Flying robot

Abstract

This flying robot includes a body unit, and a plurality of propulsion units that generate propulsive force by driving rotor blades. The plurality of propulsion units include: a propulsion part provided on the body unit; a plurality of leg units supporting the body unit, each leg unit having at least one joint and being configured to be capable of changing the posture of the leg unit; and a control unit that controls the plurality of leg units when landing on a landing surface from a flying state. The control unit adjusts the inclination of the body unit by controlling part or the whole of at least one of the leg units before completely landing on the landing surface after the at least one leg unit contacts the landing surface.

Description

[Technical field]

[0001] The present invention relates to a flying robot. [Background technology]

[0002] In recent years, unmanned aerial vehicles are used for various purposes, and their development is actively underway. Radio-controlled unmanned helicopters and so-called drones are used as unmanned aerial vehicles. Here, a technology is known for supporting a helicopter horizontally by adjusting the length of the landing support when landing the helicopter on a slope (see, for example, Patent Document 1). Also, a technology is known for connecting landing legs to the main body of the aerial vehicle so as to be independently displaceable, and supporting the main body horizontally when landing on rough ground (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2015-530318 [Patent Document 2] JP 2019-206333 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventionally, landing on an inclined flat surface has been assumed, but landing on an uneven surface has not been assumed. Therefore, there is a risk that a conventional flying object will lose balance when landing on an uneven surface.

[0005] The present invention has been made in consideration of the various circumstances described above, and an object of the present invention is to enable a more stable landing. [Means for solving the problem]

[0006] One aspect of the present invention is a flying robot comprising: a main body; a plurality of propulsion units that generate propulsion by driving rotors, the plurality of propulsion units being a propulsion section provided on the main body; a plurality of legs supporting the main body, each of the plurality of legs having at least one joint and configured to be able to change the posture of each leg; and a control unit that controls the plurality of legs when landing on a landing surface from a flying state, wherein the control unit controls a part or all of the at least one leg to adjust the inclination of the main body from the time at least one of the plurality of legs contacts the landing surface to the time landing on the landing surface is completed. Effect of the Invention

[0007] According to the present invention, a more stable landing is possible. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a flying robot according to an embodiment. [Diagram 2] FIG. 2 is an example of a block diagram illustrating each functional unit included in a main body unit according to an embodiment. [Diagram 3] 1A and 1B are diagrams illustrating the state of the legs when the flying robot according to the embodiment lands. [Figure 4] 11 is a diagram showing an example of a relationship between the flying robot and an obstacle when the flying robot according to the embodiment rises. FIG. [Diagram 5] 4 is an example of a flowchart of landing control according to the first embodiment. [Figure 6] FIG. 11 is a diagram showing a state of the legs of the flying robot according to a modified example of the first embodiment when landing. [Figure 7] 13 is an example of a flowchart of landing control according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A flying robot according to one aspect of the present invention includes a main body, a propulsion unit, legs, and a control unit. The propulsion unit has a plurality of propulsion units. The propulsion units can change the propulsive force individually, for example, by individually changing the rotation speed of the rotors, thereby changing the attitude of the flying robot. For example, by providing a difference in the propulsive force of the plurality of propulsion units, the flying robot can be tilted to move in a desired direction or control its attitude. In addition, by simultaneously changing the propulsive force of the plurality of propulsion units, the flying robot can be moved in a vertical direction.

[0010] The tips of the legs are parts that come into contact with the landing surface when the flying robot lands. Here, when landing on an uneven surface, not all of the legs come into contact with the landing surface at the same time. And, for example, if the landing surface is uneven and one leg comes into contact with the landing surface first, the flying robot may tilt around this contact point. That is, when one leg comes into contact with the landing surface, the leg receives a reaction force from the landing surface, causing the flying robot to tilt. In contrast, the legs in the present disclosure have at least one joint. Here, when the leg comes into contact with the landing surface and a force is applied to the leg, the vertical distance between the tip and base ends of the leg can be changed by moving the joint of the leg. This can reduce the reaction force received from the landing surface. And, by controlling a part or all of the at least one leg among the plurality of legs to adjust the inclination of the main body from the time the leg comes into contact with the landing surface until the landing on the landing surface is completed, it is possible to suppress the posture from being lost during landing. Completion of landing means, for example, that the propulsion force of the propulsion unit can be stopped. The flying robot may be in a flying state until the landing is completed. The multiple legs may be configured, for example, so that the flying robot can walk after the flying robot lands. That is, the multiple legs may have a function as legs when landing and a function as legs when walking after landing. In this way, the legs can be used both as legs when landing and as legs when walking after landing. However, the walking function is not essential for the multiple legs.

[0011] In addition, the control unit may execute a first process of recognizing, during the process of lowering the main body unit by the propulsion unit to land on the landing surface from the flight state, the leg among the multiple legs that first contacts the landing surface as a first leg, and a second process of further lowering the main body unit to bring the other leg into contact with the landing surface after the first process, while maintaining contact between the first leg and the landing surface and moving the joint of the first leg.

[0012] The descent of the main body continues even after the first leg contacts the landing surface. Therefore, the process of lowering the main body includes the time when the main body is descending after the leg contacts the landing surface. In the first process, the leg that first contacts the landing surface is recognized as the first leg. Whether each leg contacts the landing surface can be determined, for example, by providing a pressure sensor at the tip of each leg and based on a change in the output value of the pressure sensor. Alternatively, for example, a force applied to a joint of each leg may be detected. This detection may be performed using a change in current flowing through an actuator provided at the joint. Alternatively, for example, the first leg may be recognized according to the inclination of the main body. For example, when the main body is inclined, the leg whose base end is located at the top may be recognized as the first leg.

[0013] In the second process, the main body is further lowered while moving the joint of the first leg. By moving the joint of the first leg, the reaction force from the landing surface can be reduced even if the main body is further lowered, so tilting of the main body can be suppressed. Further lowering of the main body can cause legs other than the first leg to come into contact with the landing surface. In this way, the second process can cause legs other than the first leg to come into contact with the landing surface while suppressing tilting of the main body.

[0014] In addition, in the second process, the control unit may lower the main body unit while maintaining contact between the other leg that is in contact with the landing surface and the landing surface and moving the joint of the other leg. This allows the other leg to come into contact with the landing surface. In this way, by sequentially bringing the multiple legs into contact with the landing surface and moving the joint of the leg that is in contact with the landing surface, it is possible to bring the multiple feet into contact with the landing surface without changing the posture of the main body unit.

[0015] In addition, while the control unit is performing the second process, the propulsion unit may drive the plurality of propulsion units so as to maintain the main body in a horizontal state. That is, when the legs contact the landing surface, the propulsion forces of the plurality of propulsion units are individually changed while moving the joints, so that the main body can easily approach a horizontal state.

