Mobile body and flying method for mobile body

Abstract

This mobile body 1 comprises: a body part 10 that has a plurality of support pillars; and rotor wing modules 20 that are respectively provided at a plurality of vertices of the body part 10 and include a rotor wing 21 and a drive unit 22 that drives the rotor wing 21. The body part 10 forms a three-dimensional shape when all the vertices are connected, and the rotor wing modules 20 are provided to allow for relative change in the angles to the support pillars.

Description

Mobile body and mobile body flight method

[0001] This application claims priority to Japanese Patent Application No. 2023-205624, filed on December 5, 2023, the entire disclosure of which is incorporated herein by reference.

[0002] Technologies related to mobile objects, including drones, have become widespread. For example, Patent Document 1 discloses a device that simultaneously prevents vibration and absorbs shock in an unmanned aerial vehicle with a rotating spherical frame. For example, Patent Document 2 discloses an air vehicle equipped with both rotary and fixed wings. It is disclosed that the air vehicle reduces the difficulty of attitude control and maneuvering when transitioning between horizontal flight and vertical takeoff and landing compared to previously proposed air vehicles that combine fixed-wing and rotary-wing air vehicles.

[0003] JP 2018-039488 A JP 2018-020742 A

[0004] As the use of mobile vehicles expands, it is hoped that in the future mobile vehicles will be able to operate autonomously. In this case, one important requirement is that the mobile vehicle be able to move stably without being dependent on external factors such as wind.

[0005] The present disclosure aims to provide a moving body that can move stably without relying on external factors such as wind, and a flying method for the moving body.

[0006] A first aspect of the invention for solving the above problem is a moving body comprising: a main body having a plurality of support pillars; and a rotor module arranged at each of a plurality of vertices of the main body, the rotor module including a rotor and a drive unit for driving the rotor; wherein the main body forms a three-dimensional shape when all of the vertices are connected, and the rotor module is arranged so that its angle with respect to the support pillars can be changed relatively.

[0007] In the flight method of the above-mentioned moving body according to the second aspect, with one face of the first polyhedron positioned on the upper vertical surface, movement and attitude maintenance are performed by operating only the rotor module arranged at the vertex of the one face.

[0008] In the flight method of the above-mentioned mobile body from the third aspect, the rotor module located at one vertex of the first polyhedron is located vertically upward, and the rotor module located at the other vertex on the opposite side is located vertically downward, and movement and attitude are maintained by operating only the two rotor modules so that the rotation directions of the two rotors are opposite to each other.

[0009] According to the present disclosure, it is possible to provide a moving body and a flying method for a moving body that can move stably without relying on external factors such as wind.

[0010] 5 is an external perspective view schematically showing the configuration of a moving body according to a first embodiment of the present disclosure. FIG. 6 is an external perspective view schematically showing a portion of the configuration of the moving body of FIG. 1. FIG. 7 is an enlarged perspective view schematically showing a portion of the configuration of the moving body of FIG. 2. FIG. 8 is an enlarged top view schematically showing a portion of the configuration of the moving body of FIG. 2. FIG. 9 is an external perspective view schematically showing another portion of the configuration of the moving body of FIG. 1. FIG. 5 is a schematic view showing a cross section taken along the V-V arrow line in FIG. 5. FIG. 6 is a functional block diagram schematically showing an example of the configuration of the moving body of FIG. 1. FIG. 7 is an external perspective view schematically showing a portion of the configuration of a cage according to a first modified example. FIG. 8 is an external perspective view schematically showing a portion of the configuration of a cage according to a second modified example. FIG. 9 is an external perspective view schematically showing a portion of the configuration of a cage according to a third modified example. FIG. 10 is an external perspective view schematically showing a portion of the configuration of a cage according to a fourth modified example. FIG. 11 is an external perspective view schematically showing a portion of the configuration of a cage according to a fifth modified example. FIG. 12 is an external perspective view schematically showing a portion of the configuration of a cage according to a sixth modified example. FIG. 13 is an external perspective view schematically showing a portion of the configuration of a cage according to a seventh modified example. FIG. 14 is an external perspective view schematically showing a portion of the configuration of a cage according to an eighth modified example. FIG. 12 is an external perspective view schematically showing a part of the configuration of a cage according to a ninth modified example. FIG. 13 is an enlarged perspective view schematically showing another example of the configuration of a part of the moving body shown in FIG. 3. FIG. 14 is an external perspective view schematically showing a part of the configuration of a moving body according to a modified example of the present disclosure. FIG. 15 is an external perspective view schematically showing a part of the configuration of a moving body according to a second embodiment of the present disclosure. FIG. 16 is an enlarged perspective view schematically showing a part of the configuration of the moving body shown in FIG. 11. FIG. 17 is a side view schematically showing a side of the regular hexahedron in FIG. 11.

[0011] Hereinafter, one embodiment of the present disclosure will be mainly described with reference to the accompanying drawings.

[0012] 1 is an external perspective view schematically illustrating a configuration of a moving body 1 according to a first embodiment of the present disclosure. The configuration of the moving body 1 according to the first embodiment will be mainly described with reference to FIG. 1.

[0013] The moving body 1 according to the first embodiment of the present disclosure includes any flying body, etc. The flying body includes, for example, a flying drone, a flying multicopters, etc. The moving body 1 moves at least outdoors and indoors.

[0014] The mobile body 1 uses wireless communication to control operations related to movement, including the movement route, movement attitude, and movement speed. The mobile body 1 can move unmanned by working in cooperation with any control device via wireless communication, rather than being operated by a human on board. The mobile body 1 can move even when a human is on board by working in cooperation with any control device via wireless communication, without being operated by the human. In the present disclosure, the "control device" includes, for example, a controller operated by a human to control operations related to the movement of the mobile body 1, and a server connected to the mobile body 1 over a network via wireless communication so as to be able to communicate with the mobile body 1.

