flying object

Abstract

To provide a flying object that can be fried with an easy operation even in a room.SOLUTION: A flying object of the invention includes: a cylindrical-shaped main body having an outer peripheral part and an inner peripheral part; a lift generation part which is disposed inside the main body in order to generate at least an air flow directed downward from above the main body; a flap part displaceably disposed at a lower part of the main body; and a control part to control a moving direction by displacing the flap part so as to change a direction of the air flow. A celestial sphere camera is disposed on at least an upper or lower part of the main body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a flying vehicle, and more particularly to a flying vehicle having a cylindrical body. [Background technology]

[0002] In recent years, drones and unmanned aerial vehicles (UAVs) have become increasingly popular. Delivery of luggage using aircraft such as a limousine vehicle (hereinafter referred to as "aircraft"). Attempts have been made to achieve this. Patent Document 1 discloses a delivery system using an aircraft. (See, for example, Patent Document 1.) The delivery system uses an aircraft (drone) to autonomously deliver parcels. A shipping manifest is created to deliver the parcel to the delivery destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Publication No. 2015-0120094 A1 Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, in recent years, there has been an increasing need for indoor flying objects. Such aircraft are not suitable for indoor use. In this case, a controller (proportional, etc.) is often used, but when used indoors In addition, it is not practical for the user to operate the device, and it requires experience and familiarity, making it difficult to operate intuitively. is difficult.

[0005] Therefore, the present invention aims to provide a flying object that can be easily operated and flown indoors. The purpose is to [Means for solving the problem]

[0006] According to the present invention, a cylindrical body having an outer periphery and an inner periphery; The air conditioner is provided inside the main body and generates an air current that flows at least from above to below the main body. a lift generating unit for generating a lift; a flap portion provided displaceably at a lower portion of the main body portion; The flap portion is displaced to change the direction of the airflow, thereby controlling the direction of movement. Equipped with You get a flying object. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a flying object that can be easily operated and flown even indoors. Cut. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of an aircraft according to an embodiment of the present invention, as seen from above; [Figure 2] 1 is a perspective view of an aircraft according to an embodiment of the present invention, as seen from above; [Figure 3] 1 is a top view of an air vehicle according to an embodiment of the present invention. [Figure 4] FIG. 2 is a bottom view of the flying vehicle according to the embodiment of the present invention. [Figure 5] 1 is a side cross-sectional view of an aircraft according to an embodiment of the present invention. [Figure 6] FIG. 4 is another cross-sectional side view of the flying vehicle according to the embodiment of the present invention. [Figure 7] 1 is a side cross-sectional view showing a flying state of an aircraft according to an embodiment of the present invention. [Figure 8] 1 is a side cross-sectional view showing a flying state of an aircraft according to an embodiment of the present invention. [Figure 9] FIG. 10 is a side cross-sectional view showing a flying state of an aircraft according to another embodiment of the present invention. [Figure 10] FIG. 10 is a side cross-sectional view showing a flying state of an aircraft according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] The details of the embodiments of the present invention will be listed and explained below. It has the following configuration. [Item 1] a cylindrical body having an outer periphery and an inner periphery; The air conditioner is provided inside the main body and generates an air current that flows at least from above to below the main body. a lift generating unit for generating a lift; a flap portion provided displaceably at a lower portion of the main body portion; The flap portion is displaced to change the direction of the airflow, thereby controlling the direction of movement. Equipped with Flying vehicle. [Item 2] The aircraft according to claim 1, A celestial sphere camera is provided at least on the upper or lower part of the main body. Flying vehicle. [Item 3] The aircraft according to claim 2, The omnidirectional camera is positioned at the center or approximately the center of the upper portion of the main body and the center or approximately the center of the lower portion. Located approximately in the center, Flying vehicle. [Item 4] The flying vehicle according to any one of claims 1 to 3, A display unit for providing information is provided on the outer periphery of the main body. , Flying vehicle. [Item 5] The flying vehicle according to claim 4, The display unit is an organic EL display provided on substantially the entire surface of the outer periphery. be, Flying vehicle. [Item 6] The aircraft according to claim 4 or claim 5, The image acquisition unit is further provided, The control unit manages a specific gesture in association with a specific action, and The display unit displays information about the structure, and the image acquisition unit If the acquired user behavior is determined to be identical to the one gesture, the specific action is performed. The flying object is controlled so as to Flying vehicle. [Item 7] The flying vehicle according to any one of claims 1 to 6, One or more depth sensors are provided on the outer periphery. Flying vehicle. [Item 8] The flying vehicle according to claim 7, The depth sensors are provided at 120 degree intervals when viewed from the outer periphery. Flying vehicle. [Item 9] The flying vehicle according to any one of claims 1 to 8, The upper and lower surfaces of the main body are formed in a mesh shape. Flying vehicle.