[0016] The control unit may further execute a third process for determining whether or not the descent of the main body unit can continue for the contact of the other leg with the landing surface, based on the angle of the joint in the first leg while the second process is being performed. When the main body unit is lowered while moving the joint of the first leg, if the distance between the other leg and the landing surface is long, the upper limit of the movable range of the joint may be reached while moving the joint of the first leg. For example, if the landing surface on which the first leg contacts is protruding, or if there is a hole in the landing surface below the other leg, the joint of the first leg will reach the upper limit of the movable range before the other leg contacts the landing surface. In this case, if the main body unit is further lowered, the reaction force that the first leg receives from the landing surface cannot be reduced, so that the main body unit may tilt around the contact part between the first leg and the landing surface. Therefore, the control unit determines whether or not the descent of the main body unit can continue. By executing such a third process, it is possible to determine whether or not the horizontal state of the main body unit can be maintained, and therefore landing in an unstable state can be suppressed.

[0017] In addition, when it is determined in the third process that the descent of the main body cannot be continued, the control unit may cause the propulsion unit to raise the main body to the position at the time of the first contact while maintaining the state in which the first leg is in contact with the landing surface and returning the angle of the joint in the first leg to the state at the time of the first contact when the first leg first contacted the landing surface. When it is determined in the third process that the descent of the main body cannot be continued, the main body may be tilted beyond the upper limit of the movable range of the joint of the first leg. If the propulsion force of the propulsion unit is increased while the main body is tilted, there is a risk that the aircraft will rise toward the tilted direction from the vertical direction. And, if there is an obstacle in the direction in which the aircraft rises, there is a risk that the aircraft will come into contact with the obstacle. Therefore, the control unit causes the propulsion unit to raise the main body to the position at the time of the first contact while returning the angle of the joint in the first leg to the state at the time of the first contact when the first leg first contacted the landing surface. In the state at the time of the first contact, the joint of the first leg is within the movable range, so the main body can be maintained in a horizontal state. When the main body is maintained in a horizontal state, the main body can rise vertically even if the propulsion section increases the thrust of the propulsion unit, so that contact with an obstacle nearby can be suppressed. Also, by raising the main body while maintaining the first leg in contact with the landing surface, the main body can be stabilized.

[0018] Further, a pressure sensor capable of detecting a pressure when each leg contacts the landing surface is provided at the tip of each of the plurality of legs, and the control unit, in the first process, recognizes the first leg based on the presence or absence of an output related to the contact from the pressure sensor provided on the first leg, and the control unit may further execute a fourth process in which the control unit determines that the landing of the flying robot on the landing surface is completed when the output values ​​of the pressure sensors provided on each of the plurality of legs are in a predetermined correlation state. That is, when a leg contacts the landing surface, the output of the pressure sensor provided on the leg changes. Therefore, when the output of the pressure sensor provided on each leg changes, it can be determined that the leg has contacted the landing surface. If another leg contacts the landing surface after that, the output of the pressure sensor provided on the leg that contacted the landing surface changes. In this way, it is possible to determine which leg is in contact with the landing surface based on the presence or absence of an output of the pressure sensor provided on each leg. Then, when the landing of the flying robot is completed, the output of the pressure sensor provided on each leg becomes an output according to the completion of the landing. For example, the sum of the pressures detected by the pressure sensors may be a value that correlates with the mass of the flying robot. Therefore, the predetermined correlation state is a state in which it is possible to determine that the landing of the flying robot is complete. The fourth process may be executed, for example, taking into account the upward thrust of the propulsion unit and the mass of the flying robot. When the landing is complete, the tilt of the main body is suppressed even if the propulsion unit stops the generation of thrust by the propulsion unit.

[0019] The control unit may further include a detection unit for detecting the inclination of the main body unit, and when the control unit detects the inclination of the main body unit from the horizontal state by the detection unit when the plurality of legs are in a predetermined attitude and contact the landing surface from the flying state, the control unit may control at least one of the legs to bring the main body unit closer to the horizontal state. The above-mentioned predetermined attitude is, for example, an attitude that the legs can take when the flying robot is in a flying state. When the legs contact the landing surface as described above, the main body unit tilts. When this inclination is detected, the control unit may control at least one of the legs. For example, when the main body unit tilts, the leg whose base end is located at the top is likely to be in contact with the landing surface, so the joint of the leg may be moved. In this way, by controlling the joint according to the inclination of the main body unit, it is possible to prevent the flying robot from losing balance when landing.

[0020] The control unit may lower the main body while moving the joint of the leg while maintaining contact between the leg in contact with the landing surface and the landing surface. By lowering the main body while maintaining contact between the leg in contact with the landing surface and the landing surface, other legs can be successively brought into contact with the landing surface.

[0021] The control unit may further determine whether or not the descent of the main body unit can continue based on the angle of the joint in the leg. When the joint of the leg is moved to bring the main body unit closer to a horizontal state, the upper limit of the movable range may be reached. If the main body unit is further lowered after the upper limit of the movable range is reached, it may become difficult to bring the main body unit closer to a horizontal state. In such a case, it is possible to determine that the descent of the main body unit cannot continue. By making such a determination, the descent of the main body unit can be stopped to prevent the main body unit from tilting.

[0022] Furthermore, when the control unit determines that the descent of the main body cannot continue, the control unit may cause the propulsion unit to raise the main body to the position at the time of the first contact while maintaining the state in which the first leg is in contact with the landing surface and returning the angle of the joint of the first leg to the state at the time of the first contact when the first leg first contacted the landing surface. In this way, the flying robot can be prevented from ascending in an oblique direction, and therefore, for example, even if an obstacle is present nearby, contact with the obstacle can be prevented.

[0023] Hereinafter, the embodiments of the present invention will be described with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, and relative positions of the components described in the embodiments are not intended to limit the scope of the present invention. In addition, the following embodiments can be combined as much as possible.

[0024] First Embodiment Here, the flying robot 1 according to the present embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing an example of a schematic configuration of the flying robot 1 according to the present embodiment. The flying robot 1 includes a main body 2. The main body 2 has a plurality of propulsion units 23. In the example shown in FIG. 1, four propulsion units 23 are mounted on the main body 2, but the number of propulsion units 23 mounted is not limited to four as long as the main body 2 can fly. The propulsion units 23 have a propeller 21, which is a rotor, and an actuator 22 for rotating the propeller 21. The propulsion units 23 mounted on the main body 2 are all the same type of unit, but the actuator 22 in each propulsion unit 23 can be controlled independently. Therefore, it is possible to appropriately control the propulsive force obtained by each propulsion unit 23, and thus it is possible to appropriately control the flight attitude, flight speed, and the like of the main body 2 and the flying robot 1. The flight control of the flying main body and the like by the propulsion units 23 will be described later.

[0025] Here, the main body 2 has a body 25 roughly at its center, and the propulsion units 23 are provided radially from the body 25 at its tip side via bridges 24. The four propulsion units 23 are arranged at equal intervals on a circumference with the body 25 at the center.

