Aircraft

Abstract

To stabilize flight of a flying body.SOLUTION: A flying body includes a fitting part which is disposed in an airframe and to which a support member for supporting a pay load is fitted. The fitting part is positioned in the same place as the center of gravity of the airframe or upward from the center of gravity of the airframe in an airframe-vertical direction.SELECTED DRAWING: Figure 12

Description

[Technical field]

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

[0002] Patent Document 1 discloses an aircraft to which a power supply cable is connected. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-218061 A Summary of the Invention [Problem to be solved by the invention]

[0004] If a payload such as a power cable is connected to the aircraft, the flight may become unstable.

[0005] One aspect of the present disclosure aims to provide an aircraft capable of stabilizing flight. [Means for solving the problem]

[0006] An aircraft according to one aspect of the present disclosure is provided with an attachment section disposed on an airframe, to which a cable connected to the airframe and a support member for supporting a predetermined payload are attached, and the attachment section is located at the same position as the center of gravity of the airframe or lower than the center of gravity of the airframe in the vertical direction of the airframe. Upper position and the support member is arranged so that the cable and the support member are located outside the intended load. is placed, and The cable At a location away from the specified payload I support it. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of an aircraft according to an embodiment. [Diagram 2] 4A to 4C are diagrams illustrating examples of schematic configurations of an attachment portion and a support member. [Diagram 3] 4A to 4C are diagrams illustrating examples of schematic configurations of an attachment portion and a support member. [Figure 4] 4A to 4C are diagrams illustrating examples of schematic configurations of an attachment portion and a support member. [Diagram 5] FIG. 2 is a side view showing a schematic configuration of the aircraft. [Figure 6] FIG. 2 is a side view showing a schematic configuration of the aircraft. [Figure 7] FIG. 2 is a side view showing a schematic configuration of the aircraft. [Figure 8] FIG. 2 is a side view showing a schematic configuration of the aircraft. [Figure 9] FIG. 2 is a side view showing a schematic configuration of the aircraft. [Figure 10] FIG. 2 is a side view showing a schematic configuration of the aircraft. [Figure 11] FIG. 2 is a plan view showing a schematic configuration of the flying object. [Figure 12] FIG. 2 is a front view showing the schematic configuration of the flying object. [Figure 13] FIG. 2 is a side view showing an example of flight of the aircraft. [Figure 14] FIG. 2 is a side view showing an example of flight of the aircraft. [Figure 15] FIG. 2 is a side view showing an example of flight of the aircraft. [Figure 16] FIG. 2 is a side view showing an example of flight of the aircraft. [Figure 17] FIG. 2 is a side view showing an example of flight of the aircraft. [Figure 18] FIG. 2 is a side view showing an example of flight of the aircraft. [Figure 19] FIG. 13 is a plan view showing a schematic configuration of an aircraft according to a modified example. [Figure 20] FIG. 13 is a front view showing a schematic configuration of an aircraft according to a modified example. [Figure 21] FIG. 13 is a side view showing a schematic configuration of an aircraft according to a modified example. [Figure 22] FIG. 13 is a side view showing a schematic configuration of an aircraft according to a modified example. [Figure 23] FIG. 13 is a diagram showing a schematic configuration of an aircraft according to a modified example. [Figure 24]FIG. 13 is a diagram showing a schematic configuration of an aircraft according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the following embodiments, the same parts are designated by the same reference numerals, and duplicated descriptions will be omitted.

[0009] The present disclosure will be described in the following order. 1. Embodiment 1.1 Example of schematic configuration of flying vehicle 1.2 Mounting arrangement examples 1.3 Flight example 2. Modifications 3. Effects

[0010] 1. Embodiment 1.1 Example of schematic configuration of flying vehicle Fig. 1 is a diagram showing an example of a schematic configuration of an aircraft according to an embodiment. The aircraft 1 shown in Fig. 1 is, for example, a UAV (Unmanned Aerial Vehicle). A payload is connected to the aircraft 1. As an example of the payload, Fig. 1 shows a cable C. The cable C is, for example, a power supply cable. The power supply cable may be a composite cable including a power supply line, a communication line, and the like.

[0011] 1 includes a main body 2, an arm 3, a rotor 4, a landing gear 5, a support member 6, and an attachment portion 7. The body of the aircraft 1 is illustrated and referred to as an aircraft 10. The aircraft 10 indicates the main body 2, the arm 3, the rotor 4, the landing gear 5, etc. The support member 6 and the attachment portion 7 may be part of the aircraft 10, or may be separate parts from the aircraft 10.