[0010] <Details of implementation form> Hereinafter, an aircraft according to an embodiment of the present invention will be described with reference to the drawings.

[0011] <Aircraft structure> FIG. 1 is a top view of an aircraft 10 according to this embodiment. 0 has a main body 100, a flap 110, and an omnidirectional camera 150T (150B). .

[0012] The above-mentioned aircraft include drones, multicopters, opter), unmanned aerial vehicle (UAV) ), RPAS (remote piloted aircraft systems), Or UAS (Unmanned Aircraft Systems), etc. There is a saying.

[0013] The main body 100 has a cylindrical shape with an outer periphery and an inner periphery. In the initial state (initial position: landing state), the flying object 10 opens in the vertical direction (Z direction). It is configured to be open.

[0014] The outer peripheral portion in this embodiment is a side portion 1 that can display a predetermined upper portion as a display. The side surface 102 can be made of, for example, an organic EL display. However, this is not limited to this.

[0015] The side surface 102 may display, for example, the status of the flying object 10, content such as video, a spherical camera, etc. Real-time display of still images or videos captured by the camera 150T and 150B. In addition, it is particularly difficult to grasp the flight directions of the drone, such as up and down, left and right, front and back, because of its cylindrical shape. The traveling direction of the body 10 may be displayed. In this case, for example, a display showing the traveling direction may be displayed. (Color, blinking display, etc.) or a display indicating left and right may be used.

[0016] As shown in FIG. 5, the aircraft 10 according to this embodiment has a main body 100. and a protrusion for generating an air current directed from the top to the bottom of the main body 100. In this embodiment, the propeller 120 is a counter-rotating It is planned to use rotating propellers.

[0017] In the aircraft 10 according to this embodiment, the diameter of the propeller 120 is increased. As a result, the rotation speed of the propeller 120 is reduced, and the sound caused by the rotation of the propeller 120 is reduced. can be done.

[0018] Furthermore, by making the main body 100 cylindrical, the amount of heat generated from the tip of the propeller can be reduced. The airflow can also be rectified downward (rearward in the direction of travel), improving energy efficiency and reducing noise. can also be suppressed.

[0019] As shown in FIGS. 1 to 4, the upper portion 101 and the lower portion 103 of the main body 100 are made of mesh. This structure allows the airflow generated by the propeller 120 to be efficiently discharged.

[0020] As shown in FIGS. 2 and 4, a flap 110 is provided at the lower end of the side portion 102. The flaps 110 are provided at intervals of 120 degrees. The side wall 102 is provided so as to be displaceable in the direction of the side and the outside (i.e., in the normal direction of the side wall 102). The control unit (not shown) of the aircraft 10 displaces the flap unit 110 to change the direction of the airflow. The direction of movement is controlled by the above. The direction of movement will be described later.

[0021] As shown in FIGS. 1 and 2, the upper and lower parts 101 and 103 of the main body 100 are provided with , spherical cameras 150T and 150B are provided.

[0022] The side surface 102 is provided with a depth sensor 130. The depth sensors 130 are provided at 120 degree intervals on the side surface 102.

[0023] In this embodiment, the omnidirectional cameras 150T and 150B capture the gestures of the user. The gesture is acquired and the action associated with the gesture is performed. Information on whether the recognition was successful and the action to be taken if the recognition was successful is displayed on the display 102 of the side surface. displayed on the screen.

[0024] Next, the flight state will be explained with reference to Figures 6 and 7. As shown in the figures, the flaps When the unit 110 is tilted, the aircraft 10 rotates on the XZ plane around the center of gravity G. , when the aircraft 10 tilts to the state shown in FIG. 7, the flap portion 110 is returned to its original orientation. By this, a force F with a horizontal component is generated from the resultant force of gravity g and lift (thrust) P. It will act on body 10.

[0025] In the structure shown in FIGS. 6 and 7, the flap portion 120 alone does not affect the yaw direction. In this case, the force of the counter-rotation (rotational direction with the Z axis as the axis of rotation) cannot be generated. By changing the rotation speed of the propeller 120 at the top and bottom, ) to rotate in the desired yaw direction.

[0026] By providing three flap parts 110, it is possible to move in all directions by the combined force. This becomes:

[0027] Next, a modified example of the flap portion 110 will be described with reference to FIGS. In this embodiment, three flap portions 110 (two of which are shown in the figure) are provided. One of the two (omitted) is provided at the center of the bottom of the aircraft 10. When the swing arm 110 is tilted, the flying object 10 rotates in the XZ plane around the center of gravity G. When the aircraft 10 tilts to the state shown in FIG. 9, the flap portion 110 is returned to its original orientation. By doing so, as in Figure 7, the horizontal component is calculated from the resultant force of gravity g and lift (thrust) P. A force F acts on the flying object 10.

