Flying robot and contact unit for flying robot

Abstract

The object of the present invention is to provide a technology that enables stable operation of a flying robot while performing predetermined tasks on an object using work equipment mounted on the flying robot. [Solution] The flying robot is provided with a contact unit that is located outside of one or more propulsion units arranged facing the object and that makes contact with the object. The contact unit is a frame portion that is pivotable in the pitch direction and has a frame portion in which a first protrusion and a second protrusion that protrude outward and make contact with the object are formed at different positions in the vertical direction relative to each other. The contact unit also has a mount portion provided on the frame portion, on which work equipment that performs a predetermined task on the object can be installed.

Description

Technical Field

[0004] , ,

[0005] , ,

[0001] The present invention relates to a flying robot and a contact unit for a flying robot.

Background Art

[0002] In recent years, unmanned aerial vehicles have been used for various purposes and their development has been actively carried out. As unmanned aerial vehicles, radio-controlled unmanned helicopters and so-called drones are used. Here, a technology of attaching an arm to an unmanned aerial vehicle to perform various operations is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0006] This invention has been made in view of the various circumstances described above, and its purpose is to provide a technology that enables stable operation of a target object by work equipment mounted on a flying robot while maintaining the stable flight of the flying robot. [Means for solving the problem]

[0007] One aspect of the present invention is a flying robot comprising a body and a plurality of propulsion units arranged around the body, wherein the flying robot comprises a contact unit provided outside of one or more propulsion units arranged in a direction facing an object, and which contacts the object, the contact unit having a frame portion that is pivotable in the pitch direction, the frame portion having a first projection and a second projection that project outward and contact the object, the first projection and the second projection being formed at different positions in the vertical direction relative to each other, and a mount portion provided on the frame portion, the mount portion on which work equipment for performing a predetermined task on the object can be installed.

[0008] Furthermore, one aspect of the present invention is a contact unit for a flying robot, comprising a body and a plurality of propulsion units arranged around the body, wherein the contact unit is provided outside one or more propulsion units arranged in a direction facing an object and contacts the object, and comprises a frame portion that is pivotable in the pitch direction, and a first protrusion and a second protrusion that protrude outward and contact the object are formed at different positions in the vertical direction from each other, and a mount portion provided on the frame portion, on which work equipment for performing a predetermined task on the object can be installed. [Effects of the Invention]

[0009] According to the present invention, while maintaining the stable flight of the flying robot, it is possible to stably perform predetermined tasks on an object using work equipment mounted on the flying robot. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of the schematic configuration of a flying robot according to the embodiment. [Figure 2] This diagram shows an example of the schematic configuration of a contact unit and its surrounding parts in a flying robot. [Figure 3] This diagram shows the contact unit in contact with the object. [Figure 4] This diagram shows the movement of the contact unit when the contact unit of a flying robot makes contact with an object. [Modes for carrying out the invention]

[0011] One embodiment of the present invention is a flying robot comprising a body and a plurality of propulsion units. Each propulsion unit is a unit that generates thrust for the flying robot. The propulsion units may generate thrust, for example, by driving a propeller. The plurality of propulsion units are arranged around the body. In other words, in the flying robot, each propulsion unit is located outside the body. The flying robot can control its flight direction and flight attitude by controlling the thrust of each of the plurality of propulsion units.

[0012] Furthermore, the flying robot is equipped with a contact unit. The contact unit is a unit that makes contact with an object while the flying robot is in flight. Here, the object is an object such as a structure or building that is the target of a predetermined task performed by work equipment mounted on the flying robot. In the flying robot, the contact unit is located outside of one or more propulsion units that are positioned facing the object, among the multiple propulsion units arranged around the body. When the flying robot performs a predetermined task on the object using the work equipment, it brings the contact unit into contact with the object. At this time, because the contact unit is located outside of one or more propulsion units that are positioned facing the object, the flying robot can bring the contact unit into contact with the object without bringing the propulsion units into contact with the object.

