Flight device

Abstract

To provide a flying device with an airframe to which an inside end part of an arm can be firmly connected thereto.SOLUTION: A flying device 10 includes an airframe 11, an arm 12, and a rotor 13. The arm 12 includes a first arm part 121 and a second arm part 122. The first arm part 121 has one end side on which the rotor 13 is disposed and the other end side to which the airframe 11 is connected. The second arm part 122 has one end side connected to the first arm part 121 and the other end side connected to part of the airframe 11 on a side lower than part to which the first arm part 121 is connected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, there have been known unmanned flying devices capable of flying in the air. Such flying devices are capable of flying in the air by using the thrust of a rotor that rotates around a vertical axis.

[0003] Possible fields of application for such flying devices include, for example, transportation, surveying, and photography. When a flying device is used in such fields, surveying equipment and photography equipment are attached to the flying device. By applying the flying device to such fields, it is possible to fly the flying device in areas where humans cannot enter, and transport, photograph, and survey such areas. An invention related to such a flying device is described, for example, in Patent Document 1.

[0004] In this type of flying device, a rotor is attached to the tip of an arm that extends outward from the body. The rotation of the rotor generates lift, allowing the flying device to float in the air. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-51545 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the above-mentioned flying device, there is room for improvement in the mounting structure of the arm to the airframe.

[0007] Specifically, the arm is generally rod-shaped, with its inner end connected to the airframe and the rotor attached to its outer end. Therefore, if the connection strength between the inner end of the arm and the airframe is not sufficient, the arm will inadvertently deform from the connection during flight, creating the problem of making it difficult to accurately control its position and attitude during flight.

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a flying device in which an arm can be firmly connected to a fuselage. [Means for solving the problem]

[0009] The flight device of the present invention comprises an airframe, an arm, and a rotor, the arm having a first arm section and a second arm section, the rotor being disposed on one end of the first arm section and connected to the airframe at the other end, and the second arm section having one end connected to the first arm section and connected to the airframe below the portion where the first arm section is connected. The first arm portion has a first end which is an outer end, and second and third end portions which are inner ends, the second arm portion has a fourth end which is an outer end, and a fifth end which is an inner end, the fifth end portion of the second arm portion is positioned lower than the second and third end portions of the first arm portion, the first arm portion is rotatably connected to the machine body around the second and third end portions as centers of rotation, the fifth end portion of the second arm portion is detachably connected to the machine body and can take an un-stored state and a stored state, in the un-stored state the second and third end portions of the first arm portion are connected to the machine body and the fifth end portion of the second arm portion is connected to the machine body, and in the stored state the fifth end portion of the second arm portion is detached from the machine body, and the arm rotates around the second and third end portions as centers of rotation, thereby bending upward and inward. [Effects of the Invention]

[0016] According to the flying device of the present invention, it is possible to provide a flying device in which the arms can be firmly connected to the airframe. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a perspective view showing a flying device according to an embodiment of the present invention; [Figure 2] 1 is a diagram showing a flying device according to an embodiment of the present invention, and is a block diagram showing the connection configuration of each part. FIG. [Figure 3A] 1 is a perspective view showing a rotor and an arm of a flying device according to an embodiment of the present invention. FIG. [Figure 3B] 1 is a perspective view showing an arm of a flying device according to an embodiment of the present invention. [Figure 4] FIG. 2 is a side view showing a rotor and an arm of the flying device according to the embodiment of the present invention. [Figure 5]1 is a perspective view showing a rotor and an arm of a flying device according to an embodiment of the present invention when stored. FIG. [Figure 6A] FIG. 10 is a perspective view of a flying device according to another embodiment of the present invention, as viewed from above. [Figure 6B] FIG. 10 is a perspective view of a flight device according to another embodiment of the present invention, as viewed from below. [Figure 7] FIG. 10 is a perspective view showing a stored state of a flying device according to another embodiment of the present invention. [Figure 8] FIG. 10 is a perspective view showing a flying device according to still another embodiment of the present invention. [Figure 9] FIG. 10 is a perspective view showing a stored state of a flying device according to still another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] The configuration of the flying device of this embodiment will be described below with reference to the drawings. In the following description, parts having the same configuration will be given the same reference numerals, and repeated description will be omitted. In addition, although the following description uses the terms up, down, front, back, left, and right, these directions are used for the convenience of explanation. Furthermore, in the following description, the direction away from the airframe 11 will sometimes be referred to as the outside, and the direction approaching the airframe 11 will sometimes be referred to as the inside.

[0025] FIG. 1 is a perspective view of a flying device 10. As shown in FIG.

