Aircraft

Abstract

To provide a flying object having more stable flight performance by devising the positional relation among the flight unit, the loading unit, and the connection of the flight body.SOLUTION: A flying object includes: a flight unit including at least a plurality of rotary wings and a motor configured to drive the rotary wings; a loading unit configured to load an object; and a connection configured to connect the flight unit and the loading unit to each other in a displaceable manner. The position of the connection is different from a center of gravity or a center of the flight unit in an upward, downward, or horizontal direction and coincides or substantially coincides with the center of gravity or the center of the flight unit. With such a configuration, even when the flight object is severely displaced, the posture of the loading unit is maintained, and stable flight can be realized.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a flying object.

Background Art

[0002] In recent years, flying objects have been proposed that are small, lightweight, easy to operate, less affected by wind, and capable of maintaining a stable attitude (for example, Patent Document 1).

[0003] In addition, when a flying object having a plurality of rotary wings travels in a direction including the horizontal direction, a flying object has been proposed that can reduce the difference in the rotational speeds of the rotary wings in front of and behind the traveling direction (for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Conventional flying objects are swayed laterally by airflows such as crosswinds generated between tower mansions and between high-rise buildings. Due to this lateral sway, the flying object loses its flight attitude and tilts. Then, due to the lateral sway, the flying object greatly deviates from the site of the tower mansion or high-rise apartment and flies in the outer area of the site.

[0006] Generally, when the above-mentioned aircraft flies outside the site of a tower apartment or a high-rise apartment, an attempt is made to restore its flight attitude to the original state by pulling the mooring rope attached to the aircraft. However, by pulling the mooring rope equipped on the above-mentioned aircraft, the flight attitude of the above-mentioned aircraft further deteriorates. Eventually, the above-mentioned aircraft loses its flight attitude, greatly deviates from the site of the tower apartment or the high-rise apartment, flies in the outer area of the site, and then crashes in the outer area of the site. Also, when the GPS device mounted on the aircraft becomes interrupted during flight, it becomes uncontrollable, and the aircraft flies out of the site from the site of the tower apartment or the high-rise apartment.

[0007] Furthermore, when landing a conventional aircraft, when the rotation of the motor that drives the rotor equipped on the aircraft stops, the flight unit equipped with the rotor cannot maintain horizontal. For this reason, the flight unit of the above-mentioned aircraft will tilt. When the flight unit of the above-mentioned aircraft tilts, the aircraft cannot maintain its attitude and will fall over.

[0008] Also, in a conventional aircraft, since the position of the rotor equipped on the aircraft and the camera necessary for photographing an object are close to each other, a situation occurs where the rotor of the aircraft or the like is reflected in the camera screen during photographing. When the rotor of the aircraft or the like is reflected in the camera screen, not only can the object not be sufficiently photographed, but also when shooting a video of the object, the value of the images photographed until then is lost.

[0009] Also, a conventional aircraft sways laterally when receiving airflows such as crosswinds generated between tower apartments or between high-rise buildings. In this case, the above-mentioned aircraft hovers with one of its rotors tilted. Since the hovering state is a state where the rotor is tilted, when the aircraft takes a photograph, the above-mentioned rotor becomes an obstacle to photographing, and there is a problem that the rotor of the aircraft is reflected in the camera screen.

[0010] Therefore, an object of the present invention is to provide a flying object that maintains a more stable flight attitude.

Means for Solving the Problems

[0011] According to the present invention, there is provided a flying object including at least a flight unit having a plurality of rotary wings and motors for driving the rotary wings, a loading unit capable of loading an object, and a connection unit that connects the flight unit and the loading unit so as to be displaceable relative to each other.

Effects of the Invention

[0012] According to the present invention, by devising the positional relationship among the flight unit, the loading unit, and the connection unit of the flying object, it is possible to provide a flying object having more stable flight performance.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

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Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

