flying object

Abstract

To provide an aircraft capable of stabilizing its attitude. [Solution] The UAV comprises a rotor blade 1 that generates lift through rotation, a drive unit 5 that generates power to drive the rotor blade 1, and a detection device 4 that detects the external environment. The UAV further comprises a rod-shaped body 2 whose longitudinal direction is vertical during flight, and an attitude control device 3 that controls the attitude of the rod-shaped body 2 during flight. The rotor blade 1 is attached to the rod-shaped body 2 via the attitude control device 3, and the detection device 4 is attached to the rod-shaped body 2 such that it is located on one end side of the attitude control device 3, for example, above, and the drive unit 5 is located on the other end side, for example, below. During flight, the attitude control device 3 controls the attitude of the rod-shaped body 2 such that, regardless of the tilt of the rotor blade 1, the longitudinal direction of the rod-shaped body 2 is vertical, the drive unit 5 is located below, and the detection device 4 is located above.

Description

Technical Field

[0001] The present invention relates to an aircraft having a rotor that generates lift by rotation.

Background Art

[0002] Unmanned aerial vehicles (UAVs) called by names such as drones are used for various applications such as detection of atmospheric conditions, photography, measurement, surveying, etc. For example, in Patent Document 1, an aircraft equipped with a detection device for detecting atmospheric information has been proposed. In the aircraft described in Patent Document 1, a measurement case for accommodating the detection device is attached to a main body portion to which a propeller is attached at a position extended upward by a support portion.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the aircraft described in Patent Document 1, since a measurement case for accommodating the detection device is arranged at a position extended upward, there is a problem that the aircraft is likely to tip over and the flight becomes unstable due to the weight of the measurement case.

[0005] The aircraft disclosed in the present application has been made in view of such circumstances, and an object thereof is to disclose an aircraft capable of stabilizing the attitude.

Means for Solving the Problems

[0006] To solve the above problems, the aircraft disclosed herein comprises a rotor that generates lift by rotation, a drive device that generates power to drive the rotor, and a detection device that detects the external environment, wherein the aircraft comprises a rod-shaped body whose longitudinal direction is perpendicular during flight, and an attitude control device that controls the attitude of the rod-shaped body during flight, wherein the rotor is attached to the rod-shaped body via the attitude control device, the detection device is attached to the rod-shaped body so as to be located on one end side with respect to the attitude control device, the drive device is attached to the rod-shaped body so as to be located on the other end opposite to the one end side with respect to the attitude control device, and during flight, the attitude control device controls the attitude of the rod-shaped body so that its longitudinal direction is perpendicular regardless of the inclination of the rotor, and maintains the vertical relationship between the detection device and the drive device.

[0007] Furthermore, the aircraft disclosed herein comprises a rotor that generates lift by rotation, a drive device that generates power to drive the rotor, and a detection device that detects the external environment, wherein the aircraft comprises a rod-shaped body whose longitudinal direction is vertical during flight, and an attitude control device that controls the attitude of the rod-shaped body during flight, wherein the rotor is attached to the rod-shaped body via the attitude control device, the detection device is attached to the rod-shaped body so as to be located above the attitude control device, the drive device is attached to the rod-shaped body so as to be located below the attitude control device, and during flight, the attitude control device controls the attitude of the rod-shaped body so that, regardless of the inclination of the rotor, the longitudinal direction of the rod-shaped body is vertical, the detection device is located above, and the drive device is located below.

[0008] Furthermore, the detection device in the aforementioned flying object is characterized by detecting the movement and composition of the atmosphere. [Effects of the Invention]

[0009] The aircraft disclosed in this application aims to improve detection accuracy by positioning the detection device on one end of the rod-shaped body, for example, above, while positioning the drive device on the other end, for example, below, makes it easier to balance the vertical position, thus stabilizing the attitude of the rod-shaped body and achieving other excellent effects. [Brief explanation of the drawing]

[0010] [Figure 1] This is an explanatory diagram conceptually illustrating an example of the application of the aircraft disclosed in this application. [Figure 2] This is a schematic diagram showing an example of the appearance of the aircraft disclosed in this application. [Figure 3] This is a schematic diagram showing an example of the appearance of the aircraft disclosed in this application. [Figure 4] This is a schematic diagram showing an example of the appearance of the aircraft disclosed in this application. [Figure 5] This is a schematic external view showing an example of the flight state of the aircraft disclosed in this application. [Modes for carrying out the invention]

[0011] The embodiments of the aircraft disclosed in this application will be described in detail below. Note that the following embodiments are merely examples of the aircraft disclosed in this application and are not intended to limit the technical scope of the aircraft disclosed in this application.

[0012] <Examples of application> The aircraft disclosed in this application can be realized using, for example, an unmanned aircraft such as a small unmanned helicopter called a drone. The aircraft disclosed in this application can be used, for example, to detect atmospheric conditions in order to apply the eddy correlation method (turbulence variation method). The eddy correlation method is a method for evaluating the transport of substances and thermal energy in the atmosphere based on atmospheric turbulence theory, and is suitable for quantifying the amount of carbon dioxide absorbed and released by ecosystems at the community scale. In the following, the aircraft UAV shown in the drawings will be used as an example and explained with reference to the drawings.