[0026] The flight device 10 mainly comprises an airframe 11, an arm 12, and a rotor 13. The flight device 10 is also referred to as a drone. The flight device 10 may be an electric drone powered only by a motor that rotates with power supplied from a battery, or a hybrid drone powered by an engine and a motor. A hybrid drone may be a series hybrid drone or a parallel hybrid drone. A series hybrid drone uses an engine to drive a generator, and the motor powered by the generator rotates the rotor 13. A parallel hybrid drone has a mechanical drive system that mechanically rotates the rotor 13 using an engine, in addition to an electrical drive system that rotates the rotor 13 using the motor.

[0027] The airframe 11 is the main body that supports the various components of the flight device 10. Here, the airframe 11 is composed of rod-shaped members made of aluminum, magnesium, or the like. Specifically, the airframe 11 has an upper frame section 111, a middle frame section 112, and a lower frame section 113. The upper frame section 111 and the middle frame section 112 are frame-shaped members that are approximately square when viewed from above. The lower frame section 113 is a member that is approximately ring-shaped when viewed from above. The upper frame section 111, the middle frame section 112, and the lower frame section 113 are interconnected by rod-shaped members that extend vertically. Four legs 114 extend downward from the lower frame section 113. The legs 114 are the parts that come into contact with the ground when the flight device 10 is in a landing state. The airframe 11 houses a battery unit 25, which will be described later, and other components.

[0028] The arm 12 is a member that extends from the body 11 toward the periphery. Like the body 11, the arm 12 is made of a metal material such as aluminum or magnesium. The arm 12 extends in all directions from the body 11. The specific configuration of the arm 12 will be described in detail with reference to FIG. 3A etc.

[0029] The rotor 13 is disposed on the tip side of the arm 12. When the rotor 13 rotates, an upward thrust is generated, and this thrust causes the flight device 10 to float in the air.

[0030] FIG. 2 is a diagram showing the flight device 10, and is a block diagram showing the connection configuration of each part.

[0031] The flight device 10 mainly comprises a control device 21, a battery unit 25, an output control device 23, a rotor motor 17, a sensor 18, and a communication device 22. Here, the flight device 10 is shown as an electric drone, but if the flight device 10 is a hybrid drone, an engine and a generator will be provided separately.

[0032] The control device 21 has a CPU, ROM, RAM, etc. Based on inputs from the sensors 18 and the communication device 22, the control device 21 controls the behavior of each device constituting the flight device 10, for example, the rotation speed of each rotor 13.

[0033] The battery unit 25 is, for example, a rechargeable lithium ion battery. The power discharged from the battery unit 25 is supplied to the output control device 23.

[0034] An output control device 23 is provided for each rotor 13. As the output control device 23, an inverter that converts DC power supplied from the battery unit 25 into AC power of a predetermined frequency can be used.

[0035] The rotor motor 17 is provided in correspondence with the rotor 13. The rotor motor 17 rotates the rotor 13 using power supplied from the output control device 23.

[0036] The sensor 18 is a sensor including, for example, a gyro sensor, an acceleration sensor, an air pressure sensor, an ultrasonic sensor, a GPS, and the like.

[0037] The communication device 22 is connected wirelessly or via a wire to a controller operated by an operator. When the operator operates the controller, a command indicating the operation is transmitted to the communication device 22. Based on the command received by the communication device 22, the control device 21 adjusts the rotation of each rotor motor 17 and controls the position and attitude of the flight device 10.

[0038] The operation of the flight device 10 will now be briefly described. The flight device 10 is operated in a landing state, a takeoff state, a hovering state, an ascent / descent state, or a horizontal movement state.

[0039] In the landing state, the flight device 10 is on the ground, and in this state, the rotor 13 does not rotate.

[0040] In the takeoff state, the flight device 10 rises away from the ground surface due to the thrust generated by the rotation of the rotor 13 .

[0041] In the hovering state, the flight device 10 supplies power from the battery unit 25 to the rotor motor 17 via the output control device 23 based on input information from the control device 21 and the sensor 18, causing the rotor motor 17 to rotate and levitate the flight device 10 at a predetermined position in the air. The control device 21 controls each output control device 23 to maintain the predetermined rotational speed of the rotor motor 17 so that the flight device 10 can maintain a predetermined altitude and attitude.

[0042] In the ascent / descent state, the control device 21 raises or lowers the flight device 10 by controlling the rotation speed of the rotor motor 17. In this state, the control device 21 also controls each output control device 23 to maintain the rotation speed of each rotor 13 at a predetermined value so that the flight device 10 can maintain a predetermined altitude and attitude.