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Figure 26

Embodiments for Carrying Out the Invention

[0014] The contents of the embodiments of the present invention will be listed and described. The flying object according to the embodiment of the present invention has the following configuration. [Item 1] A flying unit including at least a plurality of rotary wings and a motor for driving the rotary wings, a loading unit capable of loading an object, and a connecting unit for connecting the flying unit and the loading unit so as to be displaceable from each other. [Item 2] The flying object according to Item 1, wherein the connecting unit is above the center of gravity or the center of the flying unit. [Item 3] The flying object according to Item 2, wherein the connecting unit is directly above or substantially directly above the center of gravity or the center of the flying unit in the vertical direction. [Item 4] The flying object according to Item 1, wherein the connecting unit coincides or substantially coincides with the center of gravity or the center of the flying unit. [Item 5] The flying object according to Item 1, wherein the connecting unit is below the center of gravity or the center of the flying unit. [Item 6] The flying object according to Item 5, wherein the connecting unit is directly below or substantially directly below the center of gravity or the center of the flying unit in the vertical direction. [Item 7] The flying object according to Item 1, wherein the connecting unit is at a position different in the horizontal direction from the center of gravity or the center of the flying object. [Item 8] The flying object according to any one of Items 1 to 7, wherein the connecting unit is at the center of gravity or the center of the loading unit. [Item 9] The flying object according to Item 1, wherein the connecting unit has a rotation axis of two or more axes. [Item 10] The flying object according to Item 1 or Item 2, characterized in that the loading unit is provided with an adjustment mechanism for extending its length. [Item 11] A flying object including a plurality of rotary wings, an arm unit for supporting the plurality of rotary wings, a mounting unit for mounting an object, and a connecting unit for connecting the mounting unit to the arm unit in a state where the mounting unit is movable within a predetermined range, and the position of the connecting unit is above the center of gravity of the arm unit. [Item 12] The flying object according to Item 11, wherein the connecting unit has a two-axis gimbal structure. [Item 13] The flying object according to Item 11 or Item 12, characterized in that the mounting unit is provided with an adjustment mechanism for extending its length. [Item 14] The flying object according to any one of Items 1 to 13, wherein a rope is attached to the mounting unit.[Item 15] The aircraft according to any one of Items 1 to 4, wherein the position of the connecting portion is above the acting point of the lift force generated on the aircraft by the rotation of the plurality of rotary wings with respect to the aircraft. [Item 16] The aircraft according to any one of Items 1 to 5, wherein the position of the connecting portion is above the center of gravity of the aircraft.

[0015] <Embodiment 1> Hereinafter, the aircraft 1 of the present invention will be described with appropriate reference to the drawings.

[0016] (Basic Structure of Aircraft) As shown in FIGS. 1 to 4, the aircraft according to the embodiment of the present invention includes a flight unit including a propeller, a motor for rotating the propeller, and a frame, and a loading unit including a support unit and an upper object and a lower object provided at both ends of the support unit.

[0017] In the aircraft shown in FIG. 2, the gimbal (connecting portion) according to the present embodiment is configured such that the flight unit and the loading unit are connected to each other so as to be displaceable in the horizontal directions (X-axis and Y-axis).

[0018] In the aircraft shown in FIG. 3, the gimbal coincides or substantially coincides with the center of gravity Gr or the center Cr of the loading unit. Although the illustrated figure shows the case where the center of gravity and the center of the loading unit coincide, when the weights and shapes of the upper object and the lower object are different, the center of gravity Gr and the center Cr do not necessarily coincide. Even in this case, the gimbal is provided at a position that coincides or substantially coincides with the center of gravity Gr.

[0019] In the aircraft shown in FIG. 5, the gimbal is above the center of gravity Gf or the center Cf of the flight unit.

[0020] According to such a configuration, in the illustrated example, for example, when the user catches the lower object by hand from the left direction in the figure, the flight unit will tilt in the direction away from the user, and the user can be protected from the rotation by the propeller.

[0021] In the flying object shown in FIG. 6, the gimbal is vertically above or substantially vertically above the center of gravity Gf or the center Cf of the flying part.

[0022] According to such a configuration, even when stopped, the flying part can self-level by the same principle as that of a weather vane.

[0023] In the flying object shown in FIG. 7, the gimbal coincides with or substantially coincides with the center of gravity Gf or the center Cf of the flying part.

[0024] According to such a configuration, even when the flying part is blown by the wind or makes a sharp turn, since the flying part rotates around the center of gravity, the displacement of the flying part does not affect the displacement of the loading part.

[0025] In the flying object shown in FIG. 8, the gimbal is below the center of gravity Gf or the center Cf of the flying part.

[0026] In the flying object shown in FIG. 9, the gimbal is vertically below or substantially vertically below the center of gravity Gf or the center Cf of the flying part.