[0015] The mobile body 1 can also move autonomously as a result of automated driving without relying on such a control device. For example, the mobile body 1 may move autonomously by identifying objects such as obstacles present at the destination using an ultrasonic sensor, millimeter-wave radar, LiDAR (Light Detection and Ranging), or the like, and measuring the distance from the mobile body 1 to the object. For example, the mobile body 1 may be combined with a measurement unit including an acceleration sensor, a gyroscope, or the like, and autonomously circle around a target object or target position.

[0016] In addition to the sensor devices including the ultrasonic sensors or optical sensors described above, the mobile object 1 may further include any other sensor devices including an imaging device, and may use the other sensor devices to acquire any data, information, etc. For example, while flying through a narrow space, the mobile object 1 may capture images of inspection targets included in the floor, walls, ceiling, etc. that make up the narrow space using the imaging device, and output the captured images as data to any external device via wireless communication for inspection purposes.

[0017] The mobile body 1 may use the imaging device to capture images of inspection target areas included in walls, floors, ceilings, etc. when inspecting structures such as tunnels, bridges, retaining walls, steel towers, chimneys, plants, apartment buildings, and buildings from the outside, and output the captured images as data to any external device for inspection purposes via wireless communication. In this case, the imaging device includes a vision sensor (camera), an infrared camera, etc. During inspection, the mobile body 1 may inspect the inspection target areas included in walls, floors, ceilings, etc. using the imaging device and sensor device, etc., while contacting the inspection target areas.

[0018] The mobile body 1 may further include a hammering inspection device having a striking device including a hammering inspection rod and a hammer, etc., for the purpose of performing a hammering inspection of the structure. This allows the mobile body 1 to inspect the surface and internal conditions of an inspection target part such as a wall by using the striking device to acquire sounds. During inspection, the mobile body 1 may inspect the inspection target part, including the wall, floor, and ceiling, using the hammering inspection device while contacting the inspection target part.

[0019] The moving body 1 has, as its main components, a main body 10, a rotor module 20, and a cage 30.

[0020] The rotor module 20 includes a rotor 21 and a drive unit 22 that drives the rotor 21. As will be described later, the rotor module 20 is attached to the main body 10 based on a gimbal structure formed by the support unit 12. The moving body 1 can move when the rotor module 20 operates.

[0021] The cage 30 is attached to the main body 10 based on an arbitrary attachment structure. The cage 30 forms the outer shape of the moving body 1 so as to surround the main body 10 and the rotor module 20 from the outside. The cage 30 is fixed to the main body 10. When the cage 30 rotates in conjunction with the rotation of the moving body 1, the main body 10 rotates in accordance with the rotation of the cage 30. Conversely, if the cage 30 maintains a constant attitude, the main body 10 is maintained in an attitude corresponding to that attitude of the cage 30. The attitude of the main body 10 corresponds one-to-one with the attitude of the cage 30.

[0022] Fig. 2 is an external perspective view that schematically illustrates a portion of the configuration of the moving body 1 of Fig. 1. Fig. 2 omits the cage 30 of the moving body 1 and illustrates only the main body 10 and the rotor module 20. Fig. 2 illustrates, as an example of the state of the moving body 1, a state in which both the main body 10 and the rotor module 20 are maintained in a horizontal position.

[0023] The main body 10 has a plurality of first support columns. For example, the main body 10 has eight first support columns F41, F42, F43, F44, F51, F52, F53, and F54. The main body 10 has one end of each of the plurality of first support columns positioned on the vertex side of the main body 10 and the other end positioned inside the main body 10. In this disclosure, "inside" corresponds to the direction toward the reference point P0 of the moving body 1 or the main body 10. "Outside" is the opposite of inside.

[0024] In this disclosure, the "reference point P0" is, for example, the center of gravity of the main body 10. "Center of gravity" refers to the center of mass that represents the weighted arithmetic mean of all points of a physical object of interest. When a physical object of interest has uniform density and is symmetrically formed, the center of mass coincides with the geometric center of its shape. "Geometric center" refers to the position of the arithmetic mean obtained over all points belonging to the shape.

[0025] For example, one end of the first support F41 is located on the side of the first vertex P1 of the main body 10. The other end of the first support F41 is located on the side of the reference point P0 of the main body 10. One end of the first support F42 is located on the side of the second vertex P2 of the main body 10. The other end of the first support F42 is located on the side of the reference point P0 of the main body 10. One end of the first support F43 is located on the side of the third vertex P3 of the main body 10. The other end of the first support F43 is located on the side of the reference point P0 of the main body 10. One end of the first support F44 is located on the side of the fourth vertex P4 of the main body 10. The other end of the first support F44 is located on the side of the reference point P0 of the main body 10.

[0026] For example, one end of the first support F51 is located on the side of the fifth vertex P5 of the main body 10. The other end of the first support F51 is located on the side of the reference point P0 of the main body 10. One end of the first support F52 is located on the side of the sixth vertex P6 of the main body 10. The other end of the first support F52 is located on the side of the reference point P0 of the main body 10. One end of the first support F53 is located on the side of the seventh vertex P7 of the main body 10. The other end of the first support F53 is located on the side of the reference point P0 of the main body 10. One end of the first support F54 is located on the side of the eighth vertex P8 of the main body 10. The other end of the first support F54 is located on the side of the reference point P0 of the main body 10.

[0027] The main body 10 forms a three-dimensional shape when all vertices are connected. For example, the main body 10 forms a three-dimensional shape when all eight vertices P1, P2, P3, P4, P5, P6, P7, and P8 are connected. The three-dimensional shape includes, for example, a first polyhedron. As an example, the main body 10 further includes a plurality of second supports arranged on at least a portion of the edges connecting one vertex to another vertex, and is formed in the shape of a first polyhedron. The first polyhedron is, for example, a regular hexahedron. The main body 10 has an outer shape formed in the shape of a regular hexahedron.

