Center of gravity control mechanism, aircraft, and VTOL aircraft

Abstract

To enable the aircraft's center of gravity to remain constant regardless of changes in the load configuration of the aircraft's airframe. [Solution] A center of gravity control mechanism provided on an aircraft, comprising: a weight movably mounted on the aircraft's airframe; a detection means for detecting changes in the aircraft's attitude due to changes in the load state of the payload; and a center of gravity control means for adjusting the aircraft's center of gravity by controlling the position of the weight in accordance with the changes in the aircraft's attitude detected by the detection means.

Description

Technical Field

[0001] The present invention relates to a center-of-gravity control mechanism, an aircraft, and a VTOL-type aircraft.

Background Art

[0002] Patent Document 1 below discloses a drone that can autonomously fly to a destination using GPS and an inertial measurement unit (IMU) while holding a load and release the load at the destination.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a conventional drone, depending on the mounting state of the load on the airframe of the aircraft (for example, mounting position, presence or absence of mounting, weight of the load, change in fuel capacity, etc.), the center-of-gravity point of the airframe deviates from a predetermined position, and there is a risk that stable flight becomes impossible. In recent years, the airframe of drones has tended to become larger, and control of the center-of-gravity point has become essential.

[0005] For example, in the drone of Patent Document 1, when holding a load with a weight bias or when holding the load at a position deviated from the center of the airframe, the center-of-gravity point of the airframe deviates from a predetermined position, and there is a risk that stable flight becomes impossible.

Means for Solving the Problems

[0006] A center of gravity control mechanism according to one embodiment is a center of gravity control mechanism provided on an aircraft, comprising: a weight movably mounted on the aircraft's airframe; a detection means for detecting changes in the aircraft's attitude due to changes in the load state of the payload; and a center of gravity control means for adjusting the aircraft's center of gravity by controlling the position of the weight in accordance with the changes in the aircraft's attitude detected by the detection means. [Effects of the Invention]

[0007] According to one embodiment of the center of gravity control mechanism, the center of gravity of the aircraft can be kept constant regardless of changes in the load state of the aircraft's airframe. [Brief explanation of the drawing]

[0008] [Figure 1] External perspective view of an unmanned aircraft according to one embodiment. [Figure 2] A diagram showing the configuration of a center of gravity control mechanism according to one embodiment. [Figure 3] This figure shows the configuration of the control system and surrounding sensors of a center of gravity control mechanism according to one embodiment. [Figure 4] Flowchart of a control program for an unmanned aircraft and a center of gravity control mechanism according to one embodiment. [Figure 5] This figure shows an example of center of gravity control by a center of gravity control mechanism according to one embodiment. [Figure 6] This figure shows an example of center of gravity control by a center of gravity control mechanism according to one embodiment. [Figure 7] This figure shows an example of center of gravity control by a center of gravity control mechanism according to one embodiment. [Figure 8] This figure shows an example of center of gravity control by a center of gravity control mechanism according to one embodiment. [Modes for carrying out the invention]

[0009] An embodiment will be described below with reference to the drawings. For convenience, in the following description, the Y-axis direction in the drawings will be considered the front-to-back direction, the X-axis direction will be considered the left-to-right direction, and the Z-axis direction will be considered the up-to-down direction. However, the positive Y-axis direction will be considered the front direction, the positive X-axis direction the right direction, and the positive Z-axis direction the up direction.

[0010] (Composition of 100 unmanned aircraft) Figure 1 is an external perspective view of an unmanned aircraft 100 according to one embodiment. The unmanned aircraft 100 shown in Figure 1 is an example of an "aircraft". The unmanned aircraft 100 can transport support supplies 10A and 10B to a predetermined destination by flying unmanned to that destination. Furthermore, the unmanned aircraft 100 is a so-called VTOL (Vertical Take-Off and Landing aircraft) capable of vertical take-off and landing. Note that the configuration of the unmanned aircraft 100 shown in Figure 1 is merely an example of the configuration of the "aircraft" of the present invention and is not limited thereto. In other words, the "aircraft" of the present invention may have any configuration as long as it is capable of flight whether unmanned or manned and is equipped with a "center of gravity control mechanism".

[0011] As shown in Figure 1, the unmanned aircraft 100 comprises a fuselage 110, main wings 120, a pair of left and right support structures 125, a tail fin 130, eight horizontal propellers 140, an engine 150, and a vertical propeller 152. The fuselage 110, main wings 120, the pair of left and right support structures 125, and the tail fin 130 constitute the "aircraft" of the unmanned aircraft 100.