[0027] In the flying object shown in FIG. 10, the gimbal is at a position different in the horizontal direction from the center of gravity Gf or the center Cf of the flying object. According to such a configuration, for example, when a power supply cable or the like is attached to a lower object and the cable is pulled, the flying part tilts to the left (that is, the left propeller tilts so as to come below the right propeller). Therefore, it can be induced to return to the user's hand.

[0028] As shown in FIG. 11, the gimbal according to the present embodiment is located within the range of a virtual sphere S having a predetermined distance as the radius from the center of gravity Gr of the flying part or the center Cr of the flying part. 。

[0029] The gimbal according to the present embodiment is a two-axis gimbal having two-axis rotation axes.

[0030] Note that the support part of the loading part may be provided with an adjustment mechanism for extending its length.

[0031] Figures 12 to 17 show a structure in which, among the structures shown in Figures 5 to 11 described above, the upper object and the support part for supporting the upper object are removed.

[0032] As can be understood from the figures, the gimbal shown in Figures 12 to 17 is not at the center of gravity of the loading part. That is, the gimbal is provided at a position different from the center of gravity of the loading part.

[0033] In the flying object shown in Figure 18, the gimbal is provided at the center of gravity of the loading part. Also, the gimbal is provided at a position different from the center of gravity or the center of the flying part in the horizontal direction.

[0034] According to such a configuration, by using the upper object and the lower object as a camera or the like, a configuration suitable for bridge inspection can be achieved.

[0035] Figure 19 is provided at a position closer to the information than the center of gravity Gr or the center Cr of the gimbal flying part in Figure 18.

[0036] Hereinafter, among the structures according to the above-described embodiments, some examples will be exemplified and described.

[0037] Figure 210 is a perspective view showing an overview of the flying object 1 of the present invention. As shown in Figure 210, the flying object 1 includes a plurality of rotary wing parts 10A to 10D. The rotary wing parts 10A to 10D are composed of rotary wings 12A to 12D and power parts 14A to 14D. The rotary wings 12A to 12D rotate in a predetermined direction using the power parts 14A to 14D as drive sources. The power parts 14A to 14D are not particularly limited as long as they can drive the rotary wings 12A to 12D, and examples include electric motors, small engines, and the like. Note that the number of rotary wing parts 10 provided in the flying object of the present invention is not particularly limited and can be set as appropriate. In Embodiment 1, the flying object 1 having four rotary wing parts will be described as an example.

[0038] The flying object 1 includes a plurality of arm parts 16A to 16D that support a plurality of rotary wings 10A to 10D, an annular flight member 162 that is the base of the flight part 18, a photographing part 20 provided below the flight member 18, and a support member 30 for connecting the flight member 18 and the photographing part 20. The flight member 18 and the photographing part 20 are connected via the lower end part 34 of the support member 30. The photographing part 20 consists of a storage box 22 and a camera body 26 for photographing. The storage box 22 has a box shape for storing the camera body 26 for photographing.

[0039] In the flying object 1 shown in FIG. 210, the lower end part 34 of the support member 30 is connected to a storage box attachment part 24 installed on the upper surface of the photographing part 20 having a box shape. The flying object 1 has a fixing support member 28 for fixing the camera body 22 for photographing inside the photographing part 20 having a box shape and communicating from the lower surface of the photographing part 20. The support member 30 and the fixing support member 28 are located on the same straight line.

[0040] A mooring rope 60 for controlling the flight position and flight form of the flying object 1 is attached to the end part 282 of the fixing support member 28. The mooring rope 60 stabilizes the flight state of the flying object 1 in the same way as a so-called "kite string". By the flying object 1 flying stably, the photographing part 20 can be held horizontally. The flying object 1 is most suitable for panoramic photography of tower mansions, high-rise mansions, etc., and it is assumed that it flies over the site of tower mansions, high-rise mansions, etc. Therefore, the mooring rope 60 is provided from the viewpoint of preventing the flying object 1 from flying over the airspace outside the site of tower mansions, high-rise mansions, etc. The form of attaching the mooring rope 60 is not particularly limited as long as it can be attached below the photographing part 20. For example, it may be directly attached to the bottom surface of the photographing part 20 without passing through the end part 282 of the fixing support member 28.