[0028] More specifically, the main body 10 has four second support columns F11, F12, F13, and F14 that form the top surface of the regular hexahedron in Fig. 2. The main body 10 has four second support columns F31, F32, F33, and F34 that form the bottom surface of the regular hexahedron in Fig. 2. In addition, the main body 10 has four third support columns F21, F22, F23, and F24 that are located on the four side surfaces of the regular hexahedron in Fig. 2. The main body 10 has a regular hexahedron-like outer shape formed by eight second support columns.

[0029] The main body 10 has four vertices located on the top surface of the regular hexahedron in FIG. 2 . More specifically, the main body 10 has a first vertex P1, a second vertex P2, a third vertex P3, and a fourth vertex P4. The first vertex P1 is located at the intersection of the side along the second support column F11 and the side along the second support column F14. The second vertex P2 is located at the intersection of the side along the second support column F12 and the side along the second support column F11. The third vertex P3 is located at the intersection of the side along the second support column F13 and the side along the second support column F12. The fourth vertex P4 is located at the intersection of the side along the second support column F14 and the side along the second support column F13.

[0030] The main body 10 has four vertices located on the underside of the regular hexahedron in FIG. 2 . More specifically, the main body 10 has a fifth vertex P5, a sixth vertex P6, a seventh vertex P7, and an eighth vertex P8. The fifth vertex P5 is located at the intersection of the side along the second support F31 and the side along the second support F34. The sixth vertex P6 is located at the intersection of the side along the second support F32 and the side along the second support F31. The seventh vertex P7 is located at the intersection of the side along the second support F33 and the side along the second support F32. The eighth vertex P8 is located at the intersection of the side along the second support F34 and the side along the second support F33.

[0031] The main body 10 has a first support column F41 extending inside the main body 10 to each of the four vertices located on the top surface of the regular hexahedron in Fig. 2. More specifically, the main body 10 has a first support column F41 extending inside the main body 10 to the first vertex P1. The main body 10 has a first support column F42 extending inside the main body 10 to the second vertex P2. The main body 10 has a first support column F43 extending inside the main body 10 to the third vertex P3. The main body 10 has a first support column F44 extending inside the main body 10 to the fourth vertex P4.

[0032] The main body 10 has a first support column F51 extending inside the main body 10 to each of the four vertices located on the underside of the regular hexahedron in Fig. 2. More specifically, the main body 10 has a first support column F51 extending inside the main body 10 to the fifth vertex P5. The main body 10 has a first support column F52 extending inside the main body 10 to the sixth vertex P6. The main body 10 has a first support column F53 extending inside the main body 10 to the seventh vertex P7. The main body 10 has a first support column F54 extending inside the main body 10 to the eighth vertex P8.

[0033] The main body 10 has a storage box 11 located inside a regular hexahedron-like three-dimensional shape formed by eight second support columns F11, F12, F13, F14, F31, F32, F33, and F34. The storage box 11 is connected to each of the eight first support columns F41, F42, F43, F44, F51, F52, F53, and F54 at the other end located opposite the corresponding vertex of the regular hexahedron.

[0034] The housing box 11 is formed as a regular hexahedron, for example. The main body 10 is configured, for example, by disposing the housing box 11, which is also a regular hexahedron, in the center of a regular hexahedron that serves as a first polyhedron that constitutes the outer shape of the main body 10. The housing box 11 houses functional modules, which will be described later with reference to FIG. 7, that are required for the mobile body 1 to perform various operations.

[0035] For example, the moving body 1 is configured symmetrically. In this case, when the density of the main body 10 including the storage box 11 is uniform at any location without being biased to a specific location, the reference point P0 coincides with the geometric center of the main body 10. The reference point P0 is also the geometric center of the first polyhedron that forms the main body 10.

[0036] Figure 3 is an enlarged perspective view schematically illustrating a portion of the configuration of the moving body 1 shown in Figure 2. Figure 3 is an enlarged schematic view of the rotor module 20, which is positioned relative to a second vertex P2 of the multiple vertices of the main body 10 in Figure 2. Figure 3 shows, as an example of the state of the moving body 1, a state in which the main body 10 is tilted from a horizontal state while the rotor module 20 is attempting to maintain a horizontal state. Figure 3 shows the moving body 1 enlarged around the second vertex P2, but because the moving body 1 is configured symmetrically, the moving body 1 also appears enlarged around each of the other seven vertices in the same manner as in Figure 3.

[0037] Figure 4 is an enlarged top view schematically illustrating a portion of the configuration of the moving body 1 shown in Figure 2. Figure 4 is an enlarged schematic view of the rotor module 20, which is arranged relative to the second vertex P2 of the multiple vertices of the main body 10 in Figure 2. Figure 4 shows, as an example of the state of the moving body 1, a state in which both the main body 10 and the rotor module 20 are maintained in a horizontal position. Figure 4 shows the moving body 1 enlarged around the second vertex P2, but because the moving body 1 is configured symmetrically, the moving body 1 also appears as shown in Figure 4 when enlarged around each of the other seven vertices.

[0038] 2 to 4, the main body 10 has support parts 12 arranged at each of a plurality of vertices of the main body 10. For example, the support parts 12 are arranged at each of all vertices including the first vertex P1 to the eighth vertex P8 of the main body 10. The support parts 12 are connected to one end of the first support pillar.

[0039] For example, the support 12 disposed at the first vertex P1 is connected to one end of the first support column F41. The support 12 disposed at the second vertex P2 is connected to one end of the first support column F42. The support 12 disposed at the third vertex P3 is connected to one end of the first support column F43. The support 12 disposed at the fourth vertex P4 is connected to one end of the first support column F44.

[0040] For example, the support 12 disposed at the fifth vertex P5 is connected to one end of the first support column F51. The support 12 disposed at the sixth vertex P6 is connected to one end of the first support column F52. The support 12 disposed at the seventh vertex P7 is connected to one end of the first support column F53. The support 12 disposed at the eighth vertex P8 is connected to one end of the first support column F54.