[0012] The fuselage 110 is located at an intermediate position in the lateral direction (X-axis direction) of the aircraft and is a body-shaped main body that extends in the longitudinal direction (Y-axis direction). The fuselage 110 has a hollow structure.

[0013] Inside the fuselage 110, in the portion forward (positive Y-axis) and below (negative Z-axis) the main wing 120, a first storage compartment 111A capable of storing support supplies 10A and a second storage compartment 111B capable of storing support supplies 10B are provided side by side in the front-to-back direction (Y-axis direction).

[0014] Also, in the part of the fuselage 110 that is in front of (positive Y-axis side) and above (positive Z-axis side) the main wing 120 inside the fuselage, a third storage chamber 111C and a fourth storage chamber 111D are provided side by side in the front-rear direction (Y-axis direction). In the third storage chamber 111C, a group of devices 114 including a GPS 169, a communication device, a flight control system, etc. are stored. In the fourth storage chamber 111D, a center-of-gravity control mechanism 160 for keeping the center-of-gravity point of the aircraft body constant is stored.

[0015] Also, at the front end inside the fuselage 110, a fifth storage chamber 111E is provided. In the fifth storage chamber 111E, a camera 115 for imaging an image of a region in front of (positive Z-axis direction) the unmanned aircraft 100 is stored.

[0016] Also, a sixth storage chamber 111F is provided in the space below the main wing 120 inside the fuselage 110, and a fuel tank 116 for storing fuel supplied to the engine 150 and an IMU (Inertial Measurement Unit) 165 are arranged.

[0017] Also, a front wheel 112 and a pair of left and right rear wheels 113 are provided below the fuselage 110. The unmanned aircraft 100 can land on and taxi on the ground by the front wheel 112 and the pair of left and right rear wheels 113.

[0018] The main wing 120 is a fixed wing that extends in the left-right direction (X-axis direction) from an intermediate position in the front-rear direction (Y-axis direction) of the fuselage 110. That is, the main wing 120 is supported from below (negative Z-axis side) by the fuselage 110 at an intermediate part in the left-right direction (X-axis direction). An aileron 120A and a flap 120B are provided on the left and right of the main wing 120. The main wing 120 generates lift on the aircraft body during the gliding of the unmanned aircraft 100. Also, the unmanned aircraft 100 turns in the left-right direction by the aileron 120A. Further, the flap 120B is used for normal takeoff and landing on the runway and for controlling the speed and lift of the unmanned aircraft except in the VTOL mode.

[0019] The pair of left and right supports 125 are rod-shaped members extending in the front-rear direction (Y-axis direction) from the main wing 120. Specifically, the support 125 on the right side (positive X-axis side) is provided so as to linearly extend in the front-rear direction (Y-axis direction) from a portion on the right side of the fuselage 110 in the main wing 120 (i.e., the right wing). Also, the support 125 on the left side (negative X-axis side) is provided so as to linearly extend in the front-rear direction (Y-axis direction) from a portion on the left side of the fuselage 110 in the main wing 120 (i.e., the left wing). The pair of left and right supports 125 are provided to support the tail wing 130 and the eight horizontal propellers 140.

[0020] The tail wing 130 is provided at the rear part of the "aircraft body" and is a fixed wing extending in the left-right direction (X-axis direction). The tail wing 130 is provided at the upper part of the rear end portion (end portion on the negative Y-axis side) of the pair of left and right supports 125. That is, both end portions in the left-right direction (X-axis direction) of the tail wing 130 are supported from below (negative Z-axis side) by the pair of left and right supports 125. The tail wing 130 generates lift on the aircraft body during the gliding of the unmanned aircraft 100.

[0021] The tail wing 130 is supported at both end portions in the Z-axis direction by the vertical tail wings 130A and 130B and is supported from below (negative Z-axis side) by the pair of left and right supports 125. The left and right pair of rudders or ladders 130C and 130D control the left-right direction or yawing of the aircraft body during the flight of the unmanned aircraft 100.