[0012] The main body 2 constitutes the central part of the aircraft 10. The main body 2 includes, for example, a control device (not shown) therein for performing flight control and external communication. The control device may be configured to be able to use a Global Navigation Satellite System (GNSS). An example of a GNSS is a Global Positioning System (GPS). A camera 21 is mounted below the main body 2. The camera 21 is mounted so that at least a portion thereof is exposed from the aircraft 10, and captures an image of the surroundings including the area in front of the aircraft 1. The captured image is used for flight control of the aircraft 1 or transmitted to an external device. The position of the camera 21 is not limited to the example shown in FIG. 1. The camera 21 does not have to be mounted.

[0013] The arm 3 places the rotor 4 at a desired position. In this example, the arm 3 has a base end on the main body 2 side and extends outward from the main body 2. Each arm 3 may have the same shape. Note that the number and extending direction of the arms 3 are not limited to the example in FIG. 1.

[0014] The rotor 4 generates thrust. In this example, the rotor 4 is provided on the upper side of the arm 3 at the tip of the arm 3. However, the rotor 4 may be provided on the lower side of the arm 3, or on both the upper and lower sides. In a broad sense, the term "rotor" refers to a propulsion device composed of an engine (electric motor such as internal combustion, external combustion, or motor) that generates rotational motion and a propeller, and in a narrow sense, refers to a propeller. However, unless otherwise specified, the rotor will be described here as including a motor and a propeller. That is, the rotor 4 includes a motor 4a and a propeller 4b. The rotor 4 is provided so that the rotation axis of the propeller 4b is in the vertical direction of the aircraft. The propeller 4b is rotated by the motor 4a, generating a thrust (lift) toward the upper side of the aircraft. Adjacent rotors 4 may be controlled to rotate in opposite directions to each other, and the rotation speed of each rotor 4 may be controlled individually. By making the rotational speeds of the rotors 4 different from one another, the flying object 1 flies in a direction from the rotor 4 with a higher rotational speed to the rotor 4 with a lower rotational speed.

[0015] The landing gear 5 supports the aircraft 1 during landing. In this example, the landing gear 5 is provided below the arm 3 at the tip of the arm 3. The landing gear 5 is a rod-shaped member extending downward. During landing, the tip of the landing gear 5 comes into contact with the ground or the like, thereby supporting the aircraft 1.

[0016] When the flying object 1 flies, the attitude of the airframe 10 is controlled. The attitude control is performed, for example, by a control device in the main body 2 described above. An example of attitude control is control to maintain the airframe 10 in a horizontal attitude. For example, the thrust of each rotor 4 is individually controlled so that the inclination of the airframe 10 with respect to the horizontal direction detected by the image of the camera 21 and a sensor (gyro sensor, acceleration sensor, etc.) not shown is reduced. The thrust is controlled by adjusting the command value (command rotation speed) of the rotation speed of the rotor 4. By such attitude control, even if the airframe 10 is tilted, the airframe 10 is returned (restored) to a horizontal attitude, and the horizontal attitude is maintained.

[0017] As described above, the cable C is connected to the aircraft 10. When the cable C is the composite cable described above, one end of the cable C is connected to the aircraft 10, and the other end of the cable C is connected to ground equipment (not shown), etc. The ground equipment includes, for example, a power supply device and a communication device. The length of the cable C is, for example, about 100 m. The weight of the aircraft 1 excluding the cable C is, for example, about 5 kg, while the weight of the cable C can be, for example, about 2 kg. Since the weight of the cable C is significantly larger than the weight of the aircraft 1, the aircraft 1 is affected by the tension of the cable C. This may cause the attitude of the aircraft 10 to become unstable.

[0018] The above-mentioned influence of the cable C is reduced by the support member 6 and the mounting portion 7. The support member 6 and the mounting portion 7 will be described with reference to Figs. 2 to 4. Figs. 2 to 4 are diagrams showing examples of schematic configurations of the support member 6 and the mounting portion 7 seen from several viewpoints. In this example, the cable C is connected to the lower part of the main body 2 via the inlet 2a (Fig. 2).

[0019] The support member 6 supports the cable C. In this example, the support member 6 supports the cable C at a position different from the inlet 2a which is the connection point between the airframe 10 and the cable C. The support member 6 includes a main body 6a, a connection portion 6b, and a contact portion 6c.

[0020] The main body 6a provides the length and strength (rigidity) necessary to support the cable C. For example, the main body 6a may have a length greater than the distance from the attachment portion 7 to the inlet 2a. The main body 6a may have a rigidity that does not deform significantly due to the tension of the cable C. Examples of such a main body 6a include a metal wire, rod, etc. Also, the material is not limited to metal, and may be rubber, plastic, or FRP.