[0043] In the horizontal movement state, the control device 21 controls the output control device 23 to control the rotation speed of each rotor motor 17, thereby tilting the flight device 10 and moving the flight device 10 horizontally.

[0044] 3A is a perspective view showing the rotor 13 and the arm 12 of the flight device 10. FIG. 3B is a perspective view showing the arm 12 of the flight device 10.

[0045] 3A, plate-shaped frame portion 115 is installed between upper frame portion 111 and middle frame portion 112. Plate-shaped frame portion 115 is made of a plate-shaped metal plate. The two plate-shaped frame portions 115 are arranged so as to be approximately parallel to each other.

[0046] The arm 12 extends leftward from the plate-shaped frame portion 115. The arm 12 has a first arm portion 121 and a second arm portion 122.

[0047] The first arm portion 121 is disposed on the rotor 13 at one end, or the left end, and is connected to the plate-like frame portion 115 of the airframe 11 at the other end, or the right end. When viewed from above, the first arm portion 121 has the shape of the letter A, and therefore the first arm portion 121 is sometimes referred to as an A-arm.

[0048] The rotor 13 is disposed at the outer end of the first arm portion 121. The rotor 13 has an upper rotor 131 and a lower rotor 132. The upper rotor 131 and the lower rotor 132 are disposed so as to overlap when viewed from above. The upper rotor 131 and the lower rotor 132 rotate in opposite directions. By having the upper rotor 131 and the lower rotor 132, a large thrust can be obtained.

[0049] The second arm section 122 has an outer end portion, which is one end thereof, connected to the first arm section 121. The other end portion, which is an inner end portion, of the second arm section 122 is connected to a position lower than the portion of the airframe 11 where the first arm section 121 is connected. Specifically, the inner end portion of the second arm section 122 is connected to an intermediate portion of the leg section 114. With this configuration, the second arm section 122 can reinforce the first arm section 121, preventing the arm 121 from being accidentally deformed during flight and enabling accurate control of the position and attitude of the airframe 11 during flight.

[0050] Referring to FIG. 3B, first arm portion 121 and second arm portion 122 that constitute arm 12 will be described in detail.

[0051] The first arm portion 121 has a first end portion 1211, which is the outer end portion, and a second end portion 1212 and a third end portion 1213, which are inner ends. The upper rotor 131, the lower rotor 132, and the rotor motor 17 that rotates them are disposed on the upper and lower surfaces of the first end portion 1211. The second end portion 1212 and the third end portion 1213 are ends of a substantially rod-shaped portion disposed at the right end of the first arm portion 121. The first arm portion 121 is connected to the plate-like frame portion 115 so as to be rotatable about the second end portion 1212 and the third end portion 1213. Here, a configuration in which a through hole is provided in the connecting members and a rotation shaft is inserted into the through hole can be employed as a configuration for achieving a rotatable connection. This configuration also applies to connecting portions between other members.

[0052] The second arm portion 122 has a fourth end portion 1221 which is the outer end portion, and a fifth end portion 1222 which is the inner end portion. The fifth end portion 1222 of the second arm portion 122 is positioned lower than the second end portion 1212 and the third end portion 1213 of the first arm portion 121. With this configuration, the inner end portion of the arm 12 is supported at three points by the second end portion 1212, the third end portion 1213, and the fifth end portion 1222. Therefore, the inner end portion of the arm 12 can be firmly attached to the machine body 11.

[0053] A fourth end 1221 of the second arm portion 122 is rotatably connected to an intermediate portion of the first arm portion 121. With this configuration, the intermediate portion of the second arm portion 122 can be reinforced by the first arm portion 121, and the rigidity of the entire arm 12 can be increased.

[0054] Furthermore, the fifth end 1222 of the second arm unit 122 is connected to the leg unit 114 shown in Fig. 3A in an easily detachable manner. For example, the fifth end 1222 of the second arm unit 122 is connected to the leg unit 114 by a simple fastening means such as a screw structure that can be easily attached and detached by an operator. Therefore, when storing the flight device 10, the arm 12 can be easily bent relative to the airframe 11, and the entire device can be stored and transported in a compact state.

[0055] Second arm portion 122 has an adjustment portion 1223 that can change the dimension in the length direction. Adjustment portion 1223 connects the upper and lower portions of second arm portion 122 in an expandable manner, for example, by a screw structure. By making the length of second arm portion 122 changeable by adjustment portion 1223, the angle of first arm portion 121 with respect to the horizontal plane can be easily changed.