[0022] The eight horizontal propellers 140 are mounted on a pair of left and right support bodies 125. Specifically, two horizontal propellers 140 are provided above and below each of the following: the front end of the right (positive X-axis) support body 125, the intermediate section between the main wing 120 and the tail wing 130 on the right (positive X-axis) support body 125, the front end of the left (negative X-axis) support body 125, and the intermediate section between the main wing 120 and the tail wing 130 on the left (negative X-axis) support body 125. Each of the eight horizontal propellers 140 has a rotation axis 141 with its axis oriented in the vertical direction (Z-axis direction), and is rotatable around the axis of this rotation axis 141. The eight horizontal propellers 140 rotate when driven by a motor (not shown), generating lift and thrust for the aircraft. However, the rotation directions of the two motors for each upper and lower propeller are opposite to each other to generate stable lift for the aircraft.

[0023] Engine 150 is a power source that generates thrust for the unmanned aircraft 100 to fly. Engine 150 performs internal combustion using fuel supplied from fuel tank 116, which rotates an output shaft whose axis is in the longitudinal direction (Y-axis direction), thereby rotating a vertical propeller 152 attached to the output shaft, and thus generating thrust for the unmanned aircraft 100.

[0024] The unmanned aircraft 100, configured as described above, can fly unmanned to its destination and transport support supplies 10A and 10B to that destination by controlling the rotation of its eight horizontal propellers 140 and vertical propellers 152 with a flight control system stored in the third storage compartment 111C. In this process, the unmanned aircraft 100 can autonomously fly to its destination at a preset speed along a preset flight route, based on a preset flight route and the current position of the unmanned aircraft 100 detected by GPS 169.

[0025] Furthermore, in this case, the unmanned aircraft 100 can maintain a constant center of gravity using a center of gravity control mechanism 160 housed in the fourth storage compartment 111D of the fuselage 110, in accordance with the weight of the support supplies 10A and 10B, the attitude state of the level 168 and IMU 165, and the amount of fuel in the fuel tank 116, thereby enabling stable flight.

[0026] Then, at the destination, the unmanned aircraft 100 can leave or drop the support supplies 10A and 10B at the destination by automatically opening and closing the automatic opening and closing door (not shown) located on the underside of the first storage compartment 111A in the fuselage 110 and the automatic opening and closing door (not shown) located on the underside of the second storage compartment 111B in the fuselage 110 using the control circuits 111G and 111H shown in Figure 3.

[0027] Furthermore, the unmanned aircraft 100 can autonomously fly to its return destination along the pre-set return route at a pre-set flight speed, based on the pre-set return route and the current position of the unmanned aircraft 100 detected by the GPS 169.

[0028] (Configuration of the center of gravity control mechanism 160) Figure 2 shows the configuration of a center of gravity control mechanism 160 according to one embodiment. Figure 2(a) is a plan view of the center of gravity control mechanism 160. Figure 2(b) is a right side view of the center of gravity control mechanism 160.

[0029] As shown in Figure 2, the center of gravity control mechanism 160 comprises a weight 161, a pair of left and right guide rails 162, a hydraulic drive system 163, and a hydraulic system 164.

[0030] The weight 161 is a rectangular parallelepiped-shaped weight with a fixed weight. For example, metal can be used for the weight 161. However, the shape, size, and material of the weight 161 are not limited as long as it has a fixed weight. The weight 161 is movable in the front-to-back direction (Y-axis direction) between a pair of front and rear wall portions 167. The weight 161 has a pair of through holes 161A formed at an intermediate position in the vertical direction (Z-axis direction), which penetrate the weight 161 in the front-to-back direction (Y-axis direction).

[0031] The left and right pair of guide rails 162 are rod-shaped members that extend linearly in the front-rear direction (Y-axis direction). The left and right pair of guide rails 162 are installed by inserting them through a pair of left and right through holes 161A formed in the weight 161. The left and right pair of guide rails 162 are fixed at both ends to a pair of front and rear wall portions 167. As a result, the left and right pair of guide rails 162 support the weight 161 so that it can move in the front-rear direction (Y-axis direction) between the front and rear wall portions 167, and also guide the movement of the weight 161 in the front-rear direction (Y-axis direction).

[0032] The hydraulic drive system 163 is a hydraulic pipe component that extends linearly in the front-rear direction (Y-axis direction). A weight 161 is fixed to the tip of the hydraulic drive system 163, and the weight 161 can be transported in the front-rear direction (Y-axis direction).

[0033] The hydraulic system 164, when power is supplied and information from the IMU 165 and the level indicator 168 is processed by the control system, adjusts the pressure in the hydraulic drive system 163 to transport the weight 161 in the forward / backward direction (Y-axis direction).