[0041] The flying object 1 includes arm portions 16A to 16D that support the rotary wing portions 10A to 10D. In Embodiment 1, the arm portion 16 that constitutes the flight portion 18 includes four of the arm portions 16A to 16D, but the number of the arm portions 16 is not limited to this. For example, as the arm portion 16 of the flying object 1, six, eight, ten, twelve, or the like arm portions may be appropriately provided. When the flying object 1 flies stably, has a large weight, and is equipped with a highly accurate camera, the number of the arm portions 16 may be six or more, for example, according to the number of the rotary wing portions 10.

[0042] In FIG. 210, the four arm portions 16A to 16D are provided in four directions at equal intervals in an annular shape. That is, the four arm portions 16A to 16D are provided such that the interval between adjacent arm portions is 90°. Note that the arm portions 16A to 16D may have a linear shape or a bent shape based on the linear shape from a design perspective.

[0043] The arm portions 16A to 16D extend outward at equal intervals around a ring R provided on the outer periphery of the support member 30. The support member 30 communicates with the ring R and extends upward. The upper end portion 32 of the support member 30 has a connection portion 40 for connecting the flight portion 18 and the support member 30.

[0044] FIG. 21 is a schematic view of the flying object 1 of Embodiment 1 seen from directly above. As shown in FIG. 21, the flying object 1 may have a structure in which the bottom end portions on the rotary wing portions 10A to 10D sides of the plurality of arm portions 16A to 16D are connected by a flight member 162. When the rotary wing portions 10A to 10D located at the ends of the plurality of arm portions 16A to 16D are connected by the flight member 162, the adjacent rotary wing portions 10A to 10D are connected, and the external shape of the flight member 162 seen from directly above the flying object 1 is an annular shape.

[0045] The shape of the flight member 162 is not particularly limited as long as it can connect the adjacent rotor blades 10, and it may be an annular shape, an elliptical shape, or a rectangular frame. By connecting the rotor blades 10 located at the ends of the arm portions 16 with the flight member 162, the flight unit 18 becomes structurally more stable. In addition, a light-emitting body 164 such as a light-emitting diode that serves as a landmark when the flying object 1 flies at night may be provided on the outer side surface of the flight member 162.

[0046] The flying object 1 shown in FIG. 21 includes a connecting member 50 for bridging a portion on the opposing flight member 162 through a connecting portion 40 installed at the upper end portion 32 of the support member 30. The connecting member 50 is driven in synchronization with the connecting portion 40 provided at the upper end 32 of the support member 30 of the support member 30. When the connecting portion 40 is driven, the connecting member 50 inclines or rotates. Since the connecting member 50 is connected to the flight unit 10, when the connecting portion 40 is driven, the flight unit 10 inclines or rotates. The flight unit 10 inclines or rotates depending on the direction and magnitude in which the connecting portion 40 is driven. The flying object 1 can incline or rotate the flight unit 10 around the support member 30.

[0047] Specifically, the flying object 1 includes a connecting member 50 that bridges an intermediate point 181 of the flight member 18 set between the rotor blade 10A and the rotor blade 10D and an intermediate point 182 of the flight member 18 set between the rotor blade B and the rotor blade C. Since the connecting member 50 passes through the connecting portion 40 provided at the upper end portion 32 of the support member 30, the flight member 18 can incline with the connecting portion 40 as the apex when the connecting portion 40 is driven. Similarly, the flight member 18 can also rotate with the connecting portion 40 as the apex when the connecting portion 40 is driven.

[0048] The connection part 40 is not particularly limited as long as it is a mechanism that can tilt or rotate the flight part 10. It can be appropriately set according to the function of the flying object. For example, as the connection part 40, a single-axis gimbal structure, a two-axis gimbal structure, or a three-axis gimbal structure may be adopted. Note that a driving device such as a motor may or may not be provided in the gimbal structure.

[0049] When the flying object of the present invention is adopted as a flying object for the purpose of taking panoramic photos such as a tower mansion or a high-rise mansion, since its flight mode is mainly for vertical ascent, the connection part 40 may have a two-axis gimbal structure. By driving the connection part 40, the connecting member 50 can be tilted and rotated. When the connecting member 50 is tilted or rotated, the flight part 18 connected to the connecting member 50 is tilted or rotated. When the frame 18 is tilted or rotated, the rotary wings 12A to 12D mounted on the flight part 18 can be tilted or rotated.