[0041] The support unit 12 has a V-shaped support rod 121 connected to one end of the first support column. The support unit 12 has a support ring 122 connected to an end of the support rod 121 located on the opposite side of the one end of the first support column, and capable of swinging around a first axis A1 relative to the support rod 121. The first axis A1 is, for example, a linear axis connecting the two ends of the two V-shaped support rods 121 to which the support rings 122 are connected. The first axis A1 may intersect with the axis A0 of the first support column. The first axis A1 corresponds to the roll axis.

[0042] The support portion 12 has an axial rod 123 connected to the support ring 122 at a position offset, for example, by a central angle of approximately 90° in the circumferential direction from the portion where the support rod 121 is connected. The axial rod 123 is arranged linearly along the diameter of the support ring 122 from one end to the other of the support ring 122. The second axis A2 is, for example, an axis on the axial rod 123. The second axis A2 may intersect the axis A0 of the first support column and the first axis A1. As an example, the second axis A2 is perpendicular to the first axis A1. The second axis A2 corresponds to the pitch axis.

[0043] Rotor modules 20 including rotors 21 and drive units 22 that drive the rotors 21 are disposed at each of the multiple vertices of the main body 10. Rotor modules 20 are disposed at all of the vertices of the main body 10, for example, including the first vertex P1 to the eighth vertex P8. The rotor modules 20 are attached to the main body 10 while positioned near each vertex of the first polyhedron. More specifically, the rotor modules 20 are attached to supports 12 that are disposed at each of the first vertex P1, second vertex P2, third vertex P3, fourth vertex P4, fifth vertex P5, sixth vertex P6, seventh vertex P7, and eighth vertex P8.

[0044] The rotor module 20 is supported by the support part 12 with the shaft rod 123 of the support part 12 passing through the drive part 22. The rotor module 20 is arranged in the center of the support ring 122 with the drive part 22 located at the intersection P10 between the first axis A1 and the second axis A2. The rotor module 20 is arranged to be rotatable around a rotation axis corresponding to the central axis of the rotor module 20. The rotor module 20 is rotatable in at least one of a clockwise direction and a counterclockwise direction around the rotation axis.

[0045] An intersection P10 between the first axis A1 and the second axis A2, at which the rotor module 20 is located, is located more inward of the vertex of the main body 10. For example, as shown in FIG. 4 , in the support unit 12 and rotor module 20 that are located at the second vertex P2, the intersection P10 is located more inward of the second vertex P2. The same is true for the other seven vertices. Therefore, most of the support unit 12 and rotor module 20 that are located at each vertex are located inside the corresponding vertex. The rotor 21 and drive unit 22 rotate while being supported by the shaft 123 of the support unit 12 inside a regular hexahedron formed by the eight second support columns F11, F12, F13, F14, F31, F32, F33, and F34.

[0046] The rotor module 20 is supported by the support portion 12 so as to be swingable about a first axis A1, and also so as to be swingable about a second axis A2 intersecting the first axis A1. The configuration in which the support portion 12 supports the rotor module 20 at the center of the support ring 122 achieves a gimbal structure for the rotor module 20. The rotor module 20 is arranged so that its angle with respect to the corresponding first support column can be changed relatively.

[0047] For example, even if the main body 10 of the moving body 1 rotates from the horizontal state around an axis corresponding to the first axis A1, the rotor module 20 attempts to maintain the horizontal state due to the weight of the rotor module 20 and the gimbal structure based on the support unit 12. Similarly, even if the main body 10 of the moving body 1 rotates from the horizontal state around an axis corresponding to the second axis A2, the rotor module 20 attempts to maintain the horizontal state due to the weight of the rotor module 20 and the gimbal structure based on the support unit 12. While the rotor module 20 attempts to maintain the horizontal state, the support ring 122 rotates relative to the rotor module 20, which is disposed at the center of the support ring 122, in accordance with the rotation of the main body 10 from the horizontal state.

[0048] The eight rotor modules 20 are arranged symmetrically to one another on the main body 10. The eight rotor modules 20 are identical in shape and size. The rotors 21 included in the rotor modules 20 are identical in shape and size in the eight rotor modules 20. The drive units 22 included in the rotor modules 20 are identical in shape and size in the eight rotor modules 20.

[0049] Fig. 5 is an external perspective view schematically showing another part of the configuration of the moving body 1 in Fig. 1. In Fig. 5, the main body 10 and the rotor module 20 of the moving body 1 are not shown, and only the cage 30 is shown. Fig. 6 is a schematic diagram showing a cross section taken along the V-V arrow line in Fig. 5.

[0050] The cage 30 is formed as a second polyhedron. The second polyhedron is a lattice dome. More specifically, the lattice dome is a fuller dome (geodesic dome). The cross section of the cage 30 formed as a fuller dome is surrounded by the periphery of, for example, a regular dodecagon, a regular icosahedron, or a truncated icosahedron of a semiregular polyhedron. The cage 30 is formed by connecting multiple sets of struts that form triangles, which are the smallest structural units. The triangular areas sandwiched between the sets of struts are actually hollow. No structural components are formed in these areas. In FIG. 5 , the struts on the back side of the cage 30 are omitted for the sake of simplicity, but in reality, the struts on the back side are visible through the areas of each triangle on the front side.

[0051] The main body 10, which is formed in the shape of a first polyhedron, and the cage 30, which is a second polyhedron, are connected to each other based on any mounting structure. For example, the cage 30 and the main body 10 are connected to each other by at least one arm. One end of the at least one arm is connected to at least one of the twelve supports, for example, the second supports F11, F12, F13, F14, F31, F32, F33, and F34, and the third supports F21, F22, F23, and F24. When one end of the twelve arms is connected to each of the twelve supports, the connection strength between the cage 30 and the main body 10 is improved. The other end of the at least one arm is connected to any of the supports of the second polyhedron constituting the cage 30.