[0021] The connection portion 6b connects the support member 6 to the mounting portion 7. The connection portion 6b may connect the support member 6 to the mounting portion 7 so that the support member 6 can rotate with respect to the airframe 10. An example of such a connection is a pivotal engagement. An example of a connection portion 6b that enables pivotal engagement is a connection portion 6b having a hook shape. Two connection portions 6b are located at both ends of the main body 6a, and each connection portion 6b connects both ends of the main body 6a to a corresponding mounting portion 7. The support member 6 rotates (makes a circular motion) around the mounting portion 7.

[0022] The contact portion 6c brings the support member 6 into contact with the cable C. The contact portion 6c may connect the main body 6a to the cable C so that the cable C is fixed to the main body 6a. An example of such a contact portion 6c is a contact portion 6c having a bundle shape. The main body 6a and the cable C are bundled inside an opening of the bundle shape, so that the cable C is fixed to the main body 6a. In the example shown in Figs. 2 to 4, each of the two contact portions 6c bundles and fixes the cable C and the main body 6a at different parts of the cable C. In addition to this, the support member 6 and the cable C may be fixed in various other ways.

[0023] The support member 6 may support the cable C such that the length between the inlet 2a and the contact portion 6c in the cable C is longer than the length between the inlet 2a and the contact portion 6c in the vertical direction of the aircraft. For example, the cable C is supported such that the cable C has a curved portion between the attachment portion 7 and the support member 6. As a result, no tension in the cable C exists between the attachment portion 7 and the support member 6, and therefore the tension in the cable C acts on the support member 6, not on the inlet 2a.

[0024] The support member 6 may support the cable C such that the cable C and the support member 6 are in a non-contact state with the camera 21. The support member 6 may support the cable C such that the cable C and the support member 6 are located outside the angle of view of the camera 21. Such support of the cable C is achieved by adjusting the length of the main body 6a of the support member 6, the connection position between the contact portion 6c and the cable C, and the like.

[0025] The mounting portion 7 is disposed on the airframe 10 so that the support member 6 can be attached thereto. The mounting portion 7 is configured so that the support member 6 can rotate with respect to the airframe 10 when the support member 6 is attached thereto. An example of such a mounting portion 7 is a ring-shaped mounting portion 7. The connection portion 6b of the hook-shaped support member 6 is rotationally engaged with the ring-shaped support member 6, so that the support member 6 can rotate with respect to the airframe 10. In this example, the support member 6 is attached to the airframe 10 by connecting the main body 6a of the corresponding support member 6 to each of the two support members 6. The support member 6 rotates with respect to the airframe 10 around the horizontal direction of the airframe as the rotation axis (a plane including the vertical direction of the airframe as the rotation plane).

[0026] 1.2 Mounting arrangement examples In the aircraft 1, by devising an appropriate arrangement of the support members 6, the attitude of the fuselage 10 and the flight of the aircraft 1 can be stabilized.

[0027] FIG. 5 is a side view showing a schematic configuration of an aircraft. In the figure, an XYZ coordinate system is shown. The X-axis and Y-axis directions correspond to the horizontal direction. The Z-axis direction corresponds to the vertical direction. When the aircraft 10 is in a horizontal attitude, the X-axis direction corresponds to the left-right direction of the aircraft, the Y-axis direction corresponds to the front-rear direction of the aircraft, and the Z-axis direction corresponds to the up-down direction of the aircraft. Below, the attitude of the aircraft 10 in the front-rear direction of the aircraft and the stabilization of the aircraft 1 will be mainly described. The same applies to the tilt of the aircraft 10 in the left-right direction, so the description will be omitted. In the figure, the center of gravity of the aircraft 10 when there is no cable C is called the aircraft center of gravity G and is illustrated.

[0028] FIG. 5 shows the following variables for considering the longitudinal tilt of the fuselage 10: W: Weight of the unit 10 (kg) Wc: Weight of cable C (kg) T1: Sum of thrust of rotor 4 at the front of the aircraft (kg) T2: Sum of thrust of rotor 4 at the rear of the aircraft (kg) L: Distance from the center of gravity G to rotor 4 (mm) a: Displacement of the connection position of cable C and main body 2 relative to the center of gravity G of the aircraft (mm) From the balance of forces and balance of moments, the following equations are established using the above variables. T1+T2=W+Wc T2×L-T1×L=a×Wc Solving the above two equations, we get T1=((W+Wc)L+aWc) / 2L T2=((W+Wc)L-aWc) / 2L That is, as the weight Wc of the cable C increases, and as the amount of deviation a of the connection position of the cable C and the main body 2 with respect to the center of gravity G of the aircraft increases, the imbalance in the thrust of the rotors 4 at the front and rear of the aircraft increases, and the flight of the aircraft 1 becomes more likely to become unstable.