[0013] Figure 1 is a conceptual diagram illustrating an application example of the UAV disclosed in this application. Figure 1 shows an example of the UAV disclosed in this application being implemented using a drone. Figure 1 conceptually illustrates a model in which the UAV flies over an observation target area such as a forest community or ocean where an ecosystem exists, and detects the movement and composition of the atmosphere above the observation target area. When wind, which is a large, nearly horizontal movement of the atmosphere, blows above the observation target area, vortices of various scales are generated, and these generated vortices cause vertical transport of various substances such as carbon dioxide. In this application, the UAV disclosed in this application, which detects atmospheric movement including vertical directions and components such as carbon dioxide, is disclosed in such a model. Using the UAV disclosed in this application as exemplified in Figure 1, for example, a measurement system that measures atmospheric conditions using the eddy correlation method can be realized.

[0014] Figures 2 to 4 are schematic external views showing an example of the external appearance of the UAV disclosed in this application. Figure 2 is a schematic perspective view from diagonally above, Figure 3 is a schematic perspective view from diagonally below, and Figure 4 is a plan view. The UAV is equipped with a rotor 1 that generates lift through rotation, and further includes various components such as a rod-shaped body 2, an attitude control device 3, a detection device 4, a drive device 5, and an overall control device 6. In this application, the rotor 1 is shown by drawing the periphery during rotation with a dashed line.

[0015] The rod-shaped body 2 is a support member for the entire structure and is formed as a straight, extending rod. The rod-shaped body 2 is designed so that its longitudinal direction (axial direction) is perpendicular to the vertical direction during flight.

[0016] A posture control device 3 such as a gimbal is attached to a portion below the longitudinal midpoint of the rod-shaped body 2. The posture control device 3 is formed in a substantially square shape in plan view as a whole, and includes a central fixing portion 30 and a peripheral edge portion 31 around the fixing portion 30. The fixing portion 30 is formed by a plate-shaped portion that is substantially rectangular in plan view and a mechanism portion that includes various mechanisms for maintaining posture. The rod-shaped body 2 is inserted through the center and fixed while being attached to the rod-shaped body 2. The peripheral edge portion 31 has an outer shape that is substantially square in plan view, and a substantially square opening for holding the rod-shaped body 2 is formed at the center through the fixing portion 30. The peripheral edge portion 31 is attached to the fixing portion 30 so as to be able to be tilted at various angles with three axes or two axes. The posture control device 3 controls the posture of the rod-shaped body 2 so that the longitudinal direction of the rod-shaped body 2 becomes the vertical direction during flight. Specifically, the posture control device 3 detects the posture of the rod-shaped body 2 by means of sensors such as an acceleration sensor and mechanisms such as a mechanical mechanism, and controls it so that the longitudinal direction becomes the vertical direction by means of mechanisms such as an electric mechanism and a mechanical mechanism.

[0017] One end of a rod-shaped arm portion 32 (arm) is attached to each vertex of the posture control device 3 that is substantially rectangular in plan view, and a rotary wing 1 (rotor) is attached to the other end of the arm portion 32. Each rotary wing 1 is arranged so that the rotation plane is substantially horizontal. The flying object UAV flies by obtaining lift force when each rotary wing 1 rotates. In the present application, a quadcopter having four rotary wings 1 will be exemplified and described, but various flying objects UAV such as a hexacopter having six rotary wings 1 and an octocopter having eight rotary wings 1 can be realized.

[0018] Leg portions 33 are attached to two opposing sides of the posture control device 3 that is rectangular in plan view in a cantilever manner.

[0019] In the attitude control device 3, on two sides where the leg portions 33 are not attached, the position information acquisition unit 34 is attached to the tip of the support rod. The position information acquisition unit 34 has an antenna that communicates with artificial satellites such as GNSS (Global Navigation Satellite System) satellites, and is a mechanism that acquires and processes position information indicating the position of the flying object UAV based on communication with the GNSS satellites.

[0020] The arm portion 32, the leg portions 33, and the position information acquisition unit 34 can change the attachment angle in order to improve convenience during transportation and when placed on the ground.

[0021] In the rod-shaped body 2, above (one end side) the attitude control device 3, the detection device 4 is attached. The detection device 4 includes a detection unit 40 attached to the upper end of the rod-shaped body 2 and a detection control unit 41 attached above the attitude control device below the detection unit 40. The detection unit 40 attached to the upper end of the rod-shaped body 2 detects the external environment such as the movement and components of the atmosphere. The detection control unit 41 performs various controls regarding the detection unit 40, processes the data detected by the detection unit 40, and controls the storage of various information. The flying object UAV includes a wind direction and wind speed sensor that detects wind direction and wind speed as the detection device 4 for detecting the movement of the atmosphere. Further, the flying object UAV includes a carbon dioxide sensor that detects carbon dioxide in the atmosphere as the detection device 4 for detecting the components of the atmosphere.