[0052] The main body 10 and the cage 30 are connected to each other via an arm while being fixed to each other. In this case, the arm may be connected to the cage 30 and the main body 10 so as to be detachable from at least one of the cage 30 and the main body 10. The arm may be configured so as to be detachable from at least one of the cage 30 and the main body 10 by, for example, screwing, fitting, or engaging.

[0053] On the other hand, the arm may be connected to the cage 30 and the main body 10 so as to be non-detachable from at least one of the cage 30 and the main body 10. The arm may be configured so as to be non-detachable from at least one of the cage 30 and the main body 10, for example, by integral molding and bonding.

[0054] As shown as an example in FIG. 1 , in the moving body 1, the geometric center of the first polyhedron and the geometric center of the second polyhedron coincide with each other at the reference point P0. The center of gravity and the geometric center of the containment box 11 coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire main body 10 including the containment box 11 coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire eight rotor modules 20 coincide with each other at the reference point P0. The center of gravity and the geometric center of the cage 30 coincide with each other at the reference point P0. As a result, the center of gravity and the geometric center of the entire moving body 1 formed by the main body 10, the eight rotor modules 20, and the cage 30 coincide with each other at the reference point P0.

[0055] From the viewpoint of enhancing impact absorption, suppressing excessive deformation, and preventing the lattice dome from contacting the rotor module 20, the flexural modulus of the material of each of the struts constituting the first polyhedron and each of the struts constituting the lattice dome constituting the second polyhedron is preferably 5.0 GPa or more, more preferably 8.0 GPa or more, and preferably 250.0 GPa or less, more preferably 60.0 GPa or less, and even more preferably 20.0 GPa or less. From the same viewpoint, the flexural strength of the material is preferably 50.0 MPa or more, more preferably 100.0 MPa or more, even more preferably 250.0 MPa or more, and preferably 30.0 GPa or less. The flexural modulus and flexural strength are based on the flexural strength specified in ISO 178.

[0056] To achieve at least one of the flexural modulus and flexural strength, the above-mentioned materials may include, for example, one or more thermoplastic resins such as polyethylene resin, polypropylene resin, polystyrene resin, ABS resin, vinyl chloride resin, methyl methacrylate resin, nylon resin, fluororesin, polycarbonate resin, polyester resin, polyether ether ketone resin, polyimide resin, and polyphenylene sulfide resin; thermoplastic resin compositions containing these thermoplastic resins and additives such as thermoplastic elastomers such as olefin-based elastomers, styrene-based elastomers, polyester-based elastomers, silicone-based elastomers, acrylate-based elastomers, and urethane-based elastomers; curable resin compositions containing these thermoplastic resins and curable resins such as epoxy resins and phenolic resins; and fiber-reinforced materials reinforced with a fiber material. Examples of such fiber materials include one or more of glass fiber, carbon fiber, and aramid fiber. These resin materials can be molded into specific shapes and used for each support.

[0057] The material is not limited to the resin material described above, and may be, for example, a metal material such as pure titanium, titanium alloy, steel, aluminum alloy, magnesium alloy, maraging steel, stainless steel, or mild steel. These metal materials can be formed into specific shapes and used for the support columns, but each support column may have a hollow structure, honeycomb structure, or the like to further impart light weight and high strength to the support columns. Carbon materials such as carbon rods and carbon pipes may also be used as the material described above.

[0058] From the viewpoint of enhancing the shock absorption of the second polyhedron, it is preferable that the support pillars constituting the lattice dome are made of the above-mentioned resin material. From the same viewpoint, the support pillars constituting the first polyhedron can also be made of the above-mentioned resin material, but from the viewpoint of suppressing excessive deformation, the support pillars may have a higher flexural modulus or flexural strength than the material of the support pillars constituting the lattice dome, in which case the above-mentioned metal material or carbon material can also be used.

[0059] Figure 7 is a functional block diagram showing an example of the configuration of the moving body 1 of Figure 1. In addition to a rotor module 20 including a rotor 21 and a drive unit 22, the moving body 1 has a first control unit 2a, a second control unit 2b, a communication unit 3, an acquisition unit 4, and a memory unit 5. In the moving body 1, the rotor modules 20 are arranged at each vertex of the main body 10, while the first control unit 2a, the second control unit 2b, the communication unit 3, the acquisition unit 4, and the memory unit 5 are housed inside a housing box 11.

[0060] The rotors 21 include blades that rotate in a predetermined direction to provide propulsion to the moving body 1. The rotors 21 include, for example, propellers and rotors. The rotors 21 rotate at a predetermined rotation speed around a rotation axis. In the present disclosure, the "predetermined rotation speed" may be any value within a range from the maximum value that can be output as the performance of the rotor module 20 to zero. The eight rotors 21 can rotate in the same rotation direction and at the same rotation speed, or can rotate so that at least one of the rotation direction and rotation speed differs from each other.

[0061] The drive unit 22 includes a mechanism for driving the rotors 21. The drive unit 22 includes, for example, a motor. The drive unit 22 rotates the rotors 21 attached to the drive unit 22 based on a control signal output from the first control unit 2a. The drive unit 22 rotates the rotors 21 around the rotation axis at a predetermined rotation speed. The eight drive units 22 can rotate the eight rotors 21 in the same rotation direction and at the same rotation speed, or can rotate the eight rotors 21 so that at least one of the rotation direction and rotation speed differs from one another.

[0062] The first control unit 2a includes one or more processors. In this disclosure, "processor" includes, for example, a general-purpose processor and a dedicated processor specialized for specific processing. The first control unit 2a functions as a motor output control module, such as an ESC (Electric Speed ​​Controller) in a flying drone. The first control unit 2a is communicatively connected to the second control unit 2b and the drive unit 22. The first control unit 2a outputs a control signal to the drive unit 22 based on first control information output from the second control unit 2b, thereby controlling the operation of the drive unit 22. One first control unit 2a is provided for each of the eight rotor modules 20.