[0050] FIG. 22 is a side view of the flying object 1. The technical feature of the flying object 1 is that a connection part 40 is provided at the upper end part 32 of the support member 30, the flight part 18 can be tilted or rotated with the connection part 40 as the apex, and the connection part 40 is located above the lift center point U generated in the flying object by the rotation of the plurality of rotary wings 12A to 12D. In the flying object 1 shown in FIG. 22, the support member 30 overlaps the connecting member 50. For this reason, in the flying object 1 shown in FIG. 22, the connecting member 50 and the support member 30 are on the same straight line.

[0051] As shown in FIG. 22, the connection part 40(1) is located above the lift center point U(2) generated in the flying object by the rotation of the plurality of rotary wings 12A to 12D. In a conventional flying object, the connection part between the flight part and the support member coincides with the lift center point U(2) generated in the flying object by the rotation of the plurality of rotary wings, or is set at a position lower than the lift center point U2) generated in the flying object.

[0052] By adopting the above positional relationship between the center point G of the connecting portion 40 and the center point U of the lift generated by the flying object, even when the flying object 1 is affected by strong winds such as crosswinds during flight, the mooring rope 60 attached to the flying object 1 can be pulled to restore the flight attitude and return to the original flight state.

[0053] On the other hand, in a conventional flying object, the center of gravity point G of the connecting portion 40 between the flight portion 18 and the support member 30 is located below the center point U of the lift generated by the flying object 1. For this reason, even if the mooring rope of the flying object is pulled to restore the flight attitude from the state where the flight attitude of the conventional flying object has been disrupted by strong winds such as crosswinds, a downward force is further applied. As a result, the conventional flying object further deteriorates the flight attitude of the flying object from the state where the flight attitude has been disrupted by strong winds such as crosswinds. Finally, the conventional flying object may fly out of the airspace within the site such as a high-rise apartment building and fly over the airspace outside the site and fall from a high floor.

[0054] (Flight mode of the flying object) FIG. 24 is a model diagram showing the flight mode of the flying object 1. Based on FIG. 24, the flight mode of the flying object 1 according to Embodiment 1 will be described. The flight mode of the flying object 1 is divided into (a) a takeoff process starting from the ground within a site such as a tower apartment or a high-rise apartment, (b) a process of vertically ascending and starting flight to photograph high floors such as a tower apartment or a high-rise apartment, and (c) a process of landing after photographing the high floors.

[0055] (a) Process of taking off from the ground within the site of a tower mansion or the like As shown in Fig. 24(a), at the departure point within the site of a tower mansion, high-rise mansion, etc., a camera body 26 for shooting is mounted in a storage box 22 that constitutes the shooting unit 20 of the flying object 1. The operator of the flying object 1 operates a radio control transmitter equipped with an operation unit to increase the output of the power units 14A to 14D of the rotary wings 10A to 10D, thereby increasing the rotational speed of the rotary wings 12A to 12D. When the rotary wings 12A to 12D rotate, lift necessary to lift the flying object 1 is generated vertically upward. When the lift exceeds the gravity acting on the flying object 1, the flying object 1 leaves the ground and takes off from the departure point. In the flight unit 18, the opposing rotary wings rotate in the same direction. Specifically, in the flying object 1, the rotary wing 12A and the rotary wing 12C rotate counterclockwise, and the rotary wing 12B and the rotary wing 12D rotate clockwise. They are rotating. Specifically, in the flying object 1, the rotary wing 12A and the rotary wing 12C rotate counterclockwise, and the rotary wing 12B and the rotary wing 12D rotate clockwise.

[0056] (b) Process of vertically ascending and starting flight to photograph high floors of a tower mansion, high-rise mansion, etc. As shown in Fig. 24(b), the flying object 1 vertically ascends upward within the site of a tower mansion, high-rise mansion, etc. by increasing the rotational speed of the rotary wings 12A to 12D. Then, the flying object 1 continues to ascend and reaches a certain altitude. The flying object 1 that has reached a certain altitude performs hovering at that altitude. The altitude is appropriately determined according to the flight route of the flying object 1, the height of buildings such as tower mansions and high-rise mansions, and the aviation law applied to the flying object 1. The operator may set in advance the altitude at which the flying object 1 performs hovering, taking various conditions into consideration.

[0057] Since the weight acting on the flying object 1 and the lift generated in the flying object 1 by the rotation of the rotary wings 12A to 12D are mechanically balanced, the flying object can hover. The rotational speed of the rotary wings 12A to 12D is maintained at a certain level. Hovering is performed so that the flying object 1 can start shooting a tower mansion, high-rise mansion, etc. using the camera body 26 for shooting.