[0013] The contact unit has a frame portion that can pivot in the pitch direction. In other words, in the contact unit, the frame portion is configured to pivot around a rotation axis that extends horizontally and is located outside one or more propulsion units arranged in a direction facing the object. Furthermore, the frame portion of the contact unit has a first projection and a second projection. The first projection and the second projection are formed to contact the object by projecting outward. In other words, when the contact unit contacts the object, the first projection and the second projection come into contact with the object. In addition, the first projection and the second projection are formed at different positions in the vertical direction relative to each other on the frame portion.

[0014] Furthermore, the contact unit has a mounting portion. The mounting portion is the frame of the contact unit. It is located in a section and is configured to accommodate work equipment. Work equipment is equipment used to perform prescribed tasks on an object, such as inspection or repair.

[0015] When the flying robot according to the present invention performs a predetermined task on an object using work equipment installed on the mount, it makes contact with the object by bringing the first and second protrusions of the contact unit into contact with the object while flying. When the first and second protrusions, which are formed at different positions in the vertical direction on the frame of the contact unit, are in contact with the object, the relative position and orientation of the contact unit with respect to the object are more easily maintained at a substantially constant level.

[0016] Furthermore, the frame portion of the contact unit is configured to swing in the pitch direction. Therefore, the flying robot can change the attitude of the main body, including the body and multiple propulsion units, while maintaining the state in which the first and second protrusions of the contact unit are in contact with the object. This allows the flying robot to control the attitude of the main body while maintaining the relative position and attitude of the work equipment mounted on the contact unit's mount portion to the object at a desired position and attitude. Therefore, it becomes possible to respond to external disturbances such as reaction forces from the object and wind from the outside by changing the magnitude and direction of the thrust force. Accordingly, according to the present invention, it is possible to stably perform predetermined work on an object using work equipment mounted on the flying robot while maintaining the stable flight of the flying robot.

[0017] Furthermore, in the flying robot according to the present invention, the first protrusion and the second protrusion may be positioned at different vertical positions relative to each other, straddling the axis of rotation when the frame swings in the pitch direction. With such a configuration, the first protrusion and the second protrusion can be pressed against the object by the thrust of the flying robot, thereby maintaining contact between the first protrusion and the object. Therefore, in a flying robot in flight, the relative position and orientation of the work equipment installed on the mounting part of the contact unit with respect to the object can be maintained more stably at the desired position and orientation.

[0018] Furthermore, if the first and second protrusions of the frame portion of the contact unit are positioned at different vertical positions relative to each other, straddling the axis of rotation when the frame portion swings in the pitch direction, the frame portion of the contact unit may be rotatably mounted in the pitch direction to a support member installed outside of one or more propulsion units positioned opposite the object. The flying robot may further include a first stopper that restricts the portion of the frame portion above the axis of rotation from rotating inward by a first predetermined angle, and a second stopper that restricts the portion of the frame portion below the axis of rotation from rotating inward by a second predetermined angle. This allows the contact unit to be configured to swing in the pitch direction relative to the main body within the range of rotation angles restricted by the first and second stoppers.

[0019] In addition, in the flying robot according to the present invention, at least one of the first protrusion and the second protrusion may be provided in a plurality of different positions in the horizontal direction on the frame portion, or may have a shape in which the longitudinal direction extends in the horizontal direction. According to such a configuration, when the first protrusion and the second protrusion of the contact unit are in contact with the object, the posture of the contact unit with respect to the object is more likely to be maintained constantly. Therefore, the relative position and relative posture of the contact unit with respect to the object are more likely to be maintained at a desired position and posture. Accordingly, a predetermined operation can be performed more stably on the object by the working device mounted on the flying robot. Further, at least one of the first protrusion and the second protrusion may be made of a flexible material. According to such a configuration, it becomes possible to absorb the impact when the first protrusion or the second protrusion contacts the object. Also, since the contact area of the first protrusion or the second protrusion with respect to the object becomes large, the frictional force generated between them can be increased Even when a situation temporarily occurs where the magnitude of the propulsive force acting vertically upward on the flying robot and the magnitude of the gravity do not balance due to disturbances or the like, it becomes possible to maintain the relative position of the flying robot with respect to the object.