[0063] The communication unit 3 includes a communication module that enables communication between the mobile object 1 and the control device. The communication module includes, for example, an antenna. The communication unit 3 receives signal waves from the control device through wireless communication using the antenna. In the present disclosure, "signal waves" include, for example, radio waves, visible light, infrared rays, and ultraviolet rays. The communication unit 3 receives second control information from the control device via wireless communication, which is used by the mobile object 1 to control movement-related operations including the movement route, movement posture, and movement speed of the mobile object 1. In addition, the communication unit 3 is configured to be able to receive any information used in the operation of the mobile object 1.

[0064] The acquisition unit 4 includes one or more receivers compatible with any satellite positioning system. For example, the acquisition unit 4 includes a GPS (Global Positioning System) receiver. The acquisition unit 4 acquires measurement values ​​of the position of the mobile object 1 as position information. The position information includes an address, latitude, longitude, altitude, and the like. The acquisition unit 4 may acquire the position information of the mobile object 1 continuously, periodically, or irregularly.

[0065] Additionally, the acquisition unit 4 may include one or more imaging devices such as a camera, for example, an infrared camera, as a sensor device. The acquisition unit 4 may acquire arbitrary image data, etc., using such an imaging device. The acquisition unit 4 may further include any other sensor device. The acquisition unit 4 may acquire arbitrary data and information, etc., using the sensor device. For example, the acquisition unit 4 may further include any sensor capable of acquiring information on air flow. The sensor includes, for example, a wind speed sensor and a wind direction sensor. The acquisition unit 4 may acquire information on air flow based on the sensor.

[0066] The storage unit 5 is, for example, but not limited to, a semiconductor memory, a magnetic memory, or an optical memory. The storage unit 5 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 5 stores any information used in the operation of the mobile object 1. The storage unit 5 stores system programs, application programs, and various information received or transmitted by the communication unit 3. The information stored in the storage unit 5 can be updated with information received by wireless communication via the communication unit 3.

[0067] The mobile body 1 according to the first embodiment described above can move stably without relying on external factors such as wind and collisions with obstacles. In the mobile body 1, the main body 10 forms a three-dimensional shape when all vertices are connected. This allows the mobile body 1 to achieve a state similar to when other faces face vertically upward, even if the posture of the main body 10 changes. The mobile body 1 can also be configured such that when one face based on the three-dimensional shape faces vertically upward, a combination of rotor modules 20 with the same number of vertices as the one face located on the upper surface will have a similar arrangement and orientation to when the other faces face vertically upward.

[0068] For example, consider a case where the mobile unit 1 rotates and changes its attitude due to external factors such as wind or a collision with an obstacle, causing the top surface of the mobile unit 1 to change from one surface based on its three-dimensional shape to another. Even in such a case, the mobile unit 1 can continue moving with the same propulsive force between the one surface and the other surface by combining rotor modules 20 that have similar numbers, arrangements, and orientations. Therefore, even if the mobile unit 1 experiences a significant change in attitude due to rotation, etc., it is possible to prevent it from falling during flight, unlike, for example, conventional drones. The mobile unit 1 can continue flying stably even if its attitude is disturbed, and has excellent wind gust resistance.

[0069] The mobile object 1 can achieve the same state even when rotated by a rotation angle according to the rotational symmetry based on the three-dimensional shape. For example, when the mobile object 1 has n-fold symmetry based on the rotational symmetry based on the three-dimensional shape, it can also become the top surface when rotated by an angle of 360 / n° from a state in which one surface is the top surface. The mobile object 1 can also be configured symmetrically with respect to the directions of multiple axes that intersect with each other at an angle of 360 / n°. The mobile object 1 can also fly agilely and precisely in all directions of the X-axis, Y-axis, and Z-axis in three-dimensional space.

[0070] The support 12 supports the rotor module 20 so that it can swing around the first axis A1 and also so that it can swing around the second axis A2. This allows the mobile body 1 to realize a gimbal structure based on the support 12 for the rotor module 20. Therefore, the mobile body 1 can also maintain the rotor modules 20 arranged at each vertex of the main body 10 in a horizontal position. This allows the mobile body 1 to maintain each rotor module 20 in a horizontal position even if the attitude of the main body 10 changes, and can also obtain sufficient propulsion force in the vertical upward direction regardless of the attitude of the main body 10. The mobile body 1 can also float stably without relying on external factors such as wind and collisions with obstacles. As a result, the mobile body 1 can move stably.

[0071] The intersection P10 between the first axis A1 and the second axis A2, at which the rotor module 20 is located, is located further inward of the vertex of the main body 10. This allows the moving body 1 to compactly arrange a configuration including the main body 10 and the rotor module 20. Therefore, the moving body 1 can also be made smaller in overall size and lighter in weight. This allows the moving body 1 to reduce the energy consumed during movement of the moving body 1. The lighter weight of the moving body 1 makes it easier for the moving body 1 to float with less propulsion force, thereby enabling energy savings during movement.

[0072] The main body 10 further includes a plurality of second supports arranged on at least a portion of the side connecting one vertex to another vertex, and is formed into a first polyhedron. This allows the movable body 1 to achieve a state similar to when one face of the first polyhedron faces vertically upward and when the other faces face vertically upward, even if the posture of the main body 10 formed into the first polyhedron changes. The movable body 1 can be configured such that when one face of the first polyhedron faces vertically upward, combinations of rotor modules 20 in the same number as the number of vertices of one face located on the upper surface side have arrangements and orientations similar to when the other faces face vertically upward.

[0073] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind or a collision with an obstacle, causing the top surface of the mobile body 1 to change from one face of the first polyhedron to another face. Even in such a case, the mobile body 1 can continue moving with the same propulsive force by combining rotor modules 20 that have similar numbers, arrangements, and orientations between the one face and the other face of the first polyhedron. Therefore, even if the mobile body 1 experiences a significant change in attitude due to rotation, etc., it can prevent falling during flight, unlike, for example, conventional drones. The mobile body 1 can continue flying stably even if its attitude is disturbed, and has excellent wind gust resistance.