[0058] As shown in FIG. 24(b), when the flying object 1 horizontally moves at the altitude from the state of hovering in the air, the flight unit 18 is inclined. When the flying object 1 horizontally moves, the rotational speeds of the rotary wings 12A to 12D constituting the flight unit 18 are adjusted to be substantially the same. The flying object 1 can start shooting at the horizontally moved position while maintaining the altitude. The flying object 1 shoots high-rise floors such as tower mansions and high-rise condominiums at a predetermined position while hovering in the air at a predetermined altitude. Further, the flying object 1 can fly horizontally and change the shooting position as needed. Further, the flying object 1 can fly vertically and change the shooting position.

[0059] (c) Step of landing after shooting high-rise floors As shown in FIG. 24(c), the flying object 1 lands at the destination within the site of a tower mansion, a high-rise condominium, etc. In FIG. 24(c), the destination may be the ground surface or a helipad dedicated to the flying object 1 provided in a tower mansion, a high-rise condominium, etc. The flying object 1 decreases the rotational speeds of the rotary wings 12A to 12D in the air above the destination. The flying object 1 decreases the altitude and enters the landing attitude. When the flying object 1 enters the landing attitude, the flight unit 18 is maintained horizontally with respect to the ground surface. When the flight unit 18 is inclined, the rotational speeds of the rotary wings 12A to 12D are adjusted so that the flight unit 18 becomes horizontal with respect to the ground surface.

[0060] The flying object 1 stops the rotation of the rotary wings 12A to 12D of the flight unit 18 immediately before landing. By stopping the rotation of the rotary wings 12A to 12D, the flight unit 18 becomes horizontal with respect to the ground surface due to its own weight. Specifically, as shown in FIG. 24(c), the flying object 1 shown in the figure changes from the state where the flight part 18 is tilted as shown by the broken line to the state where the flight part 18 becomes horizontal as shown by the solid line when the rotary wing parts 12A to 12D are de-energized. The rotary wings 12A to 12D naturally become horizontal due to the influence of gravity. Thus, since the flying object 1 of the present invention is provided with the connection part 40 to the flight unit 18 at the upper end part 32 of the support member 30, when the flying object 1 becomes de-energized immediately before landing, the flight unit 18 becomes horizontal, so that a stable landing state can be ensured.

[0061] As described above, the flying object 1 of Embodiment 1 can ensure stable flight within the site of a tower mansion, a high-rise mansion, etc., and since there is little blur during shooting with the camera body 26 for shooting, it can also be suitably used for night view shooting. As long as the flying object 1 of Embodiment 1 is hovering in the air, the imaging unit 20 can be held horizontally, and the imaging unit 20 does not sway significantly. Therefore, the flying object 1 can sufficiently cope with the shutter speed required for night view shooting.

[0062] <Embodiment 2> The flying object 2 of Embodiment 2 is characterized in that the center point U of the lift force generated in the flying object coincides with the action point G of the gravity of the support member 30 and the imaging unit 20. Since the flying object 2 is designed such that the center point U of the lift force coincides with the action point G of the gravity, no rotational moment is generated due to the gravity of the support member 30 and the imaging unit 20. Therefore, in the flying object 2 of Embodiment 2, when moving in the horizontal direction, the rotational speed of the front rotary wing and the rotational speed of the rear rotary wing can be made substantially equal with respect to the traveling direction.

[0063] The flying object 2 rises almost vertically from the mooring point of the mooring rope and is suitable for long - time shooting while hovering within a narrow range. Furthermore, when the flying object 2 moves horizontally within the site of a tower mansion, a high - rise mansion, etc., its convenience is further improved. That is, the flying object 2 is suitable for panoramic shooting of tower mansions, high - rise mansions, etc., and its basic operation is to fly vertically (straight up) from the mooring point of the mooring rope. However, when the flying object 2 shoots around a tower mansion, a high - rise mansion, etc., or when performing an outer wall inspection, etc., it is necessary not only to fly vertically (straight up) but also to fly horizontally. When the flying object 2 flies horizontally, the flight unit 18 must be tilted.

[0064] Even when the flight unit 18 of the flying object 2 of Embodiment 2 must be tilted in order to move horizontally, the output of the power units 14A - 14D for driving the rotary wings 12A - 12D can be suppressed by making the rotational speed of the front rotary wing and the rotational speed of the rear rotary wing approximately equal with respect to the traveling direction.