[0034] For example, the hydraulic system 164 can transport the weight 161 in a first direction, the forward direction (positive Y-axis direction), by increasing the pressure in the hydraulic drive system 163. Conversely, the hydraulic system 164 can transport the weight 161 in a second direction, the backward direction (negative Y-axis direction), which is opposite to the first direction, by reducing the pressure in the hydraulic drive system 163.

[0035] (Configuration of the center of gravity control mechanism 160 and surrounding sensors) Figure 3 shows the configuration of the control system and surrounding sensors of a center of gravity control mechanism 160 according to one embodiment. As shown in Figure 3, the control system of the center of gravity control mechanism 160 includes the hydraulic system 164 shown in Figure 2, an IMU 165, and a center of gravity control device 166. The surrounding sensors include horizontal gauges 168A to D, GPS 169A to D, fuel gauges 116D to F, and control circuits 111G and 111H for the automatic opening and closing of the automatic opening and closing doors.

[0036] The IMU165 is located on the underside of the sixth storage compartment 111F of the fuselage 110. The IMU165 is equipped with an angular velocity sensor, an accelerometer, and a temperature sensor, and can detect the translational and rotational motion (rolling, pitching, and yawing) of the three axes (X, Y, and Z axes) of the unmanned aircraft 100.

[0037] In other words, the IMU 165, the level indicators 168A-D, the GPS 169A-D, and the fuel gauges 116D-F are examples of "detection means" and "first sensors," and can detect tilt (i.e., attitude change) of the unmanned aircraft 100 in the longitudinal direction (Y-axis direction) when the load state of the payload (support supplies and fuel) on the unmanned aircraft 100 changes.

[0038] Specifically, the level indicators 168A to D are installed in four locations, as shown in Figure 1, to detect the attitude of the unmanned aircraft 100 with high precision. In addition, the GPS units 169A to D are installed in four locations, as shown in Figure 1, to detect the attitude of the unmanned aircraft 100 in addition to its position with high precision. Furthermore, the fuel gauges 116D to F are installed in the fuel tanks 116A to C (three locations), as shown in Figure 1, to detect the amount of fuel used.

[0039] Information from the horizon indicators 168A-D, GPS 169A-D, and fuel gauges 116D-F is input to the center of gravity control device 166 and used to control the main wings 120, tail wings 130, horizontal propellers 140, and vertical propellers 152 of the unmanned aircraft 100, and is used to maintain stable level flight of the unmanned aircraft 100. In particular, these sensors (horizon indicators 168A-D, GPS 169A-D, and fuel gauges 116D-F) are used for flight mode and support supply drop mode.

[0040] Furthermore, control circuits 111G and 111H are used to control the automatic opening and closing doors of the first storage compartment 111A where the support supplies 10A are stored, and the automatic opening and closing doors of the second storage compartment 111B where the support supplies 10B are stored, as well as the drop switch.

[0041] The center of gravity control device 166 is an example of a "center of gravity control means" and is a device that controls the center of gravity of the unmanned aircraft 100. Specifically, the center of gravity control device 166 controls the position of the counterweight 161 in the longitudinal direction (Y-axis direction) in response to changes in the attitude of the unmanned aircraft 100 (i.e., tilt in the longitudinal direction (Y-axis direction)) detected by the IMU 165, fuel gauges 116D~F, level indicators 168A~D, and GPS 169A~D, thereby keeping the center of gravity of the unmanned aircraft 100 at a predetermined position at all times. As a result, the center of gravity control device 166 can control the unmanned aircraft 100 to always perform stable flight, regardless of changes in the load (support supplies and fuel) on the unmanned aircraft 100.

[0042] For example, if the center of gravity control device 166 detects a downward tilt of the aircraft's fuselage due to the IMU 165, fuel gauges 116D-F, spirit level 168A-D, and GPS 169A-D, it drives the hydraulic system 164 to move the counterweight 161 backward (negative Y-axis direction), thereby maintaining the center of gravity of the aircraft's fuselage at a predetermined position (the center position of the main wing 120 when viewed from above (Z-axis direction)).

[0043] Conversely, if the center of gravity control device 166 detects a downward tilt of the unmanned aircraft 100's fuselage via the IMU 165, fuel gauges 116D-F, level indicators 168A-D, and GPS 169A-D, it drives the hydraulic system 164 to move the counterweight 161 forward (in the positive Y-axis direction), thereby maintaining the center of gravity of the unmanned aircraft 100's fuselage at a predetermined position (the center position of the main wing 120 when viewed from above (in the Z-axis direction)).

