device and the detection unit provided in the propeller are configured so that the transmission of changes in the electrical properties of the conductive member incorporated in the propeller is performed via a wire including a slip ring (21z).

6. 2. The flight device according to claim 1, wherein the conductive member that functions as the damage sensor is provided to include an edge portion on a front side in a rotation direction of the propeller blade.

7. The flying device of claim 1 , wherein the flying device is an unmanned multicopter.

8. A propeller abnormality detection system (20) for a flight device (10) that rotates a propeller (15) based on the drive of a drive source (14) to generate lift for flight, comprising: a detection unit (21) provided on the propeller, incorporating conductive members (23, 24) into at least its blade portion (15b) so that the conductive members can be deformed or broken when the blade portion is damaged, thereby functioning as a damage sensor (21a), and configured to be able to transmit a change in electrical characteristics of a circuit including the conductive members to the outside of the propeller; a monitoring unit (22) provided in the main body of the flying device, which receives changes in the electrical properties of the conductive member incorporated in the propeller from the detection unit, and determines the degree of damage to the propeller based on the changes in the electrical properties of the conductive member.

9. A propeller (15) that generates lift for the flight of the flight device (10) by its own rotation, A propeller having conductive members (23, 24) incorporated into at least its blade portion (15b) so that the conductive members can be deformed or broken when the blade portion is damaged, thereby functioning as a damage sensor (21a), and comprising a detection unit (21) configured to be able to transmit changes in the electrical characteristics of a circuit including the conductive members to the outside of the propeller.

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