[0065] <Embodiment 3> The flying object 3 of Embodiment 3 is provided with an adjustment mechanism for the support member 30 to extend the length of the support member 30. The adjustment mechanism may be provided in the upper part or the lower part with reference to a ring R that engages with the arm portions 16A - 16D provided on the outer periphery of the support member 30. The adjustment mechanism extends the length of the support member 30.

[0066] When the flying object 3 lands within the site of a tower mansion, a high - rise building, etc., the support member 30 is extended vertically downward by the above - mentioned adjustment mechanism. By extending the support member 30 vertically downward, the center of gravity of the flying object 3 moves downward, and a stable landing state can be ensured.

[0067] The aircraft of the present invention is assumed to be used within the site of a tower mansion, a high-rise mansion, etc. Therefore, even when the aircraft 3 is affected by the updraft generated near a tower mansion, a high-rise building, etc., when entering the landing attitude, the center of gravity of the aircraft 3 is moved downward by the adjustment mechanism, so that it can appropriately counteract the updraft and maintain a stable flight state.

[0068] The adjustment mechanism is not particularly limited as long as it can extend the length of the support member 30. As the adjustment mechanism, for example, a rack and pinion mechanism or a steering gear mechanism used for focusing in optical equipment and the like may be adopted. Further, the adjustment mechanism may have a cylindrical structure with elasticity. The adjustment mechanism may be such that the support member 30 is composed of a support member serving as an outer cylinder and a support member serving as an inner cylinder.

[0069] Since the aircraft 3 of Embodiment 3 is provided with an adjustment mechanism, the distance between the flight unit 18 and the imaging unit 20 can be made as large as possible. Therefore, in the aircraft 3 of Embodiment 3, the flight unit 18 does not appear in the imaging field of view of the imaging camera body 26 mounted on the imaging unit 20, and a deep vertical viewing angle can be ensured.

[0070] Furthermore, the aircraft 3 of Embodiment 3 has a greater distance between the flight unit 18 and the imaging unit 20 than a normal aircraft, and can photograph the lower floors of a tower mansion, a high-rise mansion, etc. from the imaging unit 20 located below, and at the same time, can photograph while overlooking the upper floors of the tower mansion, the high-rise mansion, etc. from the lower floors.

[0071] <Embodiment 4> As shown in FIGS. 24 to 26, the flying object 5 of Embodiment 5 includes a plurality of rotary wings 12A to 12D, power units (motors) 14A to 14D that rotate the rotary wings 12A to 12D, an arm portion 16 that supports the power units (motors) 14A to 14, a mounting portion 20' that mounts an object such as a camera, and a connecting portion 40' that connects the mounting portion 20' to the arm portion 16 in a state where the mounting portion 20' is movable (displaceable) within a predetermined range (for example, two axes in the X and Y directions). The rotary wings 12A to 12D, the power units (motors) 14A to 14D, and the arm portion 16 constitute a flight portion 18. The mounting portion 20' of the present embodiment includes a frame that extends downward from the connecting portion 40' and a mounting site attached to the tip of the frame.

[0072] As shown in FIG. 24, in the flying object 5 of the present embodiment, the center of gravity (aircraft center of gravity) G of the entire flying object 5 at the time of stop, in order from the bottom B , the center of gravity (flight center of gravity) G of the flight portion 18 F , the point of action (buoyancy center of gravity) G of the lift generated on the aircraft body by the rotation of the rotary wings 12A to 12D with respect to the flying object 5 L are aligned with the connecting portion 40'. That is, the connecting portion 40' of the present embodiment is located above the aircraft center of gravity G B , the flight center of gravity G F , and the buoyancy center of gravity G L in the (Z direction).

[0073] As shown in FIG. 25, the connecting portion 40' is configured to be displaceable with respect to the θx and θy directions in the figure in two axes in the x and y directions with the connecting portion 40' as the center of the flight portion 18.

[0074] Thus, like the aircraft 5 of Embodiment 4, the aircraft of Embodiments 1 to 3 can ensure stable flight within the site of a tower mansion, a high-rise mansion, etc. Since there is little vibration in the mounting part 20', it can be suitably used, for example, for night view photography by a camera. Further, as long as the aircraft 5 of Embodiment 4 is hovering in the air, the mounting part 20' can be held horizontally, and the mounting part 40' does not sway greatly. Therefore, it can sufficiently cope with the shutter speed required for night view photography.