[0020] In addition, in the flying robot according to the present invention, the mount portion of the contact unit may have a transport mechanism for transporting the installed working device in a predetermined direction. According to such a configuration, it becomes possible to change the relative position of the working device with respect to the object by the transport mechanism in a state where the contact unit is in contact with the object. Also, thereby, it is possible to change the presence or absence of contact and the strength of contact of the working device with respect to the object by the transport mechanism.

[0021] In addition, in the flying robot according to the present invention, the plurality of propulsion units may each have a propeller. And the angle of the rotation axis of each propeller with respect to the body may be fixed at the same angle. When the angle of the rotation axis of each propeller with respect to the body is fixed at the same angle, by providing a difference in the propulsion force generated by each propeller, the flying robot can be tilted. And the flying robot moves in the tilted direction. That is, by controlling the propulsion force generated by each propeller, the flight direction of the flying robot can be controlled together with the flight attitude of the flying robot. And by controlling the flight attitude and flight direction of the flying robot, the contact unit can be brought into contact with the object. Also, thereby, the presence or absence of contact and the strength of contact of the working device with the object can be changed by the transport mechanism.

[0022] Hereinafter, specific embodiments of the present invention will be described based on the drawings. The dimensions, materials, shapes, and relative arrangements of the components described in this embodiment are not intended to limit the technical scope of the invention only to these unless otherwise specified.

[0023] <Embodiment> (Schematic Configuration) FIG. 1 is a diagram showing an example of the schematic configuration of the flying robot according to the present embodiment. The flying robot 1 is a drone used to perform a predetermined operation on an object by a working device. Examples of the object include a structure or a building. Also, the flying robot 1 has a function of being able to fly in any direction including the vertical and horizontal directions. Therefore, the flying robot 1 can take off and land vertically.

[0024] For the purposes of the following explanation, we will use the XYZ Cartesian coordinate system shown in Figure 1 to describe the configuration of the flying robot 1. Here, the vertical direction in the direction of gravity is defined as the Z-axis direction. The forward and backward direction of the flying robot 1 is defined as the Y-axis direction. As mentioned above, the flying robot 1 can fly in any direction horizontally, but the direction of travel of the flying robot 1 when flying towards an object is defined as the front of the flying robot 1. The direction opposite to the front of the flying robot 1 in the Y-axis direction is defined as the rear of the flying robot 1. In Figure 1, the direction diagonally downward to the left is the front of the flying robot 1. The left and right direction of the flying robot 1 is defined as the direction to the left or right of the flying robot 1 when the direction of travel of the flying robot 1 when flying towards an object is defined as the front of the flying robot 1.

[0025] The flying robot 1 consists of a main body 2. The main body 2 has a body 4 and four propulsion units 3. In the main body 2, the body 4 is located roughly in the center. The four propulsion units 3 are arranged around the body 4. In the example shown in Figure 1, four propulsion units 3 are mounted on the main body 2, but the number of propulsion units 3 is not limited to four, as long as the main body 2 is able to fly.

[0026] Each propulsion unit 3 has a propeller 31, which is a rotating blade. Each propulsion unit 3 has a structure in which the angle of the rotation axis of the propeller 31 with respect to the body 4 is fixed at the same angle. Each propulsion unit 3 also has a flight actuator 32 for rotating the propeller 31. The flight actuator 32 is driven by electricity. The flight actuator 32 of each propulsion unit 3 can be controlled independently. Therefore, it is possible to appropriately control the thrust force obtained by each propulsion unit 3, thereby appropriately controlling the flight direction, flight attitude, and flight speed of the main body 2 and the flying robot 1. The attitude of the flying robot 1 when it flies toward an object will be described later.

[0027] Furthermore, in the main body 2, four bridges 5 extend radially from the body 4. A propulsion unit 3 is provided at the tip of each bridge 5. The four propulsion units 3 are arranged at equal intervals on a circle in the horizontal plane (XY plane) with the body 4 as the center. Adjacent propulsion units 3 are connected to each other via reinforcing bridges 51. A rectangle is formed by the four reinforcing bridges 51 connecting adjacent propulsion units 3. Legs 6 are also connected near the connection points of the propulsion units 3 on each bridge 5. Each leg 6 extends downward in the Z-axis direction from the bridge 5. Each leg 6 supports the main body 2 when the flying robot 1 lands. Some of the bridges 5 are equipped with batteries to supply power to the flight actuators 32 of each propulsion unit 3.