[0026] Further, four legs 30 that support the main body 2 are connected to the main body 2. The four legs 30 are arranged at equal intervals on a circumference with the body 25 as the center. The legs 30 have a first link 31 whose tip contacts the landing surface when landing, a second link 32 that is provided closer to the body 25 than the first link 31, a first joint 33 that rotatably connects the first link 31 and the second link 32, a second joint 34 that rotatably connects the second link 32 and the bridge 24, and an actuator (not shown) that drives the first joint 33 and the second joint 34. The first joint 33 connects the base end of the first link 31 to the tip of the second link 32. The second joint 34 connects the base end of the second link 32 to the body 25. The rotation direction of each of these joints is designed so that it rotates when landing on rough ground. For example, the first joint 33 and the second joint 34 are designed to have a rotation axis in the horizontal direction, and the rotation axis of the first joint 33 and the rotation axis of the second joint 34 in the same leg 30 are parallel to each other. Note that, although the present embodiment includes four legs 30, the number of legs 30 is not limited thereto and may be three or more. Also, although the present embodiment includes two joints for one leg 30, the number is not limited thereto and may be one or more joints.

[0027] The body 25 is also equipped with a battery 28 (see FIG. 2) for supplying driving power to the actuators 22 of each propulsion unit 23, and a control device 200 (see FIG. 2) for controlling the supply of power from the battery 28 to the actuators 22. The control device 200 supplies power from the battery 28 to the actuators, and also controls the joints of the legs 30. The control device 200 independently controls each of the first joints 33 and each of the second joints 34. A pressure sensor 31A for detecting pressure is provided at the tip of the first link portion 31 at a position that comes into contact with the landing surface during landing. The control of the main body portion 2 by the control device 200 will be described in detail later.

[0028] <Flying Robot 1 Control Unit> Next, the control configuration of the main body 2 of the flying robot 1 will be described with reference to Fig. 2. Fig. 2 is an example of a block diagram showing each functional unit included in the main body 2 according to this embodiment. The main body 2 has a control device 200 for performing flight control related to flight and landing control related to landing. The control device 200 is a computer having an arithmetic processing device and a memory, and has a control unit 210 as a functional unit. The control unit 210 is formed by executing a predetermined control program in the control device 200.

[0029] The control unit 210 is a functional unit that controls the propulsion units 23 to generate propulsive force for flight when the main body unit 2 flies. The control unit 210 controls the propulsive force of the four propulsion units 23 based on environmental information related to the flight state of the main body unit 2 and the like, which is detected by the sensor 27. Examples of the environmental information include the angular velocity of the main body unit 2 detected by a gyro sensor corresponding to three axes (yaw axis, pitch axis, roll axis) not shown, and information on the inclination of the main body unit 2 detected by an acceleration sensor corresponding to the same three axes not shown. The control unit 210 uses the environmental information acquired from these sensors to feedback control the inclination of the main body unit 2 and the like so that it is in a state suitable for the flight. Furthermore, the environmental information may include an azimuth angle, which is the direction of the flying main body unit in the absolute coordinate system when the direction of the earth's axis is used as a reference, and the azimuth angle can be detected by an azimuth angle sensor. The sensor 27 is an example of a detection unit.

[0030] When moving the main body 2 etc. forward, backward, left or right, the control unit 210 reduces the rotation speed of the actuator 22 of the propulsion unit 23 in the traveling direction and increases the rotation speed of the actuator 22 of the propulsion unit 23 on the opposite side to the traveling direction, so that the main body 2 etc. assumes a forward leaning posture with respect to the traveling direction and moves in the desired direction. Also, when rotating the main body 2 etc., the control unit 210 performs output according to the rotation direction of the propeller 21 based on the rotation direction of the main body 2 etc. For example, when rotating the main body 2 etc. right, the control unit 210 reduces the output of the actuator 22 corresponding to the propeller 21 rotating right and increases the output of the actuator 22 corresponding to the propeller 21 rotating left.

[0031] The control unit 210 is also a functional unit that executes landing control when the flying robot 1 lands. In the landing control, the control unit 210 controls the propulsion unit 23 and the leg 30. During landing, the control unit 210 controls the actuators provided at the first joint 33 and the second joint 34 based on the detection values ​​of the sensor 27 and the pressure sensor 31A. The actuators provided at each joint of the leg 30 are provided with an encoder (not shown) that detects a state quantity related to each rotation state (such as the rotation position and rotation speed of the rotation shaft of the actuator). Based on the state quantity of each actuator detected by the encoder of each actuator, the control unit 210 servo-controls the actuators of the leg 30 so that the rotation angle of each joint is in a state suitable for landing.

[0032] Here, the state of the leg 30 when the flying robot 1 lands will be described with reference to FIG. 3. FIG. 3 is a diagram showing the state of the leg 30 when the flying robot 1 according to this embodiment lands. In FIG. 3, a part of the structure of the flying robot 1 is omitted. 3001 shows the state of the leg 30 when the flying robot 1 is in a flying state. In the flying state, for example, the joints of the leg 30 are fixed so that the leg 30 is bent so that the air resistance during movement in the forward / backward and left / right directions is minimized. For example, the first joint 33 is rotated so that the axial direction of the first link part 31 approaches the horizontal direction and the tip side of the first link part 31 approaches the central axis of the main body part 2. Note that the state of the leg 30 in the flying state is not limited to this. For example, in addition to the air resistance, the flying robot 1 may be in a state that stabilizes the flight of the flying robot 1, taking into account the center of gravity of the flying robot 1.

[0033] 3002 shows the state of the leg 30 when the flying robot 1 is in a landing position. For example, if the sensor 27 includes a GNSS (Global Navigation Satellite System) sensor, when the GNSS sensor detects that the flying robot 1 is located above the destination point, the flying robot 1 is in a landing position. At this time, the second joint 34 is moved so that each second link 32 spreads radially in the horizontal direction. Furthermore, the first joint 33 is moved so that the tip of the first link 31 faces downward and the central axis of the first link 31 is vertical. That is, each joint of the first link 31 is controlled so that it bends at a right angle to the second link 32 and the tip faces vertically downward. The landing surface A1 has an uneven surface, and the distance L1 between the tip of each leg and the landing surface A1 is different for each leg 30. From this state, the propulsive force of the propulsion unit 23 is controlled to cause the flying robot 1 to descend vertically until the next state 3003 is reached.

[0034] 3003 shows a state when the flying robot 1 descends and one leg (first leg) first touches the landing surface A1. Here, a first process is executed to recognize the leg 30 that first touches the landing surface A1 among the multiple legs 30 as the first leg 10A. The control unit 210 recognizes the first leg 10A that first touches the landing surface A1 based on, for example, the output of the pressure sensor 31A provided on each leg 30. After recognizing the first leg 10A, the control unit 210 further descends the flying robot 1. According to the first process, it is possible to recognize the first leg 10A that needs to move the first joint 33 and the second joint 34 thereafter.