[0029] The center of gravity G of the aircraft can be calculated, for example, by the following procedure. The total weight and center of gravity position (corresponding to the weight of the aircraft 1 and center of gravity G of the aircraft) can be obtained by inputting the density of all components of the aircraft 10 into CAD. If the weights of the components of the aircraft 1 are W1, W2, ... Wn, the distances from a certain point to each component are X1, X2, ... Xn, and the center of gravity position is X, the center of gravity in the X-axis direction can be obtained by the following formula. X=(X1×W1+X2×X2+…+Xn×Wn) / (W1+W2+…+Wn) The same applies to the Y-axis and X-axis directions.

[0030] Based on the above, the relationship between the position of the support member 6 and the position of the center of gravity G of the aircraft will be described. First, the relationship between the position of the support member 6 in the vertical direction of the aircraft and the position of the center of gravity G of the aircraft will be described with reference to Figures 6 to 10. Figures 6 to 10 are side views showing the schematic configuration of the aircraft.

[0031] In the example shown in Fig. 6, the mounting portion 7 is located at the same height as the aircraft's center of gravity G. The following variables are shown in Fig. 6: W: Weight of the unit 10 (kg) T1: Sum of thrust of rotor 4 at the front of the aircraft (kg) T2: Sum of thrust of rotor 4 at the rear of the aircraft (kg) T: tension acting on the support member 6 (kg) θ: Inclination of the support member 6 (rad) F: Wind resistance (kg) From the balance of forces, the following equation is established using the above variables: T1+T2=W T = F sinθ In other words, no moment acts on the aircraft 10 to rotate around the aircraft's center of gravity G due to the drag of the wind. When the support member 6 is positioned at the same height as the aircraft's center of gravity G in this way, the attitude of the aircraft 10 and the flight of the aircraft 1 are stabilized.

[0032] In the example shown in Fig. 7, the mounting portion 7 is located below the aircraft's center of gravity G. The following variables are shown in Fig. 7. W: Weight of the unit 10 (kg) T1: Sum of thrust of rotor 4 at the front of the aircraft (kg) T2: Sum of thrust of rotor 4 at the rear of the aircraft (kg) T: tension acting on the mounting part 7 (kg) θ: Inclination of the support member 6 (rad) L: Distance from the center of gravity G to rotor 4 (mm) b: Distance from the center of gravity G of the aircraft to the mounting part 7 (mm) F: Wind resistance (kg) From the balance of forces and balance of moments, the following equations are established using the above variables: T1+T2=W T = F sinθ T2×L-T2×L=Fb In the third formula, when the moment on the left side exceeds the moment on the right side, the airframe 10 tilts backward (negative direction of the Y-axis) as shown in Fig. 8. In this case, the force acting in the direction blown by the wind is (T1+T2)sinθ+F, and the moment force trying to restore the attitude of the airframe 10 is (T2cosθ-T1cosθ)×Lb×Fcosθ. In other words, the greater the tilt, the more difficult the restoring force becomes, and the thrust of the rotor 4 acts in the direction blown by the wind. In this way, when the support member 6 is located below the center of gravity G of the airframe, it becomes difficult to restore the horizontal attitude, and the attitude of the airframe 10 and the flight of the aircraft 1 tend to become unstable.

[0033] In the example shown in Figure 9, the mounting portion 7 is located above the aircraft's center of gravity G. The following variables are shown in Figure 9. W: Weight of aircraft 1 (kg) T1: Sum of thrust of rotor 4 at the front of the aircraft (kg) T2: Sum of thrust of rotor 4 at the rear of the aircraft (kg) T: tension acting on the mounting part 7 (kg) θ: Inclination of the support member 6 (rad) L: Distance from the center of gravity G to rotor 4 (mm) b: Distance from the center of gravity G of the aircraft to the mounting part 7 (mm) F: Wind resistance (kg) From the balance of forces and balance of moments, the following equations are established using the above variables: T1+T2=W T = F sinθ T2×L+Fb=T1×L Basically, when a force F due to the wind acts, control is performed so that T2 is greater than T1, and the aircraft 10 tilts forward (positive direction of the Y axis) as shown in Figure 10. In this case, the force acting in the direction of the wind is T-(T1+T2)sinθ, and the moment force trying to restore the attitude of the aircraft 10 is (T2cosθ-T1cosθ)×L+b×Fcosθ. The thrust of the rotor 4 acts in a direction resisting the wind, and the moment acting on the aircraft 10 also tilts in a direction resisting the wind. In this way, when the support member 6 is located above the center of gravity G of the aircraft, it is easy to restore the aircraft 10 to a horizontal attitude, and the attitude of the aircraft 10 and the flight of the aircraft 1 are stabilized.