[0028] Furthermore, the flying robot 1 has a propeller guard 7. The propeller guard 7 is a component provided to prevent the propellers 31 of the two propulsion units 3 located on the front side of the flying robot 1 from coming into contact with an object during the flight of the flying robot 1. The propeller guard 7 is installed on the front side of the flying robot 1, facing the object. The propeller guard 7 has two guard sections 71, a connecting section 72, two side support sections 73, and a center support section 74. The two guard sections 71 are each located outside the propellers 31 of the two propulsion units 3 located on the front side of the flying robot 1. Each guard section 71 has a shape that extends from a position forward and outward of the foremost part of each propeller 31 toward the side and outward of each propeller 31, following the arc shape of each propeller 31.

[0029] The connecting portion 72 is a member that connects the two guard portions 71. The connecting portion 72 is a rod-shaped member that extends in the X-axis direction, and both ends of it are connected to the front ends of each guard portion 71. The two guard portions 71 are each supported by side support portions 73. One end of each side support portion 73 is connected to the end of the bridge 5, and the other end is connected to the guard portion 71. The connecting portion 72 is also supported by a center support portion 74. One end of the center support portion 74 is connected to the body 4, and the other end is connected to the approximate center of the connecting portion 72 in the X-axis direction. The center support portion 74 is also connected to the reinforcing bridge 51 in the middle. A first stopper 81 is provided near the other end of the center support portion 74. The function of the first stopper 81 will be described later. In the flying robot 1, each guard portion 71 of the propeller guard 7 is positioned outside the two propellers 31 that are positioned forward in the Y-axis direction, which is the direction opposite to the object. This prevents the propellers 31 from coming into contact with the object when the flying robot 1 is flying towards the object.

[0030] A control device 21 for controlling the flight actuator 32 is mounted in the center of the upper surface of the body 4. The control device 21 can be configured as a computer having a processor and memory. The control device 21 is configured to execute a predetermined control program stored in memory. Through the execution of this program, the flight actuator 3 The second is controlled. This allows the processor to realize a function that matches the predetermined purpose. The control device 21 performs feedback control of, for example, the flight actuator 32.

[0031] The control device 21 may also include a communication unit that communicates with the outside by wire or wireless connection, receive control commands via the communication unit, and control the flight actuator 32 according to those control commands. Furthermore, the control device 21 may transmit information acquired by the end effector to the outside. In addition, separate from the control device 21 that controls flight, a control device that controls equipment mounted on the flying robot 1 and performs information processing may be mounted on the main unit 2.

[0032] (Contact unit) Furthermore, the flying robot 1 is equipped with a contact unit 10. The contact unit 10 is a unit that makes contact with an object while the flying robot 1 is in flight. The contact unit 10 is composed of a frame portion 11 and a mounting portion 12. In the flying robot 1, a work device 100 is installed on the mounting portion 12 of the contact unit 10. The work device 100 is a device that performs predetermined work on the object, such as inspection or repair. The work device 100 may be a device that performs work by making contact with the object, or it may be a device that performs work without making contact with the object.

[0033] The configuration of the contact unit 10 will be described below based on Figures 2 and 3. Figure 2 is a diagram showing an example of the schematic configuration of the contact unit and its surrounding parts in a flying robot. Figure 3 is a diagram showing the state in which the contact unit is in contact with an object. In Figures 2 and 3, the directions represented by each coordinate axis in the XYZ Cartesian coordinate system are the same as in Figure 1.

[0034] In the flying robot 1, the contact unit 10 is attached to the propeller guard 7. In other words, the contact unit 10 is located outside the two propellers 31 that are positioned on the front side in the Y-axis direction, which is the direction in which the flying robot 1 faces the object. Note that in Figure 2, in order to show the schematic configuration of the area surrounding the contact unit 10 in the flying robot 1, the left propeller (the one on the near side in Figure 2) of the two propellers 31 positioned on the front side of the flying robot 1 is not shown.