[0035] 3004 shows a state in which the flying robot 1 is further lowered after recognizing the first leg 10A. At this time, the second process is being executed. The second process is a process in which, after the first process, the main body 2 is further lowered to bring the other leg 30 into contact with the landing surface A1 while moving the first joint 33 and the second joint 34 of the first leg 10A while maintaining contact between the first leg 10A and the landing surface A1. As shown in 3004, in the first leg 10A, the control unit 210 controls each joint so that the first joint 33 makes the angle between the first link unit 31 and the second link unit 32 smaller, and the second joint 34 moves the second link unit 32 obliquely upward from the second joint 34. While the second process is being executed, the control unit 210 drives the multiple propulsion units 23 so that the main body 2 is maintained in a horizontal state. In this way, by moving the first joint 33 and the second joint 34 of the first leg 10A in response to the descent of the main body 2, the main body 2 can be lowered while maintaining the main body 2 in a horizontal state and while maintaining contact between the first leg 10A and the landing surface A1.

[0036] 3005 shows a state in which the other legs 30 contact the landing surface A1 after the control unit 210 recognizes the first leg 10A. The control unit 210 determines that the other legs 30 have contacted the landing surface A1 based on the output of the pressure sensor 31A provided at the tip of each leg 30. The first joint 33 and the second joint 34 of the leg 30 that has contacted the landing surface A1 are moved in accordance with the descent of the main body 2, similar to the joint of the first leg 10A. In this way, the four legs 30 are sequentially brought into contact with the landing surface A1. During this time, the descent of the main body 2 continues. In this way, the multiple legs 30 can be brought into contact with the landing surface A1 while maintaining the horizontality of the main body 2.

[0037] Then, when all four legs 30 contact the landing surface A1, the control unit 210 executes a fourth process to determine that the landing on the landing surface A1 is complete. For example, when the output values ​​of the pressure sensors 31A provided on each of the multiple legs 30 are in a predetermined correlation state, the control unit 210 determines that the landing of the flying robot 1 on the landing surface A1 is complete. The predetermined correlation state is, for example, a state in which the flying robot 1 is balanced and the flying robot 1 can be prevented from tilting even if the propulsion force of the propulsion unit 23 is stopped. For example, if the total of the pressures detected by the pressure sensors 31A is a pressure corresponding to the mass of the flying robot 1, it may be determined that the landing is complete. Note that at this time, a pressure lower than the pressure corresponding to the actual mass of the flying robot 1 is detected due to the influence of the propulsion force of the propulsion unit 23, so the control unit 210 makes a determination taking into account the propulsion force of the propulsion unit 23. When the control unit 210 determines that landing is complete, it may stop the propulsion unit 23, or may keep the propellers 21 rotating to the extent that the flying robot 1 does not take off.

[0038] 3006 shows a state in which the angle of the first joint 33 reaches the upper limit of the allowable range while the main body 2 is being lowered until the other leg 30 contacts the landing surface A1 after the first leg 10A is recognized. The upper limit of the allowable range of the angle of the first joint 33 may be, for example, an angle at which the main body 2 is not bent physically due to the structure of the first joint 33 or the structure of the leg 30, or may be an angle with a certain margin added to that angle. Alternatively, the upper limit of the allowable range of the angle of the first joint 33 may be an angle required to avoid contact between the leg 30 and other parts (for example, the propeller 21). When the angle of the first joint 33 of the first leg 10A reaches the upper limit of the allowable range, the main body 2 cannot be lowered any further while maintaining the main body 2 horizontal. The second joint 34 can be treated in the same manner. Since such an event may occur during the descent of the main body 2, the control unit 210 executes a third process to determine whether or not the descent of the main body 2 can continue so that the other leg 30 can contact the landing surface A1, based on the angle of the first joint 33 or the second joint 34 of the first leg 10A while the second process is being performed. For example, the control unit 210 determines that the descent of the main body 2 cannot continue when the angle of the first joint 33 of the first leg 10A reaches the upper limit of the allowable range. On the other hand, the control unit 210 determines that the descent of the main body 2 can continue until the angle of the first joint 33 of the first leg 10A reaches the upper limit of the allowable range.

[0039] Then, when it is determined in the third process that the descent of the main body 2 cannot be continued, the control unit 210 executes a process of redoing the landing. First, the control unit 210 adjusts the propulsive force of the propulsion unit 23 so as to stop the descent of the main body 2. Next, the control unit 210 returns the angle of the first joint 33 of the first leg 10A to the state at the time of the first contact when the first leg 10A first contacted the landing surface A1 while maintaining the state in which the first leg 10A is in contact with the landing surface A1. At this time, the propulsion unit 23 raises the main body 2 to the position at the time of the first contact. The position at the time of the first contact is the position shown in 3003. In this way, the propulsion unit 23 and the first leg 10A are controlled so that the main body 2 is in a horizontal state. Here, if the descent of the main body 2 cannot be continued in the third process, there is a risk that the main body 2 is tilted. If an attempt is made to immediately rise in this state, the main body 2 will be raised in a tilted state. If this happens, there is a risk that the flying robot 1 will rise in an oblique direction, and if there is an obstacle nearby, there is a risk that it will come into contact with the obstacle.

[0040] Here, FIG. 4 is a diagram showing an example of the relationship between the flying robot 1 and the obstacle A2 when the flying robot 1 according to this embodiment rises. 4001 shows a case where the flying robot 1 is raised into the sky with the main body 2 tilted. Meanwhile, 4002 shows a case where the flying robot 1 is raised into the sky after the angle of the first joint 33 of the first leg 10A is returned to the state at the time of the first contact when the first leg 10A first contacts the landing surface A1 while maintaining the state where the first leg 10A is in contact with the landing surface A1. As shown in 4001, if the flying robot 1 rises into the sky with the main body 2 in a tilted state, there is a risk of contacting the obstacle A2. Meanwhile, as shown in 4002, if the angle of the first joint 33 of the first leg 10A is returned to the state at the time of the first contact, the main body 2 can be returned to a horizontal state, so that even if the flying robot 1 rises thereafter, contact with the obstacle A2 can be suppressed.

[0041] After the state transitions from 3006 to 3003, the control unit 210 increases the propulsive force of the propulsion unit 23 to raise the flying robot 1 so that the first leg 10A moves away from the landing surface A1. Then, after the flying robot 1 rises into the sky, the control unit 210 controls, for example, the propulsion unit 23 to shift the landing point by a predetermined distance, or to rotate the main body by a predetermined angle in the yaw direction on the spot. In other words, the relative position between each leg 30 and the landing surface A1 is changed. Then, the state transitions to 3002. Then, the control unit 210 attempts to land again.