[0034] As described above, by positioning the support member 6 at the same height as the center of gravity G of the aircraft in the vertical direction of the aircraft 10 or above the center of gravity G of the aircraft, the attitude of the aircraft 10 and the flight of the flying object 1 are stabilized.

[0035] Next, the relationship between the position of the support member 6 in the front-rear and left-right directions of the fuselage 10 and the position of the center of gravity G of the fuselage will be described with reference to FIG.

[0036] FIG. 11 is a plan view showing the schematic configuration of the aircraft 1, and is a view of the aircraft 1 viewed from the top and bottom of the aircraft (a plan view of the aircraft 1). The two mounting parts 7 are located outside the center of gravity G of the aircraft. More specifically, the two support members 6 are a pair of mounting parts located on opposite sides of the center of gravity G of the aircraft (both sides of the main body 2 in this example). In FIG. 5, a straight line connecting the two mounting parts 7 is shown by a dashed dotted line. The center of gravity G of the aircraft is located on that straight line (more specifically, in the middle of the straight line). As a result, the tension of the cable C acts on the center of gravity G of the aircraft via the two support members 6 and the mounting parts 7.

[0037] By applying the tension of the cable C to the center of gravity G of the aircraft, the problem of the aircraft 10 becoming unstable due to the large imbalance in thrust between the front and rear rotors 4 caused by the amount of misalignment a of the connection position of the cable C and the main body 2 relative to the center of gravity G of the aircraft, as previously described with reference to Fig. 5, is resolved. For example, by positioning the two support members 6 on opposite sides of the center of gravity G of the aircraft as described above, the attitude of the aircraft 10, and therefore the flight of the aircraft 1, is stabilized.

[0038] The number of attachment portions 7 is not limited to two, which will be described later with reference to FIG.

[0039] FIG. 12 is a front view showing a schematic configuration of the aircraft 1. The support member 6 is provided so that the aircraft 10 is stabilized by the above-mentioned principle. That is, in the vertical direction of the aircraft, the support member 6 is located at the same position as the aircraft's center of gravity G or above the aircraft's center of gravity G (in this example, at the same position as the aircraft's center of gravity G). The two support members 6 are located on opposite sides of the aircraft's center of gravity G (in this example, on both sides of the main body 2). The support member 6 has a U-shape that protrudes downward from the aircraft 10. The U-shape includes the camera 21 inside while being separated from the camera 21 (in a non-contact state).

[0040] 1.3 Flight example 13 to 18 are side views showing examples of flying of the aircraft.

[0041] As shown in FIG. 13, the aircraft 1 in a horizontal attitude is subjected to drag F due to wind in the negative direction of the Y axis. As shown in FIG. 14, the aircraft 1 moves in the negative direction of the Y axis, and tension T is generated in the support member 6. The support member 6 rotates so that its orientation is aligned with the direction of tension T. As shown in FIG. 15, the sum T1 of the thrusts of the rotors 4 at the front of the aircraft and the sum T2 of the thrusts of the rotors 4 at the rear of the aircraft provide a thrust in the positive direction of the Y axis. This thrust acts in a direction that resists drag F due to the wind shown in FIG. 13, so the aircraft 1 can remain within a certain range in the horizontal direction.

[0042] Also, as shown in FIG. 16, the aircraft 1 in a horizontal attitude is subjected to a drag force F due to wind in the positive direction of the Y-axis. As shown in FIG. 17, the aircraft 1 moves in the positive direction of the Y-axis, and tension T is generated in the support member 6. The support member 6 rotates so that its orientation is aligned with the direction of tension T. As shown in FIG. 18, the sum T1 of the thrusts of the front rotors 4 and the sum T2 of the thrusts of the rear rotors 4 provide a thrust in the negative direction of the Y-axis. This thrust acts in a direction that resists the drag force F due to the wind shown in FIG. 16, so the aircraft 1 can remain within a certain range in the horizontal direction.

[0043] In this way, even if the aircraft 10 is blown by the wind, or if the aircraft 10 stumbles because it cannot receive a GPS signal, the aircraft 10 can remain within a certain range as a restoring force acts to return it to its original position when it tries to drift in a certain direction. Therefore, the flight of the aircraft 1 is stabilized.

[0044] 2. Modifications Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment. Some modified examples will be described.