[0044] Furthermore, the center of gravity control device 166 adjusts the amount of movement of the counterweight 161 according to the amount of attitude change of the unmanned aircraft 100, thereby maintaining the center of gravity of the unmanned aircraft 100 at a predetermined position (the center position of the main wing 120 when viewed from above (in the Z-axis direction)).

[0045] For example, the center of gravity control device 166 can calculate the amount of movement of the weight 161 from the amount of attitude change of the unmanned aircraft 100 using a predetermined mathematical formula.

[0046] Alternatively, for example, the center of gravity control device 166 can determine the amount of movement of the weight 161 that corresponds to the amount of attitude change of the unmanned aircraft 100 by referring to a predetermined correspondence table stored in memory beforehand.

[0047] The center of gravity control device 166 can be implemented using, for example, an IC (Integrated Circuit), an FPGA (Field Programmable Gate Array), or a computer. The center of gravity control device 166 includes, for example, a processor and memory, and the processor executes the program stored in the memory to realize the various functions of the center of gravity control device 166.

[0048] (Program flowchart) Figure 4 is a flowchart of a control program for an unmanned aircraft and a center of gravity control mechanism according to one embodiment.

[0049] First, this program reads the initial executable program stored in memory and initializes the center of gravity control device 166, IMU 165, horizontal indicators 168A~D, GPS 169A~D, and fuel gauges 116D~F (S201).

[0050] Then, data from the IMU165, level indicators 168A-D, GPS 169A-D, and fuel gauges 116D-F are read, and attitude information is analyzed in attitude control processing (S202). Each time, the analysis results of the attitude control processing are saved to memory and used as training data for the AI ​​to analyze the attitude. Based on these analysis results, the position of the weight 161 of the center of gravity control mechanism 160 is moved to the estimated position in order to maintain the attitude of the unmanned aircraft 100 horizontally (S203).

[0051] This analysis shows that in order to maintain the attitude of the unmanned aircraft 100 horizontally, the vertical propeller 152, the horizontal propeller 140, the ailerons 120A and flaps 120B of the main wing 120, and the rudder or control surfaces 130C and 130D of the tail wing 130 are controlled (S204~S207).

[0052] Upon arrival at the destination, a decision is made as to whether or not to drop the support supplies 10A and 10B (S208, S210). If support supplies 10A are to be dropped, the control circuit 111G controls the opening of the automatic door 111A and the dropping of support supplies 10A (S209). If support supplies 10B are to be dropped, the control circuit 111H controls the opening of the automatic door 111B and the dropping of support supplies 10B (S211). As the center of gravity changes due to the dropping of the support supplies, the center of gravity control device 166 controls the position of the counterweight 161 while referring to information from the IMU 165, the horizontal indicators 168A~D, the GPS 169A~D, and the fuel gauges 116D~F to maintain the attitude of the unmanned aircraft 100 horizontal.

[0053] The attitude control process described above is executed repeatedly in a loop until the flight mission of the unmanned aircraft 100 is completed (S212:Yes).

[0054] (An example of center of gravity control by the center of gravity control mechanism 160) Figures 5 to 8 show an example of center of gravity control by a center of gravity control mechanism 160 according to one embodiment. In Figures 5 to 8, (a) is a view from above, and (b) is a left side view.

[0055] Figure 5 shows the state in which support supplies 10A are stored in the first storage compartment 111A of the fuselage 110, and support supplies 10B are stored in the second storage compartment 111B. In this case, the weight of the unmanned aircraft 100 is heaviest at the front of the aircraft (the part in front of the main wing 120 (positive Y-axis side)). Therefore, as shown in Figures 5(a) and 4(b), the center of gravity control device 166 of the center of gravity control mechanism 160 moves the counterweight 161 to the first position P1, which is the rearmost position (negative Y-axis side). As a result, as shown in Figures 5(a) and 4(b), the center of gravity control device 166 of the center of gravity control mechanism 160 can maintain the center of gravity G of the unmanned aircraft 100 at a predetermined position (the center position of the main wing 120 when viewed from above (Z-axis direction)).