[0042] The legs 30 have a function as legs when landing and a function as legs when walking after landing. The control unit 210 is also a functional unit that controls the actuators provided on the legs 30 for walking when the flying robot 1 walks after the flying robot 1 has completed landing. The control unit 210 controls the legs 30 based on environmental information detected by the sensor 27. In addition, based on the state quantity of each actuator detected by the encoder of the actuator provided at each joint of the legs 30, the control unit 210 servo-controls the actuators of the legs 30 so that the inclination of the main body 2 is suitable for walking.

[0043] <Landing Control> Here, with reference to FIG. 5, landing control, which is control executed when the flying robot 1 lands, will be described. FIG. 5 is an example of a flowchart of landing control according to the first embodiment. The landing control is realized by executing a predetermined control program in the main body unit 2. In this embodiment, it is assumed that the main body unit 2 receives information indicating the point where the flying robot 1 will land. The routine shown in FIG. 5 is started when the flying robot 1 arrives in the air above the landing point.

[0044] In step S101, the control unit 210 hovers above the landing position and fixes the position. The state of the flying robot 1 at this time corresponds to the state of 3001 in FIG. 3. The control unit 210 controls the propulsion unit so that the flying robot 1 hovers above the landing point. Next, in step S102, the control unit 210 puts the legs 30 into a pre-landing state. The pre-landing state is the state of the legs 30 corresponding to 3002 in FIG. 3. The control unit 210 moves the first joints 33 and the second joints 34 of all the legs 30 so that the central axes of the first link units 31 are vertical and the central axes of the second link units 32 are horizontal.

[0045] In step S103, the control unit 210 starts the descent of the main body 2. The control unit 210 lowers the main body 2 by reducing the propulsive force of the propulsion unit 23. At this time, the main body 2 is lowered while controlling the propulsive force so that the main body 2 approaches horizontal. In this step S103, if the main body 2 is already in a descending state, the main body 2 is continued to be lowered. In step S104, the control unit 210 determines whether or not any of the legs 30 has contacted the landing surface A1 based on the output value of the pressure sensor 31A. For example, if the output value of the pressure sensor 31A is equal to or greater than a landing threshold value set in advance, it is determined that the leg 30 equipped with that pressure sensor 31A has contacted the landing surface A1. If the determination in step S104 is affirmative, the process proceeds to step S105, and if the determination is negative, the process returns to step S103 to continue the descent of the main body 2. The state of the flying robot 1 when a positive judgment is made in step S104 corresponds to the state shown in 3003 in FIG.

[0046] In step S105, the control unit 210 identifies the first leg 10A. The control unit 210 identifies the leg 30 in which the output value of the pressure sensor 31A first becomes equal to or greater than the landing threshold as the first leg 10A. In step S106, the control unit 210 stores the altitude of the main body unit 2 when the first leg 10A contacts the landing surface A1. The control unit 210 may store, for example, the altitude acquired from an altimeter included in the sensor 27, or may store the distance to the landing surface A1 measured by a radar or the like included in the sensor 27. A sensor or the like necessary for measuring the altitude may be provided in the main body unit 2 as appropriate.

[0047] Then, in step S107, the control unit 210 reduces the descent speed of the main body unit. After this, the first joint 33 and the second joint 34 are moved to adjust the attitude of the main body unit 2, and the descent speed is reduced to facilitate the adjustment at this time. This makes it easier to maintain the horizontal state of the main body unit 2. Furthermore, in step S108, the control unit 210 moves the first joint 33 and the second joint 34 of the leg unit 30 in contact with the landing surface A1 to maintain the horizontal state of the main body unit 2. The state of the flying robot 1 at this time corresponds to the state shown in 3004 of FIG. 3. The control unit 210 moves the first joint 33 and the second joint 34 of all the legs 30 in contact with the landing surface A1 in response to the descent of the main body unit 2. The control unit 210 may, for example, move the first joint 33 and the second joint 34 so that the output value of the pressure sensor 31A is equal to or less than a predetermined value. The predetermined value is set as a value at which the main body unit 2 does not tilt. Alternatively, the control unit 210 may move the first joint 33 and the second joint 34 according to the altitude of the main body unit 2.

[0048] In step S109, the control unit 210 judges whether or not contact of all the legs 30 with the landing surface A1 has been detected. For example, when the output values ​​of the pressure sensors 31A of all the legs 30 are equal to or greater than the landing threshold, the control unit 210 judges that contact of all the legs 30 with the landing surface A1 has been detected. If the judgment in step S109 is affirmative, the process proceeds to step S110, and if the judgment is negative, the process proceeds to step S112. Note that the state of the flying robot 1 when the judgment in step S109 is affirmative corresponds to the state shown in 3005 in FIG. 3. At this time, the control unit 210 controls the first joint 33 and the second joint 34 so that the main body 2 approaches the horizontal, for example, by using the environmental information detected by the sensor 27 and the inverse kinematics.

[0049] In step S110, it is determined whether the output values ​​of all the pressure sensors 31A are in a predetermined correlation state. For example, it is determined whether the output values ​​of all the pressure sensors 31A correspond to a value obtained by subtracting a predetermined mass from the mass of the flying robot 1. The predetermined mass is an apparent reduction in the mass of the flying robot 1 due to the propulsion force of the propulsion unit 23. If the determination in step S110 is affirmative, the process proceeds to step S111, and if the determination is negative, the process proceeds to step S114. Then, in step S111, the control unit 210 stops the propellers 21 to complete landing.

[0050] On the other hand, if the determination in step S109 is negative, the process proceeds to step S112, where the control unit 210 acquires the angle of the first joint 33 or the second joint 34 of the first leg 10A. In the following, a case where control is performed based on the angle of the first joint 33 of the first leg 10A will be described. The case where control is performed based on the angle of the second joint 34 can also be considered in the same way as the first joint 33. The angle of the first joint 33 is acquired, for example, based on a rotation angle detected by an encoder. Next, in step S113, it is determined whether the angle of the first joint 33 has become larger than an upper limit value. The upper limit value is set as the upper limit value of the movable range of the first joint 33. The angle of the first joint 33 at this time may be an angle at which the angle between the first link unit 31 and the second link unit 32 is bent from a right angle state. In this step S113, it is sufficient to determine whether the first joint 33 is in a state where it cannot be moved any further. If the determination in step S113 is positive, the process proceeds to step S114. The state of the flying robot 1 when the determination in step S113 is affirmative corresponds to the state shown in 3006 in Fig. 3. On the other hand, when the determination in step S113 is negative, the process proceeds to step S108, where the control unit 210 continues the descent of the main body unit 2 while moving the joints.

[0051] In step S114, the control unit 210 returns the altitude of the main body 2 to its original position. The original position here is the position corresponding to the altitude stored in step S106, which corresponds to the position at the time of the first contact. In this step S114, the altitude of the main body 2 is increased in order to redo the landing. However, at this time, the altitude of the main body 2 is increased while returning the joint of the first leg 10A to its original position so as to increase the altitude of the main body 2 while maintaining the contact of the first leg 10A with the landing surface A1. In this way, the flying robot 1 is prevented from coming into contact with the obstacle A2.