[0028] Furthermore, as shown in FIG. 10, three flap portions 110 (including , one flap portion 110 is not shown), two of which are located at the bottom of the aircraft 10 in the y direction. The flap portion 110f is adjacent to the flap portion 110f on the front side of the figure in the y direction. By tilting the flap portions 110b and 110c alternately, the aircraft 10 is In this case, the propeller 120 may be a single propeller (i.e., a double propeller). (It does not have to be a rotating propeller.)

[0029] In any of the above cases, the aircraft 10 can fly with at least three flap sections 110. , allowing movement in all directions.

[0030] The rotorcraft mentioned above mainly refers to those that move in the air, but it can also be used on land, underwater, etc. This also includes rotorcraft with functions that combine the above uses.

[0031] The rotorcraft described above may include, for example, a flight controller, a memory, a transceiver, a motor, an E It will consist of hardware such as SC, propellers, batteries, and various sensors. That's fine.

[0032] The flight controller uses a programmable processor (e.g., a central processing unit (C The processor may have one or more processors, such as a processor unit (PU).

[0033] The flight controller has a memory (not shown) and can access the memory. The memory is executable by the flight controller to perform one or more steps. It stores certain logic, code, and / or program instructions.

[0034] The memory can be a separable memory such as an SD card or random access memory (RAM). The data acquired from the camera and sensors may include a medium or external storage device. For example, a still image captured by a camera or the like may be directly transmitted to and stored in a memory. The video data is recorded in an internal memory or an external memory.

[0035] A flight controller is a control module configured to control the state of a rotorcraft. For example, the control module may have six degrees of freedom (translational x, y, and z, and rotational Rotational motion θ x , θ y and θ z ) the spatial arrangement, speed, and / or acceleration of the rotorcraft The control module controls the propulsion mechanism (motor, etc.) of the rotorcraft to adjust the speed. The controller may control one or more of the following: the state of the mounting unit, the state of the sensors.

[0036] The flight controller may connect to one or more external devices (e.g., a terminal, display device, or a transceiver configured to transmit and / or receive data from another remote controller The transceiver may communicate with the receiver via any suitable communication means, such as wired or wireless communication. Steps can be used.

[0037] For example, the transceiver may be connected to a local area network (LAN), a wide area network (WLAN), or Wide Area Network (WAN), Infrared, Wireless, WiFi, Point-to-Point (P2P) Network It can utilize one or more of the following: .

[0038] The transmitter / receiver transmits data acquired by sensors, processing results generated by the flight controller, One or more of predetermined control data, user commands from a terminal or remote controller, etc. can be sent and / or received.

[0039] The sensors according to this embodiment may be used as inertial sensors (acceleration sensors, jacks, etc.) depending on their applications. sensors, GPS sensors, proximity sensors (e.g., LiDAR), vision / image sensors These sensors may include sensors (e.g., cameras) and other physical sensors. Affinity sensors, gas sensors, other electrochemical sensors, optical sensors The sensor may include a chemical sensor such as a ion exchanger.

[0040] The above-described embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention is not intended to be construed as a modification or improvement without departing from the spirit of the invention. It goes without saying that the present invention includes equivalents thereof. [Explanation of symbols]

[0041] 10, 10', 10'' flying object 100 Main body 101 Upper 102 Side part 103 Lower 110 Flap 120 propeller 150T, 150B spherical camera

Claims

1. a main body; a lift generating unit that generates an airflow that flows from above to below the main body unit; A control unit; a plurality of flap portions that are displaceably provided on the main body portion and that control the direction of the airflow generated by the lift generating portion, The lift generating unit includes a contra-rotating propeller that generates a force in the yaw direction on the aircraft by making the rotation speeds of the upper and lower propellers different, the control unit controls the rotation speed of the upper and lower propellers and the inclination of the flap unit to control the orientation and movement direction of the aircraft; By tilting the plurality of flap portions in alternate directions, a force in the yaw direction can be generated in the aircraft, the control unit, when tilting the flap unit so that the flying object is tilted in a predetermined direction to a predetermined angle, returns the flap unit to its original position, thereby exerting a horizontal force on the flying object and controlling the direction of movement of the flying object. Flying vehicle.

2. The flying vehicle according to claim 1, The flap portion is located at the lower end of the side surface of the main body portion. Flying vehicle.

3. The flying vehicle according to claim 2, The flap portion is provided so as to be displaceable in a normal direction of the side surface. Flying vehicle.

4. 4. The flying vehicle according to claim 1, The flap portions are evenly arranged in the circumferential direction of the main body portion. Flying vehicle.

5. The flying vehicle according to claim 4, Three flap portions are provided in the circumferential direction of the main body portion. Flying vehicle.

6. 6. The flying vehicle according to claim 1, The main body is cylindrical. Flying vehicle.

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