[0045] For example, in the above embodiment, an example in which the aircraft 1 has two attachment parts 7 has been described. However, the aircraft 1 may have three or more attachment parts 7. FIG. 19 is a plan view showing an example of a schematic configuration of the aircraft 1 according to such a modified example. The aircraft 1A shown in FIG. 19 is different from the aircraft 1 (FIG. 5) in that it has three attachment parts 7. The three attachment parts 7 are arranged to surround the aircraft's center of gravity G. The aircraft's center of gravity G is located inside a triangle with each attachment part 7 as its vertex. The aircraft's center of gravity G may be located at the center of the triangle. In the aircraft 1A, the support member 6 may have three connection parts 6b (see FIG. 2, etc.) connected to each attachment part 7. When the aircraft 1A has n attachment parts 7 (n is an integer of 3 or more), the aircraft's center of gravity G is located inside an n-gon with each attachment part 7 as its vertex. The aircraft's center of gravity G may be located at the center of the n-gon.

[0046] In the above embodiment, an example has been described in which the aircraft 1 includes one support member 6. However, the aircraft 1 may include multiple support members 6. In this case, some of the support members 6 may share the same mounting portion 7.

[0047] In the above embodiment, an example has been described in which the attachment portion 7 is provided on the main body 2 of the machine body 10. However, the support member 6 may be provided on a portion of the machine body 10 other than the main body 2.

[0048] In the above embodiment, an example has been described in which the connection portion 6b of the support member 6 has a hook shape, and the attachment portion 7 has a ring shape. However, the shapes of the connection portion 6b and the attachment portion 7 are not limited to these. For example, at least one of the connection portion 6b and the attachment portion 7 may have a hook shape, or one may have a hook shape and the other may have a ring shape. In addition to the ring shape and hook shape, various shapes may be adopted so that the support member 6 can rotate with respect to the fuselage 10.

[0049] For example, in the above embodiment, an example has been described in which the contact portion 6c fixes the cable C at two points on the main body 6a. However, the cable C may be fixed at one point. FIG. 20 is a front view showing an example of a schematic configuration of an aircraft according to such a modified example. The aircraft 1B differs from the aircraft 1 (FIG. 12, etc.) in that it includes a support member 6B instead of the support member 6. The support member 6B supports the cable C only at one point at the bottom of the U-shape. The support member 6B is configured to have the rigidity necessary to hold such a cable C.

[0050] The cable C may be supported at three or more points by the supporting member.

[0051] In the above embodiment, an example has been described in which the support target of the support member 6 is a cable C. However, the support target of the support member 6 is not limited to the cable C. FIG. 21 is a side view showing a schematic configuration of an aircraft according to such a modified example. The aircraft 1C shown in FIG. 21 differs from the aircraft 1 (FIG. 1, etc.) in that it includes a support member 6C instead of the support member 6. The support member 6C supports a payload P. Examples of the payload P include a gimbal and a camera. The camera as the payload P may be the camera 21 mounted (connected) on the aircraft 10, or may be a camera separate from the camera 21. In this example, a cable attached to the payload P is supported by the support member 6C.

[0052] In the above embodiment, an example has been described in which the camera 21 is mounted on the aircraft. However, the camera 21 does not necessarily have to be mounted. Fig. 22 is a side view showing a schematic configuration of an aircraft according to such a modified example. The aircraft 1D shown in Fig. 22 differs from the aircraft 1C (Fig. 21) in that the camera 21 is not mounted.

[0053] In the above embodiment, an example in which the aircraft 1 has multiple attachment parts 7 has been described. However, the aircraft 1 may have only a single attachment part. Figures 23 and 24 are diagrams showing a schematic configuration of an aircraft according to such a modified example. The aircraft 1E shown in Figure 23 is different from the aircraft 1 (Figure 3, etc.) in that it has a support member 6E and an attachment part 7E instead of the support member 6 and the attachment part 7. The aircraft of the aircraft 1E is called the aircraft 10E and shown in the figures. In this example, the attachment part 7E is provided on the upper part of the aircraft 10E located above the aircraft center of gravity G (see Figures 11 and 12, etc.). When viewed from the top-bottom direction of the aircraft (when the aircraft 10E is viewed from above), the attachment part 7E is provided at the same position as the aircraft center of gravity G. The support member 6E has a first part 6E1 and a second part 6E2. One end of the first part 6E1 is in contact with the cable C and is connected to the cable C. The other end of the first portion 6E1 is connected to one end of the second portion 6E2. The first portion 6E1 and the second portion 6E2 are connected to each other so as to rotate about the center of a rotation hole H (in this example, a hole whose depth direction is in the X-axis direction) as a rotation axis. The other end of the second portion 6E2 is connected to the attachment portion 7E. The second portion 6E2 and / or the attachment portion 7E are provided so as to be rotatable around the Z-axis direction.