[0056] Figure 6 shows the state where the first storage compartment 111A of the fuselage 110 is empty and the support supplies 10B are stored in the second storage compartment 111B. In this case, the unmanned aircraft 100 has the second heaviest weight in the front part of the aircraft (the part in front of the main wing 120 (positive Y-axis side)). Therefore, as shown in Figures 6(a) and 6(b), the center of gravity control device 166 of the center of gravity control mechanism 160 moves the counterweight 161 to the second position P2, which is in front of the first position P1 (positive Y-axis side). As a result, as shown in Figures 6(a) and 6(b), the center of gravity control device 166 of the center of gravity control mechanism 160 can maintain the center of gravity G of the unmanned aircraft 100 at a predetermined position (the center position of the main wing 120 when viewed from above (Z-axis direction)).

[0057] Figure 7 shows the state in which the support supplies 10A are stored in the first storage compartment 111A of the fuselage 110, and the second storage compartment 111B is empty. In this case, the unmanned aircraft 100 has the third heaviest weight in the front part of the aircraft (the part in front of the main wing 120 (positive Y-axis side)). Therefore, as shown in Figures 7(a) and 7(b), the center of gravity control device 166 of the center of gravity control mechanism 160 moves the counterweight 161 to a third position P3, which is in front of the second position P2 (positive Y-axis side). As a result, as shown in Figures 7(a) and 7(b), the center of gravity control device 166 of the center of gravity control mechanism 160 can maintain the center of gravity G of the unmanned aircraft 100 at a predetermined position (the center position of the main wing 120 when viewed from above (Z-axis direction)).

[0058] Figure 8 shows the state where both the first storage compartment 111A and the second storage compartment 111B of the fuselage 110 are empty. In this case, the unmanned aircraft 100 has the lightest weight at the front of the aircraft (the part in front of the main wing 120 (positive Y-axis side)) (i.e., the fourth plane is the heaviest). Therefore, as shown in Figures 8(a) and 8(b), the center of gravity control device 166 of the center of gravity control mechanism 160 moves the weight 161 to the fourth position P4, which is the furthest forward (positive Y-axis side) position (i.e., the position in front of the third position P3 (positive Y-axis side)). As a result, as shown in Figures 8(a) and 8(b), the center of gravity control device 166 of the center of gravity control mechanism 160 can maintain the center of gravity G of the unmanned aircraft 100 at a predetermined position (the center position of the main wing 120 when viewed from above (Z-axis direction)).

[0059] Furthermore, the center of gravity control device 166 of the center of gravity control mechanism 160 can maintain a constant center of gravity G of the unmanned aircraft 100 by moving the weight 161 in the forward / backward direction (Y-axis direction) in response to changes in the attitude of the unmanned aircraft 100 due to changes in the amount of fuel in the fuel tank 116.

[0060] For example, in the unmanned aircraft 100, the fuel tank 116 is located at the rear of the fuselage 110 (behind the main wing 120 (negative Y-axis side)). As a result, the airframe of the unmanned aircraft 100 gradually tilts forward as the amount of fuel in the fuel tank 116 decreases during flight.

[0061] Therefore, the center of gravity control mechanism 160 periodically detects the aircraft's downward-sloping attitude using the IMU 165, the level meter 168, and the GPS 169. Each time, the center of gravity control device 166 gradually moves the weight 161 backward, thereby correcting the aircraft's downward-sloping attitude and maintaining a constant center of gravity G of the unmanned aircraft 100.

[0062] Although one embodiment of the present invention has been described in detail above, the present invention is not limited to these embodiments, and various modifications or changes are possible within the scope of the gist of the present invention as described in the claims.

[0063] For example, in the above embodiment, an IMU 165, a level meter 168, and a GPS 169 are used as an example of the "detection means," but the means are not limited to these. For example, as another example of the "detection means," a weight sensor ("second sensor") may be provided in each of the first storage compartment 111A, the second storage compartment 111B, and the fuel tank 116. In this case, the center of gravity control device 166 of the center of gravity control mechanism 160 may detect changes in the aircraft's attitude based on the measurements of each weight sensor.

[0064] For example, the weight 161 may be in any form. For instance, the weight 161 is not limited to a solid, but may be a liquid in a container.

[0065] Furthermore, the weight 161 is not limited to a configuration that moves linearly only in the front-to-back direction (Y-axis direction). For example, the weight 161 may also be configured to move linearly in the left-to-right direction (X-axis direction). In this case, the center of gravity control device 166 of the center of gravity control mechanism 160 may move the weight 161 in the left-to-right direction (left-to-right direction) based on the detection results of the left-to-right tilt of the aircraft by the IMU 165, the level meter 168, and the GPS 169, thereby maintaining the center of gravity G of the unmanned aircraft 100 at a predetermined position (the center position of the main wing 120 when viewed from above (Z-axis direction)).