[0074] The same state can be achieved even if the moving body 1 is rotated by a rotation angle according to the rotational symmetry of the first polyhedron. For example, when the first polyhedron has n-fold rotational symmetry, the moving body 1 can be rotated by an angle of 360 / n° from a state in which one face of the first polyhedron is the top face, so that the other face becomes the top face. The moving body 1 can be configured symmetrically with respect to the directions of multiple axes that intersect with each other at an angle of 360 / n°.

[0075] The reference point P0 of the mobile body 1 is the center of gravity of the main body 10 and also the geometric center of the first polyhedron that forms the main body 10, thereby improving the symmetry of the mobile body 1. More specifically, as long as the rotor modules 20 of the mobile body 1 have the same shape and size, even if the attitude of the main body 10 formed in the shape of a first polyhedron changes, when one face of the first polyhedron faces vertically upward, it is possible to achieve a state that is more similar to when the other faces face vertically upward. The mobile body 1 can be configured such that when one face of the first polyhedron faces vertically upward, a combination of rotor modules 20 with the same number of vertices as the number of vertices of one face located on the upper side will have an arrangement and orientation that is more similar to when the other faces face vertically upward.

[0076] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind or a collision with an obstacle, causing the top surface of the mobile body 1 to change from one face of the first polyhedron to another. Even in such a case, the mobile body 1 can continue moving with the same propulsive force by combining rotor modules 20 that have a more similar number, arrangement, and orientation between one face and another face of the first polyhedron. Therefore, even if the mobile body 1 experiences a significant change in attitude due to rotation, etc., it can further suppress falling during flight, unlike, for example, conventional drones. The mobile body 1 can continue flying more stably even if its attitude is disturbed, and has even better resistance to gusts of wind.

[0077] Even when the center of gravity of the main body 10 and the geometric center of the first polyhedron are different from each other and the reference point P0 is the geometric center of the first polyhedron, the moving body 1 can move stably in the same manner as described above by adjusting the rotation speed of each rotor module 20, etc., to match the deviation of the center of gravity from the geometric center.

[0078] The symmetry of the moving body 1 can be further improved by the first polyhedron being a regular hexahedron. More specifically, as long as the rotor modules 20 of the moving body 1 have the same shape and size and the reference point P0 coincides with the geometric center of the first polyhedron, even if the attitude of the main body 10 formed in the shape of the first polyhedron changes, when one face of the first polyhedron faces vertically upward, the rotor modules 20 can be in the same state as when the other faces face vertically upward. The moving body 1 can be configured such that when one face of the first polyhedron faces vertically upward, the combination of the four rotor modules 20 has the same arrangement and orientation as when the other faces face vertically upward.

[0079] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind or a collision with an obstacle, causing the top surface of the mobile body 1 to change from one face of the first polyhedron to another. Even in such a case, the mobile body 1 can continue moving with the same propulsive force by combining rotor modules 20 that have the same number, arrangement, and orientation between one face and another face of the first polyhedron. Therefore, even if the mobile body 1 experiences a significant change in attitude due to rotation, etc., it can further suppress falling during flight, unlike, for example, conventional drones. The mobile body 1 can continue flying more stably even if its attitude is disturbed, and has even better resistance to gusts of wind.

[0080] In this case, since the first polyhedron has four-fold rotational symmetry, when the mobile unit 1 rotates 90° from a state in which one face of the first polyhedron is the top face, the other face can become the top face. The mobile unit 1 can be configured symmetrically with respect to three axes, the X-axis, the Y-axis, and the Z-axis, which intersect with each other at 90° angles. The mobile unit 1 can fly with great agility and precision in the directions of all three axes. The mobile unit 1 can move stably regardless of its orientation, whether forward, backward, left, right, up, or down.

[0081] The mobile body 1 may move and maintain its attitude by operating only the rotor modules 20 arranged at the vertices of one face of the first polyhedron while the face is positioned vertically upward. For example, the mobile body 1 can move and hover by operating only four rotor modules 20 arranged at the four vertices of one face of a regular hexahedron while the face is positioned upward. The mobile body 1 can move without operating the remaining four rotor modules 20 arranged on the lower side. This allows the mobile body 1 to reduce the energy consumed during movement when maintaining such a stable attitude compared to when all eight rotor modules 20 are operated. The mobile body 1 can achieve energy savings during movement.

[0082] In this way, the mobile body 1 may operate the rotor modules 20 located at each vertex of the upper surface to move and maintain its attitude. On the other hand, when the mobile body 1 has changed its attitude so that one face is no longer located at the upper surface, the rotor modules 20 located at each vertex of the first polyhedron may be operated to change its attitude so that one face or another face different from the one face is located at the upper surface. For example, the mobile body 1 may change its attitude by operating eight rotor modules 20 located at eight vertices of a regular hexahedron. Therefore, even if the mobile body 1 changes its attitude from a stable attitude for moving and maintaining its attitude, it can easily return to the same stable attitude and can move stably without relying on external factors such as wind or collisions with obstacles.

[0083] Because the cage 30 that forms the outer shape of the moving body 1 is formed as a second polyhedron, even if the moving body 1 comes into contact with an obstacle, it can continue moving by actively rotating in accordance with the shape of the second polyhedron. More specifically, when the moving body 1 collides with an obstacle, the component that first comes into contact with the obstacle is the cage 30. Therefore, the moving body 1 can continue moving even if it collides with the obstacle by rotating relative to the obstacle in accordance with the shape of the second polyhedron that forms the cage 30. At this time, because the cage 30 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the cage 30.

[0084] Because the second polyhedron of the mobile body 1 is a lattice dome, the symmetry of the cage 30 is improved, making it easier to actively rotate in accordance with the shape of the second polyhedron when it comes into contact with an obstacle. Therefore, the mobile body 1 can more easily continue moving even if it collides with an obstacle. This allows the mobile body 1 to continue moving without any problems, even when it comes close to and comes into contact with an inspection target to capture an image of the inspection target, even when used for inspection purposes in a narrow space, for example. For example, even if the mobile body 1 comes close to and comes into contact with an inspection target during flight, the mobile body 1 can actively rotate due to the cage 30, reducing the possibility of it crashing.