[0035] Furthermore, the frame portion 11 of the contact unit 10 is configured to swing in the pitch direction. More specifically, the frame portion 11 has two side frames 111, an upper frame 112, an under frame 113, and two connecting members 114. The two side frames 111 are arranged side by side in the X-axis direction and are frames that extend parallel to each other in a direction substantially perpendicular to the connecting portion 72 of the propeller guard 7. Connecting members 114 are provided in the middle of each side frame 111. Each side frame 111 is rotatably connected to the connecting portion 72 of the propeller guard 7 via the connecting members 114 in the pitch direction (direction around the X-axis).

[0036] The upper frame 112 is a frame that connects the upper ends of the two side frames 111. The under frame 113 is a frame that connects the lower ends of the two side frames 111. The frame section 11 is formed in a roughly rectangular shape by the two side frames 111, the upper frame 112, and the under frame 113. Each side frame 111 is rotatably connected in the pitch direction to the connecting section 72 of the propeller guard 7, so that the frame section 11 can swing in the pitch direction. Therefore, the central axis of the connecting section 72, shown by the dashed line L0 in Figure 2, becomes the axis of rotation when the frame section 11 swings in the pitch direction. The connecting section 72 is an example of a support member according to the present invention.

[0037] A mounting portion 12 is provided on the upper frame 112 of the frame portion 11. The mount section 12 is connected to the inside of the upper frame 112. The work equipment 100 is installed on the mount section 12. The mount section 12 also has a transport mechanism 121. The transport mechanism 121 is a mechanism that transports the work equipment 100 installed on the mount section 12 in a predetermined direction. The transport mechanism 121 may be a linear motion mechanism composed of, for example, gears. The transport mechanism 121 is controlled by a control device 21 mounted on the body 4, similar to the flight actuator 32.

[0038] Furthermore, the upper frame 112 has two first protrusions 112a. The two first protrusions 112a are formed to protrude forward and outward at the right and left ends of the upper frame 112 in the X-axis direction, respectively. The under frame 113 also has a second protrusion 113a. The second protrusion 113a has a shape in which its longitudinal direction extends in the X-axis direction and is formed to protrude forward and outward in the under frame 113. Therefore, in the frame portion 11, the two first protrusions 112a and the second protrusions 113a are formed at different positions in the Z-axis direction (vertical direction). And, because the two first protrusions 112a and the second protrusions 113a are formed to protrude forward and outward in the upper frame 112 and under frame 113 respectively, when the contact unit 10 contacts the object X, the first protrusions 112a and the second protrusions 113a contact the object X, as shown in Figure 3.

[0039] Furthermore, a second stopper 82 is provided on the mounting portion 12 connected to the upper frame 112. The second stopper 82 is connected to the inside of the mounting portion 12. In the X-axis direction, the second stopper 82 is positioned at the same location as the center support portion 74 of the main body portion 2. Therefore, as shown in Figure 2, when the portion of the frame portion 11 above the rotation axis L0 tilts inward, the second stopper 82 comes into contact with the center support portion 74. In other words, the second stopper 82 restricts the portion of the frame portion 11 above the rotation axis L0 (the portion above the connecting portion 72) from rotating inward by more than a first predetermined angle. Here, the first predetermined angle is the inclination angle of the frame portion 11 when the second stopper 82 is in contact with the center support portion 74, as shown in Figure 2. In particular, when no external force is acting, the contact unit 10 is biased to rotate inward (towards the rear) by gravity acting on the mounting portion 12, which is located rearward and inward of the upper frame 112, and the installed work equipment 100. Therefore, when the flying robot 1 flies toward the object X, the state (attitude) of the contact unit 10 is basically maintained in a state where the second stopper 82 is in contact with the center support part 74, as shown in Figure 2.