[0054] In the aircraft 1E, the attachment part 7E is located at the same position as the aircraft's center of gravity G in the vertical direction of the aircraft or above the aircraft's center of gravity G, so that the flight of the aircraft 1E can be stabilized. Note that Figs. 23 and 24 show an example in which the cable C is connected to the aircraft 10E and supported by the support member 6E at the same position as the aircraft's center of gravity G in the horizontal direction of the aircraft. However, the cable C may be connected to another part of the aircraft 10. In that case, the first part 6E1 of the support member 6E may be composed of a wire part or the like and fixed to the cable C.

[0055] 3. Effects The flying object described above is specified, for example, as follows. As illustrated in Fig. 1 etc., the flying object 1 is disposed on the airframe 10, and includes an attachment part 7 to which a support member 6 that supports a payload (e.g., the cable C in Fig. 1 and the payload P in Fig. 22, etc.) is attached. As illustrated in Fig. 12 etc., in the vertical direction of the airframe, the attachment part 7 is located at the same position as the center of gravity G of the airframe or above the center of gravity G of the airframe.

[0056] According to the above-described aircraft 1, the support member 6 that supports the payload is attached to the attachment portion 7 that is located at the same position as the aircraft's center of gravity G or above the aircraft's center of gravity G. This reduces the effect of the tension of the payload and the like on the flight of the aircraft 1, and makes it possible to stabilize the attitude of the aircraft 10 and, ultimately, the flight of the aircraft 1.

[0057] As illustrated in FIG. 1 and the like, the mounting portion 7 may be configured so that the support member 6 can rotate with respect to the airframe 10 when the support member 6 is attached. For example, the support member 6 may include a connection portion 6b that is rotatably engaged with the mounting portion 7. At least one of the connection portion 6b and the mounting portion 7 may have a hook shape. One of the connection portion 6b and the mounting portion 7 may have a hook shape, and the other may have a ring shape. For example, by mounting the support member 6 to be rotatable with respect to the airframe 10 in this manner, the aircraft 1 may further include a plurality of rotors 4 that generate thrust upwards of the aircraft. This allows the flight of the aircraft 1 to be stabilized, as previously described with reference to FIGS. 13 to 18.

[0058] As illustrated in Fig. 1 and other figures, the payload may be a cable C connected to the airframe 10. As illustrated in Fig. 2 and other figures, the support member 6 may include a plurality of contact portions 6c, each of which contacts a different portion of the cable C. By supporting the cable C at a plurality of points in this manner, it is possible to prevent the support member 6 from bending or deforming into a triangular shape or the like due to, for example, its own weight, and to avoid contact between the cable C and the support member 6.

[0059] The support member 6 may include a metal wire. By using a member having a certain rigidity (strength) such as a metal wire, the support of the payload by the support member 6 can be stabilized.

[0060] As illustrated in Figs. 23 and 24, etc., the attachment portion 7E may be a single attachment portion located at the same position as the center of gravity of the aircraft when viewed from the vertical direction of the aircraft. Alternatively, as illustrated in Fig. 11, etc., the attachment portion 7 may be a pair of attachment portions located on opposite sides of the center of gravity G of the aircraft when viewed from the vertical direction of the aircraft (when the aircraft 10 is viewed in a plan view). As illustrated in Fig. 19, etc., the attachment portion 7 may be a plurality of attachment portions located at the vertices of a polygon centered on the center of gravity G of the aircraft when viewed from the vertical direction of the aircraft. This allows the tension of the cable C to act on the center of gravity G of the aircraft, thereby stabilizing the attitude of the aircraft 10 and the flight of the aircraft 1.

[0061] As described with reference to FIG. 21 and FIG. 22 etc., the payload may be a camera (which may be the camera 21 or another camera) connected to the airframe 10, and the support member 6C may support the camera. As exemplified in FIG. 12 etc., the support member 6 may have a U-shape including the camera 21 inside. The payload may be at least one of the camera and the cable C connected to the airframe 10. When the payload includes the cable C, the support member 6 may support the cable C such that the cable C and the support member 6 are positioned outside the angle of view of the camera 21. This makes it possible to prevent the cable C from coming into contact with the payload. When the payload is the camera 21, it is possible to prevent the cable C from being captured by the camera 21.

[0062] Note that the effects described in this disclosure are merely examples and are not limited to the disclosed contents. Other effects may also be obtained.

[0063] Although the embodiments of the present disclosure have been described above, the technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present disclosure. In addition, components of different embodiments and modifications may be appropriately combined.