[0056] 4 is a side view showing the rotor 13 and the arm 12 of the flight device 10. In FIG. 4, the arrow indicates the direction in which thrust is generated by the rotation of the rotor 13.

[0057] The plane of rotation 133 is an imaginary plane formed by the rotation of the rotor 13. The plane of rotation 133 is disposed so as to be inclined upward and outward. If the plane of rotation 133 of the rotor 13 is disposed parallel to the extension direction of the second arm unit 122, both the rotor 13 and the second arm unit 122 are disposed so as to be inclined upward and to the left. The inclination angle θ of the plane of rotation 133 and the second arm unit 122 from the horizontal plane is set within a range that allows the attitude of the flight device 10 to be stable during flight, taking into consideration the thrust generated by the rotation of the rotor 13 and the weight of the flight device 10, etc.

[0058] By tilting the rotation plane 133 of the rotor 13, the thrust generated by the rotation of the rotor 13 faces upward and inward, thereby stabilizing the attitude during flight. In other words, even if the attitude of the flight device 10 during flight fluctuates slightly due to external disturbances such as wind, the thrust generated from the rotor 13 faces upward and inward, so the attitude of the flight device 10 in the air is self-corrected, improving the stability of the flight device 10 during flight.

[0059] Furthermore, the tilt angle θ of the rotation surface 133 and the second arm portion 122 can be easily changed by adjusting the adjustment portion 1223. Specifically, the tilt angle θ can be increased by operating the adjustment portion 1223 to lengthen the first arm portion 121. On the other hand, the tilt angle θ can be decreased by operating the adjustment portion 1223 in the opposite direction to shorten the first arm portion 121.

[0060] FIG. 5 is a perspective view showing the rotor 13 and the arm 12 of the flight device 10 in the retracted state.

[0061] When storing the arm 12, first, the fifth end 1222 of the second arm section 122 is detached from the leg section 114. Then, the arm 12 is bent upward and inward around the second end 1212 and the third end 1213 as the center of rotation. This prevents the arm 12 and rotor 13 from protruding outward, allowing the flight device 10 to be stored and transported in a compact overall state.

[0062] Figure 6A is a perspective view of a flight device 10 according to another embodiment, seen from above. Figure 6B is a perspective view of a flight device 10 according to another embodiment, seen from below. The configuration of the flight device 10 shown here is basically the same as that shown in Figure 1, except that it is equipped with wing sections 14.

[0063] 6A, the wing section 14 is a generally plate-shaped member attached to the upper side of the arm 12. As described above, the arms 12 extend from the fuselage 11 toward the periphery, and a wing section 14 is attached to each arm 12. By having the wing sections 14, lift can be generated by the wing sections 14 during flight, reducing the energy required for the flight device 10 to fly.

[0064] 6B, wing portion 14 is attached to the upper part of arm 12 via a plurality of wing connection portions 15. Wing connection portions 15 are columnar members extending upward from arm 12.

[0065] FIG. 7 is a perspective view showing a stored state of the flight device 10 according to another embodiment.

[0066] As described above, the arm 12 is foldably connected to the fuselage 11. Therefore, by bending the arm 12, the wing section 14 is also bent along with the arm 12. Therefore, even if the flying device 10 is equipped with the wing section 14, the flying device 10 can be stored in a compact state.

[0067] FIG. 8 is a perspective view showing a flight device 10 according to still another embodiment.

[0068] The configuration of the flight device 10 shown in FIG. 8 is basically the same as that shown in FIG. 6A etc., but differs in the manner in which the wing sections 14 are attached.

[0069] Here, the wing portion 14 has wing portion 141 to wing portion 144. The wing portion 141, the wing portion 142, the wing portion 143, and the wing portion 144 are attached to the upper side of the arm 12, respectively.

[0070] Wing section 141 and wing section 142 form a single plate-like member that is continuous in the left-right direction on the front side of flight device 10. Similarly, wing section 143 and wing section 144 form a single plate-like member that is continuous in the left-right direction on the rear side of flight device 10. Wing section 141 to wing section 144 are connected to the upper side of arm 12 via wing connection section 15. Furthermore, by changing the length of wing connection section 15, the inclination angle of wing section 141 to wing section 144 that slopes upward toward the front can be changed, and the generated lift can be changed.

[0071] With this configuration, when the flight device 10 flies forward, the wing section 14 can generate a large lift force, thereby reducing the energy required for the flight device 10 to fly.

[0072] 9 is a perspective view showing a stored state of a flying device 10 according to yet another embodiment. The arm 12 and the wing 14 are stored by bending the arm 12 downward and inward relative to the fuselage 11. Furthermore, the wing 141 to wing 144 have a rectangular shape that is elongated in the left-right direction, and are therefore inclined relative to the arm 12.