[0075] Also, when the aircraft 5 lands within the site of a tower mansion, a high-rise building, etc., the adjusting mechanism 50 extends the support member 30 of the mounting part 20' vertically downward. By extending the support member 30 vertically downward, the center of gravity of the aircraft 3 moves downward, and a more stable landing state can be ensured.

[0076] The aircraft of the present invention is assumed to be used within the site of a tower mansion, a high-rise mansion, etc. Therefore, even when the aircraft 3 is affected by the updraft generated near a tower mansion or a high-rise building, when entering the landing posture, the center of gravity of the aircraft 3 is moved downward by the adjusting mechanism, so that it can appropriately counter the updraft and maintain a stable flight state.

[0077] As shown in FIGS. 25 and 26, the adjusting mechanism 50 is not particularly limited as long as it can extend the length of the support member 30. As the adjusting mechanism, for example, a rack and pinion mechanism or a steering gear mechanism used for focusing in optical equipment may be adopted. Further, the adjusting mechanism may have a cylindrical structure with elasticity. The adjusting mechanism may be such that the support member 30 is composed of an outer cylinder support member and an inner cylinder support member.

[0078] Since the flying object 3 of Embodiment 3 is provided with an adjustment mechanism, the distance between the flight unit 18 and the mounting unit 20' can be made as large as possible. For this reason, in the flying object 3 of Embodiment 3, the flight unit 18 does not appear in the imaging field of view by the imaging camera body mounted on the mounting unit 20', and a deep vertical viewing angle can be ensured.

[0079] As described above As described above, according to the embodiment of the present invention, the flight unit can be self-leveled when there is no power supply (when stopped).

[0080] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and any changes and the like that do not deviate from the gist are all within the scope of application of the present invention.

Industrial Applicability

[0081] The flying object of the present invention can be suitably used for long-time imaging while hovering in a narrow range above the site of a tower mansion, a high-rise mansion, etc. In addition, since the flying object of the present invention can be expected to be used at the site of a low-rise mansion for overlooking imaging of a tower mansion, a high-rise building, etc., at the surveying site at the construction site of a high-rise building, it can also be used in various industries such as the aircraft-related industry of multi-copters and drones, the housing, construction, and architecture-related fields, the security field, agriculture, and infrastructure monitoring.

Explanation of Reference Numerals

[0082] 1 to 5 Aircraft 10A to 10D Rotor Wings 12A to 12D Rotor Blades 14A to 14D Power Units 16A to 16D Arm Parts 18 Indicator Arm 162 Flight Member 164 Light Emitter (Light Emitting Diode) 18 Flight Section 181 Intermediate Point of Flight Member (between A and D) 182 Intermediate Point of Flight Member (between B and C) 20 Photographing Section 20' Mounting Section 22 Storage Box 24 Storage Box Mounting Section 26 Camera Body for Photographing 28 Fixing Support Member 282 End of Fixing Support Member 30 Support Member 32 Upper End of Support Member 34 Lower End of Support Member 40, 40' Connection Section 50 Adjustment Section U Lift Center Point G Gravity Center Point 70A to D Landing Legs (Support Members) 72 Orthogonal Member (between leg support members A and D) 74 Orthogonal Member (between leg support members B and C)

Claims

1. A flight unit including at least a plurality of rotary wings and a motor for driving the rotary wings, a support unit for supporting an object, and comprising: The support unit is connected to the flight unit via a connection unit, The connection unit has a rotation axis that enables the support unit to rotate with respect to the flight unit, When the flight unit is viewed from one side, the rotation axis has only a single axis extending at least from the front side to the rear side, When the flight unit is viewed from one side, the rotation axis is below the center of gravity or the center of the flight unit, Furthermore, only below the connection unit, there is a mounting unit connected to the support unit and mounting the object, The connection unit maintains the mounting unit horizontally when the flight unit is tilted in a direction perpendicular to the single axis, An aircraft.

2. The aircraft according to Claim 1, When the flight unit is viewed from one side, the connection unit is in front of the center of gravity or the center of the aircraft, An aircraft.

3. The aircraft according to Claim 1, When the flight unit is viewed from one side, the connection unit is behind the center of gravity or the center of the aircraft, An aircraft.

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