[0040] Furthermore, as described above, a first stopper 81 is provided near the other end of the center support portion 74 of the main body portion 2. A part of the first stopper 81 has a shape that protrudes downward in the Z-axis direction from the center support portion 74. Therefore, as shown in Figure 3, when the portion of the frame portion 11 below the rotation axis L0 (the portion below the connecting portion 72) tilts inward, the inside of the underframe 113 comes into contact with the first stopper 81. In other words, the first stopper 81 restricts the portion of the frame portion 11 below the rotation axis L0 from rotating inward by more than a second predetermined angle. Here, the second predetermined angle is the inclination angle of the frame portion 11 when the underframe 113 is in contact with the first stopper 81.

[0041] (Movement of the contact unit) Next, the movement of the contact unit 10 of the flying robot 1 when it makes contact with the object X will be explained based on Figure 4. Figure 4 is a diagram showing the movement of the contact unit when it makes contact with the object of the flying robot. Note that in Figures 4(a), (b), and (c), the directions represented by each coordinate axis in the XYZ Cartesian coordinate system are the same as in Figure 1. Note that in Figures 4(a), (b), and (c), the white arrows indicate the direction of travel of the flying robot 1.

[0042] As shown in Figure 4(a), when the flying robot 1 flies toward the object X, the flying robot 1 moves forward. At this time, the contact unit 10 is maintained in a state where the second stopper 82 is in contact with the center support portion 74, that is, the portion above the connecting portion 72 in the frame portion 11 is tilted inward. In this state, the second protrusion 113a formed on the underframe 113 of the contact unit 10 is located at the furthest forward position in the flying robot 1. In addition, the attitude of the main body portion 2 of the flying robot 1 is maintained in a slightly forward-leaning posture. With this flight posture, the thrust force generated in the propulsion unit 3 of the flying robot 1 has a horizontal component that acts forward.

[0043] As shown in Figure 4(a), when the flying robot 1 flies towards the object X, the second projection 113a formed on the underframe 113 of the contact unit 10 makes contact with the object X first, as shown in Figure 4(b). As the flying robot 1 approaches the object X further, the contact unit 10 swings in the direction of the black arrow, with the central axis of the connecting portion 72 as the axis of rotation L0. In other words, the portion of the frame portion 11 above the connecting portion 72 rises forward. Note that, for example, if the flying robot 1 approaches the object X at an inclination, the propeller guard 7 may make contact with the object X before the contact unit 10. However, even in such cases, after the propeller guard 7 makes contact with the object X, the attitude of the flying robot 1 transitions so that the contact unit 10 approaches the object X around the point of contact. Therefore, the state of the flying robot 1 can proceed to the state in which the contact unit 10 is in contact with the object X. Thus, the flying robot 1 can approach the object X stably.

[0044] As the contact unit 10 swings in the direction of the black arrow in Figure 4(b), the two first protrusions 112a formed on the upper frame 112 of the contact unit 10 come into contact with the object X, following the second protrusion 113a, as shown in Figure 4(c). Furthermore, as shown in Figure 4(c), when the thrust force of the flying robot 1 acts forward, the first protrusion 112a and the second protrusion 113a are pressed against the object X. This maintains the state in which the first protrusion 112a and the second protrusion 113a are in contact with the object X.

[0045] (Effects / Actions) As shown in Figure 3, when the flying robot 1 performs a predetermined operation on an object X using the work equipment 100 installed on the mount section 12, it flies while bringing the first protrusion 112a and the second protrusion 113a of the contact unit 10 into contact with the object X. When the first protrusion 112a and the second protrusion 113a, which are formed at different positions in the vertical direction (Z-axis direction) on the frame section 11 of the contact unit 10, are in contact with the object X, the relative position and orientation of the contact unit 10 with respect to the object X are more easily maintained at a substantially constant level. And if the relative position and orientation of the contact unit 10 with respect to the object X are maintained at a substantially constant level, the relative position and orientation of the work equipment 100 installed on the mount section 12 with respect to the object X are more easily maintained at a desired position and orientation.