[0073] Although the embodiments of the present invention have been described above, the present invention is not limited to these and can be modified within the scope of the present invention. In addition, the above-described embodiments can be combined with each other. The invention that can be understood from the above-described embodiment will be described below together with its effects. The flying device of the present invention comprises an airframe, an arm, and a rotor, the arm having a first arm section and a second arm section, the rotor being disposed at one end of the first arm section and connected at the other end to the airframe, and the second arm section being connected at one end to the first arm section and connected at the other end to a part of the airframe below where the first arm section is connected. According to the flying device of the present invention, the first arm section can be reinforced by the second arm section, preventing inadvertent deformation of the arm during flight and enabling accurate control of the position and attitude of the airframe during flight. In addition, in the flight device of the present invention, the first arm section has a first end section that is an outer end section and second and third end sections that are inner ends, and the second arm section has a fourth end section that is an outer end section and a fifth end section that is an inner end section, and the fifth end section of the second arm section is located lower than the second and third ends of the first arm section. According to the flight device of the present invention, the inner end section of the arm section is supported at three points by the second end section, the third end section, and the fifth end section. This allows the inner end section of the arm section to be firmly attached to the aircraft body. In addition, in the flying device of the present invention, the first arm is rotatably connected to the airframe around the second end and the third end as a rotation center, and the fifth end of the second arm is detachably connected to the airframe. According to the flying device of the present invention, the arms can be folded relative to the airframe when stored, allowing the entire device to be stored and transported in a compact state. In addition, in the flight device of the present invention, the second arm has an adjustment unit that can change the length. According to the flight device of the present invention, by changing the length of the second arm with the adjustment unit, it is possible to change the angle of the arm relative to the horizontal plane. In addition, in the flight device of the present invention, one end of the second arm is connected to a midpoint of the first arm, and the midpoint of the second arm can be reinforced by the first arm, thereby increasing the rigidity of the entire arm. In addition, the flight device of the present invention is characterized in that the rotation plane of the rotor is inclined upward toward the outside, and the thrust generated by the rotation of the rotor is directed upward and inward, thereby stabilizing the attitude during flight. The flying device of the present invention is further characterized by comprising a wing portion attached to the first arm portion, and the wing portion can generate lift during flight, thereby reducing the energy required for flight. [Explanation of symbols]

[0074] 10 Flight equipment 11 aircraft 111 Upper frame section 112 Middle frame section 113 Lower frame section 114 Legs 115 Plate-shaped frame part 12 Arm 121 First arm 1211 First end 1212 Second end 1213 Third end 122 Second arm 1221 4th end 1222 5th end 1223 Adjustment part 13 rotor 131 Upper rotor 132 Lower rotor 133 Surface of Revolution 14 Wings 141 Wings 142 Wings 143 Wings 144 Wings 15 Wing connection 17 rotor motor 18 Sensors 21 Control device 22 Communication equipment 23 Output control device 25 Battery Unit

Claims

1. The aircraft includes a body, an arm, and a rotor. The arm has a first arm portion and a second arm portion, the rotor is disposed on one end of the first arm portion, and the other end is connected to the airframe; one end of the second arm portion is connected to the first arm portion, and the other end is connected to a portion of the machine body below the portion to which the first arm portion is connected; the first arm portion has a first end portion which is an outer end portion, and second and third end portions which are inner end portions, the second arm portion has a fourth end portion which is an outer end portion, and a fifth end portion which is an inner end portion, the fifth end portion of the second arm portion being positioned lower than the second and third end portions of the first arm portion, the first arm unit is rotatably connected to the machine body around the second end and the third end as rotation centers, and the fifth end of the second arm unit is detachably connected to the machine body; It can be in a non-storage state and a storage state, In the non-storage state, the second end and the third end of the first arm portion are connected to the airframe, and the fifth end of the second arm portion is connected to the airframe; In the stored state, the fifth end of the second arm section is detached from the aircraft body, and the arm rotates around the second end and the third end as centers of rotation, thereby bending upward and inward.

2. 2. The flight device according to claim 1, wherein the second arm portion has an adjustment portion that can change the dimension in the length direction.

3. 3. The flight device according to claim 1, wherein one end of the second arm is connected to a midpoint of the first arm.

4. 4. The flight device according to claim 1, wherein the rotation plane of the rotor is inclined upward and outward.

5. 5. The flying device according to claim 1, further comprising a wing portion attached to the first arm portion.

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