[0064] Furthermore, the effects of each embodiment described in this specification are merely examples and are not limiting, and other effects may also be provided.

[0065] The present technology can also be configured as follows. (1) a mounting portion disposed on the airframe and to which a support member for supporting a payload is attached; In the vertical direction of the aircraft, the mounting portion is located at the same position as the center of gravity of the aircraft or at a position above the center of gravity of the aircraft. Flying vehicle. (2) The mounting portion is configured so that the support member can rotate relative to the airframe when the support member is mounted. (1) An aircraft as described above. (3) The support member is further provided. The support member includes a connection portion that pivotally engages with the mounting portion. (2) An aircraft as described above. (4) At least one of the attachment portion and the connection portion has a hook shape. (3) An aircraft as described above. (5) One of the attachment portion and the connection portion has a hook shape, and the other has a ring shape. (4) An aircraft as described in (1). (6) The aircraft further includes a plurality of rotors for generating thrust upward. An aircraft described in any one of (1) to (5). (7) the payload is a cable connected to the vehicle; the support member includes a plurality of contact portions, each contacting a different portion of the cable; An aircraft described in any one of (1) to (6). (8) The support member includes a metal wire. An aircraft described in any one of (1) to (7). (9) The mounting portion is a single mounting portion located at the same position as the center of gravity of the aircraft when viewed from the vertical direction of the aircraft. An aircraft described in any one of (1) to (8). (10) The mounting portions are a pair of mounting portions located on opposite sides of the center of gravity of the aircraft when viewed from the vertical direction of the aircraft. An aircraft described in any one of (1) to (8). (11) The mounting portions are a plurality of mounting portions located at vertices of a polygon having the center of gravity of the aircraft as a center when viewed from the vertical direction of the aircraft. An aircraft described in any one of (1) to (8). (12) the payload is a camera connected to the vehicle; The support member supports the camera. An aircraft described in any one of (1) to (11). (13) The support member has a U-shape with the camera therein. (12) An aircraft as described in (12). (14) the payload is a cable and / or a camera connected to the vehicle; the support member supports the cable such that the cable and the support member are positioned outside the angle of view of the camera. An aircraft described in any one of (1) to (13). [Explanation of symbols]

[0066] 1. Flying object 2 Main unit 3 Arm 4 Rotors 4a Motor 4b Propeller 5 Landing Gear 6 Supporting member 6a Main unit 6b Connection 6c Contact part 7 Mounting part 10 Aircraft 21 Camera C Cable P Payload

Claims

1. a mounting portion disposed on the airframe and to which a cable connected to the airframe and a support member for supporting a predetermined load are attached; In the vertical direction of the aircraft, the mounting portion is located at the same position as the center of gravity of the aircraft or at a position above the center of gravity of the aircraft, The support member is disposed so as to be located outside the predetermined mounted object, and supports the cable at a position spaced apart from the predetermined mounted object. Flying vehicle.

2. The mounting portion is configured so that the support member can rotate relative to the airframe when the support member is mounted. The flying vehicle according to claim 1.

3. The support member includes a connection portion that pivotally engages with the mounting portion, The flying vehicle according to claim 2.

4. At least one of the attachment portion and the connection portion has a hook shape. The flying vehicle according to claim 3.

5. One of the attachment portion and the connection portion has a hook shape, and the other has a ring shape. The flying vehicle according to claim 4.

6. The aircraft further includes a plurality of rotors for generating thrust upward. The flying vehicle according to claim 1.

7. the support member includes a plurality of contact portions, each contacting a different portion of the cable; The flying vehicle according to claim 1.

8. The support member includes a metal wire. The flying vehicle according to claim 1.

9. The mounting portion is a single mounting portion located at the same position as the center of gravity of the aircraft when viewed from the vertical direction of the aircraft. The flying vehicle according to claim 1.

10. The mounting portions are a pair of mounting portions located on opposite sides of the center of gravity of the aircraft when viewed from the vertical direction of the aircraft. The flying vehicle according to claim 1.

11. The mounting portions are a plurality of mounting portions located at vertices of a polygon having the center of gravity of the aircraft as a center when viewed from the vertical direction of the aircraft. The flying vehicle according to claim 1.

12. the predetermined on-board object is a camera connected to the aircraft, The support member supports the camera. The flying vehicle according to claim 1.

13. The support member has a U-shape with the camera therein. The air vehicle according to claim 12.

14. The predetermined mounted object is a camera, the support member supports the cable such that the cable and the support member are positioned outside the angle of view of the camera. The flying vehicle according to claim 1.

Images