[0046] Furthermore, in the contact unit 10, the frame portion 11 is configured to swing in the pitch direction. Therefore, the flying robot 1 can change the posture of the main body portion 2 in the pitch direction as shown by arrow Dp in Figure 3 while maintaining the state in which the first protrusion 112a and the second protrusion 113a of the contact unit 10 are in contact with the object X. In other words, it is possible to suppress the physical constraint on the posture of the main body portion 2. As a result, the flying robot 1 can control the posture of the main body portion 2 while maintaining the relative position and relative posture of the work equipment 100 installed on the mount portion 12 of the contact unit 10 with respect to the object X at a desired position and posture. Therefore, according to the configuration of this embodiment, the flying robot 1 can maintain stability. While maintaining flight, the work equipment 100 mounted on the flying robot 1 can be used to stably perform predetermined tasks on the target object X.

[0047] Furthermore, in the flying robot 1, the first protrusion 112a and the second protrusion 113a are positioned at different vertical positions relative to each other, straddling the connecting portion 72 of the propeller guard 7, on the frame portion 11 of the contact unit 10. In other words, the first protrusion 112a and the second protrusion 113a are positioned at different vertical positions relative to each other, straddling the rotation axis L0 (the central axis of the connecting portion 72) when the frame portion 11 swings in the pitch direction. With this configuration, the thrust of the flying robot 1 presses the first protrusion 112a and the second protrusion 113a against the object X, thereby maintaining the state in which the first protrusion 112a and the second protrusion 113a are in contact with the object X. Therefore, in the flying robot 1 during flight, the relative position and relative attitude of the work equipment 100 installed on the mount portion 12 of the contact unit 10 relative to the object X can be maintained more stably at the desired position and attitude.

[0048] Furthermore, the flying robot 1 is provided with a first stopper 81 and a second stopper 82 that restrict the rotation range of the frame portion 11 of the contact unit 10 around the rotation axis L0. With this configuration, the contact unit 10 can be swung in the pitch direction relative to the main body 2 within the range of rotation angles restricted by the first stopper 81 and the second stopper 82. In addition, in the flying robot 1, a biasing member such as a spring may be provided instead of the first stopper 81 and the second stopper 82 to bias the frame portion 11 so as to maintain the pitch angle (attitude) of the frame portion 11 relative to the main body 2 at a predetermined angle. With this configuration, the movement of the frame portion 11 around the rotation axis L0 and its rotation range can be restricted by the biasing member.

[0049] Furthermore, in the contact unit 10, two first protrusions 112a are formed on the right and left ends of the upper frame 112 in the X-axis direction, respectively. In other words, in the frame portion 11, the two first protrusions 112a are formed at different positions relative to each other in the X-axis direction (left-right direction). In addition, in the contact unit 10, the second protrusion 113a has a shape in which its longitudinal direction extends in the X-axis direction (left-right direction) in the under frame 113. With this configuration, when the two first protrusions 112a and the second protrusion 113a are in contact with the object X, it is possible to suppress changes in the orientation of the contact unit 10 in the roll direction (direction around the Z-axis). Therefore, when the first protrusions 112a and the second protrusions 113a of the contact unit 10 are in contact with the object X, it becomes easier to maintain a more constant orientation of the contact unit 10 relative to the object X. As a result, the relative position and orientation of the contact unit 10 relative to the object X become easier to maintain in a more desired position and orientation. Therefore, the work equipment 100 mounted on the flying robot 1 can perform predetermined tasks on the object X more stably.

[0050] Furthermore, the form of the protrusions formed on the upper frame 112 and the under frame 113 so as to project forward and outward is not limited to the forms of the first protrusion 112a and the second protrusion 113a described above. For example, in the upper frame 112, three or more first protrusions 112a may be formed at different positions relative to each other in the X-axis direction (left-right direction). Also, in the under frame 113, instead of the second protrusion 113a, two or more protrusions may be formed at different positions relative to each other in the X-axis direction (left-right direction). Also, in the upper frame 112, instead of the two first protrusions 112a, a protrusion having a shape whose longitudinal direction extends in the X-axis direction (left-right direction) may be formed.