[0052] In step S115, the control unit 210 further raises the main body 2 and further changes the landing position. At this time, the control unit 210 releases the contact between the first leg 10A and the landing surface A1. Then, for example, the main body 2 rises a predetermined distance, and then rotates the flying robot 1 in the yaw direction by a predetermined angle. Then, the process returns to step S101 and the landing control is performed again.

[0053] According to the flying robot 1 having the first joint 33 or the second joint 34 in the leg 30, when landing on rough ground, the first joint 33 or the second joint 34 of each leg 30 can be moved to keep the main body 2 horizontal. Therefore, the flying robot 1 can land on rough ground while preventing it from losing its balance. In addition, if the angle of the joint of the first leg 10A reaches the upper limit of the allowable range after the first leg 10A contacts the landing surface A1, the flying robot 1 can be prevented from losing its balance by redoing the landing. When redoing the landing, the main body 2 is raised to the altitude at which the first leg 10A contacts the landing surface A1, and the joint is moved so as to maintain the contact between the first leg 10A and the landing surface A1, thereby preventing the flying robot 1 from contacting the obstacle A2.

[0054] <Modification of the first embodiment> In the first embodiment, the joint of the leg 30 that has contacted the landing surface A1 is moved. That is, in each leg 30, the joint is not moved until it contacts the landing surface A1. On the other hand, as an alternative method, the joint of the other leg 30 may be moved after the first leg 10A contacts the landing surface A1. At this time, the first joint 33 or the second joint 34 may be moved so that the first link 31 moves downward. For example, the first joint 33 and the second joint 34 may be moved so that the central axis of the first link 31 faces the vertical direction. Here, when the first leg 10A contacts the landing surface A1, the landing surface A1 below the other leg 30 is often located close to the other leg 30. In such a case, the first joint 33 and the second joint 34 are moved so that the other leg 30 moves downward, so that the other leg 30 can be brought into contact with the landing surface A1 early. This makes it easier to balance the flying robot 1, for example. In addition, the time required for the flying robot 1 to land can be shortened.

[0055] Here, the landing control in the modified example of this embodiment will be described with reference to FIG. 6. FIG. 6 is a diagram showing the state of the leg 30 when the flying robot 1 according to this modified example lands. 3001, 3002, and 3003 are the same as those in FIG. 3, so the description will be omitted. 3014 shows the state in which the flying robot 1 further descends after the first leg 10A is recognized. At this time, the first joint 33 and the second joint 34 are moved so that the other legs 30 other than the leg 30 that contacted the landing surface A1 approach the landing surface A1. That is, while lowering the main body 2, the joints are moved so that the other legs 30 move in the direction of the landing surface A1 relative to the body 25. As shown in 3014, the first joint 33 of the other legs 30 is moved so that the angle between the first link portion 31 and the second link portion 32 is larger than 90 degrees, and the second joint 34 is moved so that the second link portion 32 rotates downward around the second joint 34. At this time, the first joint 33 and the second joint 34 are moved so that the central axis of the first link unit 31 faces the vertical direction. During this time, the control unit 210 also controls the multiple propulsion units 23 and the joints of the legs 30 that are on the ground so that the main body 2 approaches horizontal. In this way, by moving the other legs 30 downward while maintaining the horizontal state, contact with the landing surface A1 can be hastened.

[0056] 3015 shows a state in which, after the first leg 10A is recognized, the other legs 30 contact the landing surface A1. The control unit 210 also determines that the other legs 30 have contacted the landing surface A1 based on the output of the pressure sensor 31A provided at the tip of each leg 30. Note that in 3015, it is assumed that all four legs 30 are in contact with the landing surface A1. In this case, the control unit 210 determines that the landing on the landing surface A1 has been completed. The method of determining the landing is the same as that for the state of 3005 described above.

[0057] In addition, the joints of the other legs 30 may be moved while the main body 2 is lowered until all the legs 30 contact the landing surface A1. That is, the main body 2 may be lowered while moving the first joint 33 and the second joint 34 of the leg 30 in contact with the landing surface A1 and while moving the first joint 33 and the second joint 34 of the other legs 30 so as to move the other legs 30 not in contact with the landing surface A1 downward. In this way, by sequentially bringing the multiple legs 30 into contact with the landing surface A1, it becomes possible to land with the multiple legs 30 while maintaining the horizontality of the main body 2.

[0058] 3016 shows a state in which, after the first leg 10A is recognized, the angle of the first joint 33 reaches the upper limit of the allowable range while the other legs 30 are lowering until they contact the landing surface A1, and the angles of the first joint 33 and the second joint 34 of the other legs 30 reach the upper limit of the allowable range. In the example of 3016, the angle of the first joint 33 of the first leg 10A reaches the upper limit of the allowable range in the bending direction, and the angle of the first joint 33 of the other legs 30 reaches the upper limit of the allowable range in the extension direction. When the angle of the joint of each leg 30 reaches the upper limit of the allowable range, it becomes impossible to further lower the main body 2 while maintaining the horizontality of the main body 2, and it becomes impossible to move the other legs 30 downward. Since such a situation may occur during the descent of the main body 2, the control unit 210 determines whether or not the descent of the main body 2 can continue for the other legs 30 to contact the landing surface A1 based on the angle of the first joint 33 or the second joint 34 of the first leg 10A during the descent of the main body 2 and the angle of the first joint 33 or the second joint 34 of the other legs 30. For example, the control unit 210 determines that the descent of the main body 2 cannot be continued when the angle of the first joint 33 of the first leg 10A reaches the upper limit of the allowable range and the angle of the first joint 33 of the other legs 30 reaches the upper limit of the allowable range. On the other hand, the control unit 210 determines that the descent of the main body 2 can be continued until both the angle of the first joint 33 of the first leg 10A and the angle of the first joint 33 of the other legs 30 reach the upper limit of the allowable range. In this modification, the other legs 30 are moved downward, so that the flying robot 1 can land even if the difference in elevation of the landing surface A1 is greater than in the first embodiment.

[0059] Then, when it is determined that the descent of the main body 2 cannot be continued, the control unit 210 executes a process of redoing the landing. First, the control unit 210 adjusts the propulsive force of the propulsion unit 23 so as to stop the descent of the main body 2. Next, the control unit 210 returns the angle of the first joint 33 of the first leg 10A to the state at the time of the first contact when the first leg 10A first contacted the landing surface A1 while maintaining the state of the first leg 10A in contact with the landing surface A1. At this time, the propulsion unit 23 raises the main body 2 to the position at the time of the first contact. At this time, the angles of the first joint 33 and the second joint 34 of the other legs 30 are also returned to the state at the time of the first contact when the first leg 10A first contacted the landing surface A1. After the flying robot 1 returns to the state at the time of the first contact, the control unit 210 raises the main body 2 vertically upward while maintaining the horizontality of the main body 2 so that the tip of the first leg 10A moves away from the landing surface A1.