[0022] In the rod-shaped body 2, below the attitude control device 3, the drive device 5 is attached. The drive device 5 includes an engine 50 and a fuel tank 51 (tank) that stores fuel such as gasoline. The engine 50 operates with the fuel stored in the fuel tank 51 and generates power to rotate the rotary wing 1. Further, the drive device 5 may be provided with a power source (battery) in place of or in combination with the engine 50 and the fuel tank 51.

[0023] Furthermore, the flying object UAV includes various mechanisms such as a flight control unit that controls flight by controlling the rotation of the rotary wing 1 and a communication unit that communicates with an operation device operated by an operator.

[0024] As described above, in the UAV disclosed in this application, an attitude control device 3 is attached to a rod-shaped body 2, a detection device 4 is attached above the attitude control device 3, and a drive device 5 is attached below it. The attitude control device 3 is attached below the longitudinal center of the rod-shaped body 2. In order to eliminate the influence of the rotor blades 1 and improve detection accuracy, it is desirable that the detection device 4 be positioned so that the rod-shaped body 2 maintains a nearly vertical attitude and the distance from the rotor blades 1 is 1.5 times or more the diameter of the rotor blades 1. However, if the detection device 4 is positioned above, the rotational moment will increase, making the UAV itself more prone to tipping over. However, in the UAV disclosed in this application, the drive device 5 is attached below, so the drive device 5 acts as a counterweight to the detection device 4, stabilizing the attitude of the UAV. Furthermore, by separating the positions of the drive device 5 and the detection device 4, the detection device 4 can perform various detections while suppressing the influence of disturbances in airflow and components caused by the operation of the drive device 5.

[0025] Figure 5 is a schematic external view showing an example of the flight state of the UAV disclosed in this application. Figure 5 shows a state in which the rotation plane of the rotor blade 1 is tilted due to factors such as gusts of wind during flight. Even when the rotor blade 1 is tilted, the attitude control device 3 maintains the longitudinal direction of the rod-shaped body 2 vertically, and controls the attitude of the rod-shaped body 2 so that the detection device 4 is positioned above and the drive device 5 is positioned below. By controlling and stabilizing the attitude of the rod-shaped body 2, it is possible to improve the detection accuracy of the detection device 4.

[0026] The present invention is not limited to the embodiments described above and can be implemented in various other forms. Therefore, the embodiments described above are merely illustrative in all respects and should not be interpreted restrictively. The technical scope of the present invention is defined by the claims and is not restricted in any way by the text of the specification. Furthermore, any modifications or changes within the equivalent scope of the claims are all within the scope of the present invention.

[0027] For example, the arrangement of each component relative to the rod-shaped body 2 shown in the above embodiment is merely one example; the detection device 4 may be placed below (on one end) the attitude control device 3, and the drive device 5 may be placed above (on the other end). For example, if the detection device 4 detects (captures) the conditions below as an image of the external environment, it is necessary to place the detection device 4 below. Also, if the detection device 4 detects the chemical components of the measurement target, such as the ground surface or water surface, as part of the external environment, it is effective to place the detection device 4 below. [Explanation of Symbols]

[0028] UAV (Unmanned Aerial Vehicle) 1 Rotary blade 2 Rod-shaped body 3. Attitude control device 30 Fixed part 31 Peripheral area 32 Arm 33 Legs 34 Location information acquisition unit 4. Detection device 40 Detection unit 41 Detection Control Unit 5. Drive unit 50 Engine 51 Fuel tank 6. Overall control unit

Claims

1. An aircraft comprising a rotor that generates lift through rotation, a drive device that generates power to drive the rotor, and a detection device that detects the external environment, During flight, a rod-shaped body whose longitudinal direction is perpendicular, During flight, an attitude control device controls the attitude of the rod-shaped body. Equipped with, The rotor blade is attached to the rod-shaped body via the attitude control device, The detection device is attached to the rod-shaped body so as to be located at one end relative to the attitude control device. The drive device is attached to the rod-shaped body so as to be located on the opposite end of the attitude control device, During flight, the attitude control device controls the attitude of the rod-shaped body so that, regardless of the tilt of the rotor blades, the longitudinal direction of the rod-shaped body is vertical and the vertical relationship between the detection device and the drive device is maintained. An aircraft characterized by the following features.

2. An aircraft comprising a rotor that generates lift through rotation, a drive device that generates power to drive the rotor, and a detection device that detects the external environment, During flight, a rod-shaped body whose longitudinal direction is perpendicular, During flight, an attitude control device controls the attitude of the rod-shaped body. Equipped with, The rotor blade is attached to the rod-shaped body via the attitude control device, The detection device is mounted on the rod-shaped body so as to be located above the attitude control device. The drive device is attached to the rod-shaped body so as to be located below the attitude control device. During flight, the attitude control device controls the attitude of the rod-shaped body such that, regardless of the tilt of the rotor blades, the longitudinal direction of the rod-shaped body is vertical, the detection device is positioned above, and the drive device is positioned below. An aircraft characterized by the following features.

3. An aircraft according to claim 1 or claim 2, The detection device is Detection of atmospheric movement and composition An aircraft characterized by the following features.

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