[0051] Furthermore, in the flying robot 1, the mounting portion 12 of the contact unit 10 has a transport mechanism 121. With this configuration, as shown in Figure 3, with the first protrusion 112a and the second protrusion 113a of the contact unit 10 in contact with the object X, the mounting portion 12 The position of the installed work equipment 100 can be moved in a desired direction (for example, the front-to-back direction) by the transport mechanism 121. This makes it possible to change the relative position of the work equipment 100 installed on the mount 12 with respect to the object X. This allows the work equipment 100 to perform predetermined tasks on the object X more flexibly. Furthermore, if the transport mechanism 121 is movable in multiple directions (for example, the front-to-back direction and the left-to-right direction), it becomes possible to perform predetermined tasks on multiple locations while maintaining contact of the contact unit 10, and it becomes easier to control the interval between the work positions and work times to desired values. [Explanation of Symbols]

[0052] 1...Flying robot, 2...Main body, 3...Propulsion unit, 4...Body, 7...Propeller guard, 10...Contact unit, 11...Frame, 12...Mount, 31...Propeller, 72...Connecting part, 81...First stopper, 82...Second stopper, 100...Work equipment, 111...Side frame, 112...Upper frame, 112a...First protrusion, 113...Under frame, 113a...Second protrusion, 121...Transportation mechanism

Claims

1. A flying robot comprising a body and a plurality of propulsion units arranged around the body, It is provided with a contact unit that is located outside of one or more propulsion units arranged in a direction facing the object and that comes into contact with the object, The aforementioned contact unit is A frame portion that can swing in the pitch direction, wherein a first projection and a second projection that protrude outward and come into contact with the object are formed at different positions in the vertical direction relative to each other, A mounting portion provided on the frame portion, on which work equipment for performing a predetermined operation on the object can be installed, Having, Flying robot.

2. In the frame portion of the contact unit, The first and second protrusions are formed at different positions in the vertical direction from each other, straddling the axis of rotation when the frame swings in the pitch direction. The flying robot according to claim 1.

3. The frame portion of the contact unit is rotatably mounted in the pitch direction to a support member provided outside of the one or more propulsion units arranged in a direction facing the object, A first stopper restricts the portion of the frame above the rotation axis from rotating inward by a first predetermined angle, A second stopper restricts the portion of the frame below the rotation axis from rotating inward by a second predetermined angle, It also has, The flying robot according to claim 2.

4. At least one of the first and second protrusions is formed in the frame at different horizontal positions relative to each other, or has a shape in which its longitudinal direction extends horizontally. The flying robot according to claim 1.

5. The mounting portion of the contact unit has a transport mechanism for transporting the installed work equipment in a predetermined direction. The flying robot according to claim 1.

6. Each of the aforementioned propulsion units has a propeller, The angle of the rotation axis of each propeller relative to the body is fixed at the same angle. The flying robot according to claim 1.

7. A flying robot comprising a body and a plurality of propulsion units arranged around the body, wherein a contact unit is provided outside of one or more propulsion units arranged in a direction facing an object, and which comes into contact with the object, A frame portion that can swing in the pitch direction, wherein a first projection and a second projection that protrude outward and come into contact with the object are formed at different positions in the vertical direction relative to each other, A mounting portion provided on the frame portion, which performs a predetermined operation on the object. A mounting section on which work equipment can be installed, Equipped with, Contact unit for flying robots.

8. In the aforementioned frame portion, The first and second protrusions are formed at different positions in the vertical direction from each other, straddling the axis of rotation when the frame swings in the pitch direction. A contact unit for a flying robot according to claim 7.

9. The frame portion is rotatably attached in the pitch direction to a support member provided outside of the one or more propulsion units arranged in a direction facing the object, A first stopper restricts the portion of the frame above the rotation axis from rotating inward by a first predetermined angle, A second stopper restricts the portion of the frame below the rotation axis from rotating inward by a second predetermined angle, It also has, A contact unit for a flying robot according to claim 8.

10. At least one of the first and second protrusions is formed in the frame at different horizontal positions relative to each other, or has a shape in which its longitudinal direction extends horizontally. A contact unit for a flying robot according to claim 7.

11. The mounting section has a transport mechanism for transporting the installed work equipment in a predetermined direction. A contact unit for a flying robot according to claim 7.

Images