[0060] The landing control of this modified example will be described with reference to Fig. 5. In step S108 of Fig. 5, the control unit 210 moves the joints of the first leg 10A while also moving the joints of the other legs 30. In step S112, the control unit 210 acquires the angles of the joints of the other legs 30 in addition to the angles of the joints of the first leg 10A, and in step S113, determines whether the angles of each joint have exceeded an upper limit value.

[0061] As described above, according to this modified example, it is possible to land on the landing surface A1 with a larger difference in elevation.

[0062] <Second embodiment> In the first embodiment, the contact between the leg 30 and the landing surface A1 is determined based on the output value of the pressure sensor 31A provided on the leg 30. Instead, in the second embodiment, when the inclination of the main body 2 of the flying robot 1 is detected, it is determined that the leg 30 has contacted the landing surface A1. Therefore, in the second embodiment, it is not necessary to provide the pressure sensor 31A on the leg 30. The inclination of the main body of the flying robot 1 is detected by a gyro sensor or an acceleration sensor included in the sensor 27. Here, when landing on rough ground, if the altitude is lowered, the main body 2 tilts around the tip of the leg 30 that first contacted the landing surface A1. Therefore, it can be determined that the leg 30 has contacted the landing surface A1 based on the inclination of the main body 2. In addition, since the direction in which the main body 2 tilts differs depending on the leg 30 that contacted the landing surface A1, the leg 30 that contacted the landing surface A1 can be identified based on the direction in which the main body 2 tilts.

[0063] In this embodiment, when the inclination of the main body 2 is detected, the leg 30 in contact with the landing surface A1 is identified according to the inclination of the main body 2, and the first joint 33 or the second joint 34 of the leg 30 is moved so that the main body 2 approaches a horizontal state. Even after the first leg 10A is identified, the first joint 33 and the second joint 34 of the first leg 10A are moved so that the main body 2 approaches a horizontal state while further lowering the main body. Thereafter, in the process of lowering the main body 2, for example, if the horizontality of the main body 2 cannot be maintained by only moving the joint of the first leg 10A, it is determined that another leg 30 has contacted the landing surface A1. At this time, the other leg 30 in contact with the landing surface A1 is identified based on the direction in which the main body 2 is tilted. In this way, the leg 30 in contact with the landing surface A1 is identified while correcting the inclination of the main body 2, and when it is determined that all the legs 30 have landed on the landing surface A1, the landing of the flying robot 1 is completed.

[0064] Next, the landing control in this embodiment will be described with reference to FIG. 3 above. The description of 3001 and 3002 is omitted since they are the same as those in the first embodiment. In this embodiment, when the state shown in 3003 is such that the tilt of the main body 2 detected by the sensor 27 exceeds a threshold value, the control unit 210 recognizes that the leg 30 has contacted the landing surface A1. In addition, the control unit 210 recognizes the first leg 10A based on the tilt direction of the main body 2. For example, the leg 30 located on the upper side of the tilt of the main body 2 is recognized as the first leg 10A. The control unit 210 further lowers the flying robot 1 after recognizing the first leg 10A.

[0065] In addition, in the state shown in 3004, that is, after recognizing the first leg 10A, the flying robot 1 is further lowered, and a process is executed in which the first joint 33 and the second joint 34 of the first leg 10A are moved so as to maintain contact between the first leg 10A and the landing surface A1, while the main body 2 is further lowered to bring the other leg 30 into contact with the landing surface A1. This process also includes a process of detecting the inclination of the main body 2 by the sensor 27 and moving the first joint 33 or the second joint 34 of the first leg 10A so as to reduce the inclination of the main body 2. Furthermore, the control unit 210 drives the multiple propulsion units 23 so that the main body 2 is maintained in a horizontal state. In this way, the control unit 210 lowers the main body 2 while controlling the joints and the propulsion units 23 so that the main body 2 is in a horizontal state.

[0066] In the state shown in 3005, that is, in the state where the other leg 30 is in contact with the landing surface A1, the control unit 210 also determines that the other leg 30 has contacted the landing surface A1 based on the inclination of the main body 2 detected by the sensor 27. For example, even if the joints and the propulsion unit 23 are controlled so that the main body 2 is in a horizontal state, if the main body 2 is inclined, the control unit 210 determines that the other leg 30 has contacted the landing surface A1. In addition, based on the direction in which the main body 2 is inclined at this time, the control unit 210 identifies the other leg 30 that has contacted the landing surface A1. Then, the control unit 210 moves the joints of the leg 30 that is in contact with the landing surface A1 so as to maintain the horizontal state of the main body 2 until all the legs 30 contact the landing surface A1, and lowers the main body 2. Then, for example, when all the legs 30 are in contact with the landing surface A1 and the main body 2 is in a horizontal state, the control unit 210 determines that landing is possible, and stops the rotation of the propeller 21.

[0067] On the other hand, when the state shown in 3006 is reached, i.e., when the angle of the first joint 33 reaches the upper limit of the allowable range while the main body 2 is being lowered until the other leg 30 contacts the landing surface A1, the control unit 210 returns the flying robot 1 to the state at the time of the first contact and retries the landing, as in the first embodiment.

[0068] <Landing Control> Here, based on FIG. 7, we will explain the landing control, which is the control executed when the flying robot 1 lands. FIG. 7 is an example of a flowchart of the landing control according to the second embodiment. The landing control is realized by executing a predetermined control program in the main body unit 2. In this embodiment, it is assumed that the main body unit 2 receives information indicating the point where the flying robot 1 will land. The routine shown in FIG. 7 is started when the flying robot 1 arrives in the air above the landing point. Steps in which the same processing as in the routine shown in FIG. 5 is executed are given the same symbols and will not be described.

[0069] In the flowchart shown in FIG. 7, when the process of step S103 is completed, the process proceeds to step S201. In step S201, the control unit 210 determines whether or not the tilt of the main body unit 2 is detected. For example, the control unit 210 determines whether or not the tilt of the main body unit 2 detected by the sensor 27 exceeds a threshold value. The threshold value is the tilt when the leg unit 30 contacts the landing surface A1. This threshold value is a value larger than the value when the main body unit 2 is tilted due to the influence of wind or the like. If the determination in step S201 is affirmative, the process proceeds to step S105, and if the determination is negative, the process returns to step S103. Note that the state of the flying robot 1 when the determination in step S201 is affirmative corresponds to the state shown in 3003 in FIG. 3.

[0070] In the flowchart shown in FIG. 7, when the process of step S107 is completed or when a negative determination is made in step S113, the process proceeds to step S202. In step S202, the control unit 210 moves the first joint 33 and the second joint 34 of the leg 30 in contact with the landing surface A1 to maintain the horizontal state of the main body 2. The state of the flying robot 1 at this time corresponds to the state shown in 3004 in FIG. 3. For example, when the sensor 27 detects a tilt of the main body 2, the control unit 210 moves the first joint 33 and the second joint 34 so as to eliminate the tilt. At this time, feedback control may be performed. When the process of step S202 is executed, the control unit 210 moves the joints of the leg 30 so as to maintain the horizontal state of the main body 2 even in the subsequent processes.