[0066] Furthermore, for example, the weight 161 may be able to simultaneously adjust the position of the center of gravity G in the front-to-back direction (Y-axis direction) and the left-to-right direction (X-axis direction) by rotating it.

[0067] In the above embodiment, the center of gravity control mechanism 160 controlled the position of the weight 161 by a hydraulic system 164 and a hydraulic drive system 163. However, it is not limited to this, and for example, the center of gravity control mechanism 160 may be able to simultaneously adjust the position of the weight 161 in the front-to-back direction (Y-axis direction) and the left-to-right direction (X-axis direction) by a configuration that combines a motor, gears, a transport shaft, etc.

[0068] Furthermore, this invention is not limited to implementation using unmanned aircraft, but can also be implemented using manned aircraft. [Explanation of symbols]

[0069] 10A,10B Support supplies 100 unmanned aircraft 110 Torso 111A Storage Room 1 111B Second Storage Room 111C Storage Room 3 111D Storage Room 4 111E Storage Room 5 111F Storage Room 6 111G control circuit 111H control circuit 112 Front Wheel 113 Rear wheel 114 Equipment group 115 Camera 116 Fuel Tank 116A Fuel Tank (Right Side) 116B Fuel tank (center side) 116C Fuel Tank (Left Side) 116D Fuel gauge (right side) 116E Fuel gauge (center side) 116F Fuel gauge (left side) 120 Main Wing 120A Aileron 120B Flap 125 Support 130 tail 130A Vertical axis tail fin (right side) 130B Vertical axis tail fin (left side) 140 Horizontal Propeller 141 Rotation axis 150 engine 152 Vertical Propeller 160 Center of Gravity Control Mechanism 161 Weight 161A Through hole 162 Guide Rail 163 Hydraulic drive system 164 Hydraulic System 165 IMU (Detection means, first sensor) 166 Center of gravity control device (center of gravity control means) 167 Wall 168 Level meter 168A Horizontal gauge (right wing) 168B Level indicator (center wing) 168C Level indicator (left wing) 168D level gauge (front fuselage) 169 GPS 169A GPS (right wing) 169B GPS (center wing) 169C GPS (left wing) 169D GPS (front fuselage) G Center of gravity

Claims

1. A center of gravity control mechanism installed on an aircraft, A weight is movably attached to the airframe of the aforementioned aircraft, A detection means for detecting changes in the aircraft's attitude due to changes in the state of the payload, A center of gravity control means that adjusts the center of gravity of the aircraft by controlling the position of the weight in accordance with the change in the attitude of the aircraft detected by the detection means, and A center of gravity control mechanism characterized by comprising the following features.

2. The aforementioned detection means is The aircraft has a first sensor that detects the tilt of the aircraft as a change in the aircraft's attitude. The center of gravity control mechanism according to feature 1.

3. The aforementioned detection means is The system has a second sensor that indirectly detects changes in the aircraft's attitude by detecting the weight of the payload. The center of gravity control mechanism according to feature 1.

4. The aforementioned onboard items are supplies. The center of gravity control mechanism according to feature 1.

5. The aforementioned onboard item is fuel. The center of gravity control mechanism according to feature 1.

6. The aforementioned center of gravity control means is By controlling the position of the weight in the longitudinal direction, the center of gravity of the aircraft in the longitudinal direction is adjusted. The center of gravity control mechanism according to feature 1.

7. The aforementioned center of gravity control means is By controlling the lateral position of the aforementioned weight, the center of gravity of the aircraft in the lateral direction is adjusted. The center of gravity control mechanism according to feature 1.

8. The aforementioned center of gravity control means is By controlling the position of the aforementioned weight in the longitudinal and lateral directions, the center of gravity of the aircraft in the longitudinal and lateral directions is adjusted. The center of gravity control mechanism according to feature 1.

9. The aforementioned aircraft and, A center of gravity control mechanism according to any one of claims 1 to 8 An aircraft characterized by having the following features.

10. The aforementioned aircraft and, A center of gravity control mechanism according to any one of claims 1 to 8 A VTOL-type aircraft characterized by being equipped with the following features.

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