[0071] 7, if a positive determination is made in step S109, the process proceeds to step S111, where control unit 210 stops the propeller. If main body unit 2 tilts during the process of stopping propeller 21, the control unit 210 may move the joints to bring main body unit 2 closer to the horizontal state. If main body unit 2 cannot be brought closer to the horizontal state during the process of reducing the number of rotations of propeller 21, the control unit 210 may proceed to step S114 and retry landing.

[0072] In this way, the main body 2 can be maintained in a horizontal state by moving the first joint 33 or the second joint 34 according to the detection value of the sensor that detects the inclination of the main body 2. Therefore, the flying robot 1 can land on uneven ground while preventing it from losing its balance.

[0073] As in the modified example of the first embodiment, each joint may be moved so that the other legs 30 move downward after the first leg 10A contacts the landing surface A1. This makes it possible to land on the landing surface A1 with a larger difference in elevation. [Explanation of symbols]

[0074] 1 flying robot, 2 main body, 30 legs, 31 first link, 32 second link, 33 first joint, 34 second joint, 210 control unit

Claims

1. A main body portion, The vehicle has a plurality of propulsion units that generate propulsive force by driving rotors, the plurality of propulsion units being a propulsion section provided in the main body; A plurality of legs supporting the main body, each of the plurality of legs having at least one joint and configured to be able to change the posture of each leg; A control unit that controls the plurality of legs when landing on a landing surface from a flying state; Equipped with Each of the plurality of legs includes a first link portion and a second link portion provided closer to the main body portion than the first link portion, The joint includes a first joint that rotatably connects the first link portion and the second link portion, and a second joint that rotatably connects the second link portion and the main body portion, The control unit is adjusting an angle of the first joint and the second joint of at least one of the plurality of legs to adjust a tilt of the main body from the time when the at least one leg of the plurality of legs contacts the landing surface until the landing on the landing surface is completed; a first process of recognizing a leg that first contacts the landing surface among the plurality of legs as a first leg during a process of lowering the main body by the propulsion unit to land on the landing surface from the flying state; a second process of moving the joint of the first leg while maintaining contact between the first leg and the landing surface and further lowering the main body to bring the other leg into contact with the landing surface after the first process; Run A lowering speed of the main body part during the second process is set to be lower than a lowering speed of the main body part before the start of execution of the second process. Flying robot.

2. A main body, The vehicle has a plurality of propulsion units that generate propulsive force by driving rotors, the plurality of propulsion units being a propulsion section provided in the main body; A plurality of legs supporting the body portion, each of the plurality of legs including at least one A plurality of legs each having a joint and configured to be able to change the posture of each leg; A control unit that controls the plurality of legs when landing on a landing surface from a flying state; Equipped with Each of the plurality of legs includes a first link portion and a second link portion provided closer to the main body portion than the first link portion, The joint includes a first joint that rotatably connects the first link portion and the second link portion, and a second joint that rotatably connects the second link portion and the main body portion, The control unit is adjusting an angle of the first joint and the second joint of at least one of the plurality of legs to adjust a tilt of the main body from the time when the at least one leg of the plurality of legs contacts the landing surface until the landing on the landing surface is completed; a first process of recognizing a leg that first contacts the landing surface among the plurality of legs as a first leg during a process of lowering the main body by the propulsion unit to land on the landing surface from the flying state; a second process of moving the joint of the first leg while maintaining contact between the first leg and the landing surface and further lowering the main body to bring the other leg into contact with the landing surface after the first process; Run execute a third process for determining whether or not the main body should continue to descend so that the other leg can contact the landing surface, based on the angle of the joint in the first leg while the second process is being performed. Flying robot.

3. When it is determined in the third process that the descent of the main body cannot be continued, the control unit causes the propulsion unit to raise the main body to the position at the time of the first contact while maintaining the state in which the first leg is in contact with the landing surface and returning the angle of the joint of the first leg to the state at the time of the first contact when the first leg first contacted the landing surface. The flying robot according to claim 2.

4. The control unit is In the second process, the main body is lowered while moving the joint of the other leg while maintaining contact between the other leg and the landing surface. A flying robot according to any one of claims 1 to 3.

5. While the second process is being performed by the control unit, the propulsion unit drives the plurality of propulsion units so that the main body is maintained in a horizontal state. A flying robot according to any one of claims 1 to 4.

6. A pressure sensor capable of detecting a pressure when each leg contacts the landing surface is provided at a tip of each of the plurality of legs, In the first process, the control unit recognizes the first leg based on the presence or absence of an output related to contact from the pressure sensor provided on the first leg, and The control unit further executes a fourth process of determining that the flying robot has completed landing on the landing surface when the output values ​​of the pressure sensors provided on each of the plurality of legs are in a predetermined correlated state. A flying robot according to any one of claims 1 to 5.

7. A main body portion, The vehicle has a plurality of propulsion units that generate propulsive force by driving rotors, the plurality of propulsion units being a propulsion section provided in the main body; A plurality of legs supporting the main body, each of the plurality of legs having at least one joint and configured to be able to change the posture of each leg; A control unit that controls the plurality of legs when landing on a landing surface from a flying state; A detection unit that detects a tilt of the main body unit; Equipped with Each of the plurality of legs includes a first link portion and a second link portion provided closer to the main body portion than the first link portion, The joint includes a first joint that rotatably connects the first link portion and the second link portion, and a second joint that rotatably connects the second link portion and the main body portion, The control unit is adjusting an angle of the first joint and the second joint of at least one of the plurality of legs to adjust a tilt of the main body from the time when the at least one leg of the plurality of legs contacts the landing surface until the landing on the landing surface is completed; When the plurality of legs are in a predetermined attitude and the aircraft comes into contact with the landing surface from the flying state, if the detection unit detects a tilt of the main body from a horizontal state, the at least one leg is controlled to bring the main body closer to a horizontal state; determining whether or not the main body can continue to move downward based on the angle of the joint in the leg; Flying robot.

8. The control unit is The main body is lowered while moving the joint of the leg while maintaining the contact between the leg and the landing surface. The flying robot according to claim 7.

9. When the control unit determines that the descent of the main body cannot be continued, the control unit causes the propulsion unit to raise the main body to a position at the time of first contact while maintaining a state in which a first leg, which is a leg that first contacts the landing surface among the plurality of legs, is in contact with the landing surface, and returns the angle of the joint in the first leg to a state at the time of first contact when the first leg first contacts the landing surface.

9. A flying robot according to claim 7 or 8.

10. The plurality of legs also serve as a plurality of legs that cause the flying robot to walk after landing on the landing surface is completed. A flying robot according to any one of claims 1 to 9.

Images