[0085] The moving body 1 can reduce air resistance during movement by improving the symmetry of the cage 30. This allows the moving body 1 to move stably without relying on external factors such as wind and collisions with obstacles. In addition, the moving body 1 can reduce external impacts that occur when coming into contact with an obstacle, for example. The moving body 1 also has a symmetrical structure, making it possible to reduce the weight of the cage 30. Therefore, the moving body 1 can reduce the energy consumed during movement according to its weight. The moving body 1 can achieve energy conservation during movement.

[0086] In the moving body 1, since the lattice dome constituting the second polyhedron is a fuller dome, all of the above effects resulting from the symmetry of the cage 30 are more pronounced.

[0087] The moving body 1 can suppress fluctuations in the attitude of the main body 10 relative to the cage 30 by fixing the cage 30 to the main body 10. If the cage 30 and the main body 10 are attached to each other with a gimbal structure to keep the main body 10 horizontal, the main body 10 will try to maintain its horizontal position in response to rotation of the cage 30, which will cause the attitude of the main body 10 to fluctuate. The moving body 1 can sufficiently suppress such fluctuations in the attitude of the main body 10 by using an attachment structure different from such a gimbal structure.

[0088] In the first embodiment, the support portion 12 supports the rotor module 20 so that it can swing about the first axis A1 and so that it can swing about the second axis A2. However, this is not limiting. The support portion 12 may support the rotor module 20 so that it can swing about only one of the first axis A1 and the second axis A2, or may support the rotor module 20 so that it can swing about three or more axes. Alternatively, the support portion 12 may support the rotor module 20 so that it cannot swing about any of the axes.

[0089] In the first embodiment, the first axis A1 is described as intersecting with the axis A0 of the first support column, but this is not limiting. The first axis A1 does not have to intersect with the axis A0. Similarly, the second axis A2 is described as intersecting with the axis A0 and the first axis A1 of the first support column, but this is not limiting. The second axis A2 does not have to intersect with at least one of the axis A0 and the first axis A1 of the first support column.

[0090] In the first embodiment, the support portions 12 are described as being arranged at all of the vertices of the main body portion 10, including the first vertex P1 to the eighth vertex P8, but this is not limiting. The support portions 12 may be arranged at some of all of the vertices of the main body portion 10. Similarly, the rotor modules 20 are described as being arranged at all of the vertices of the main body portion 10, including the first vertex P1 to the eighth vertex P8, but this is not limiting. The rotor modules 20 may be arranged at some of all of the vertices of the main body portion 10.

[0091] In the first embodiment, the main body 10 is described as further including a plurality of second support pillars arranged on at least a portion of the edges connecting one vertex to another vertex and forming a first polyhedron. However, this is not limited to this. The main body 10 does not need to include a second support pillar as long as all vertices form a three-dimensional shape when virtually connected. The main body 10 does not need to include a third support pillar, and may be configured based on a plurality of support pillars including only the first support pillar. Conversely, the main body 10 does not need to include a first support pillar. The main body 10 may be configured based on a plurality of support pillars including only the second support pillar and the third support pillar. The support 12 may be connected to one end of at least one of the support pillars including the first support pillar, the second support pillar, and the third support pillar.

[0092] In the first embodiment, the shapes and sizes of the rotors 21 included in the rotor modules 20 are described as being identical to each other in the eight rotor modules 20, but this is not limited to this. At least one of the shapes and sizes of the rotors 21 may be different from each other in the eight rotor modules 20. The shapes and sizes of the drive units 22 included in the rotor modules 20 are described as being identical to each other in the eight rotor modules 20, but this is not limited to this. At least one of the shapes and sizes of the drive units 22 may be different from each other in the eight rotor modules 20.

[0093] In the first embodiment, the reference point P0 is the center of gravity of the main body 10 and also the geometric center of the first polyhedron, but this is not limiting. The reference point P0 may be any other point located inside the main body 10 that does not coincide with either the center of gravity of the main body 10 or the geometric center of the first polyhedron.

[0094] In the first embodiment, the center of gravity of the main body 10 and the geometric center of the first polyhedron are described as coinciding with each other, but this is not limiting. The center of gravity of the main body 10 and the geometric center of the first polyhedron may be different from each other. The reference point P0 may be either the center of gravity of the main body 10 or the geometric center of the first polyhedron, or any other point located inside the main body 10 that does not coincide with either of the center of gravity of the main body 10 or the geometric center of the first polyhedron.

[0095] In the first embodiment, the geometric center of the storage box 11 and the geometric center of the first polyhedron are described as coinciding with the reference point P0 in the moving body 1, but this is not limiting. The geometric center of the storage box 11 and the geometric center of the first polyhedron may be different from each other. The reference point P0 may be either the geometric center of the storage box 11 or the geometric center of the first polyhedron, or any other point located inside the main body 10 that does not coincide with either of the geometric centers.

[0096] In the first embodiment, the geometric center of the first polyhedron and the geometric center of the second polyhedron in the moving body 1 are described as coinciding with the reference point P0. However, this is not limited to this. The geometric center of the first polyhedron and the geometric center of the second polyhedron may be different from each other. The reference point P0 may be either the geometric center of the first polyhedron or the geometric center of the second polyhedron, or any other point located inside the main body 10 that does not coincide with either of the geometric centers.

[0097] In the first embodiment, the center of gravity and the geometric center of the storage box 11 are described as coinciding with the reference point P0, but this is not limiting. The center of gravity and the geometric center of the storage box 11 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the storage box 11, or any other point located inside the main body 10 that does not coincide with either of the center of gravity and the geometric center.

[0098] In the first embodiment, the center of gravity and the geometric center of the entire main body 10 including the storage box 11 are described as coinciding with each other at the reference point P0. However, this is not limited to this. The center of gravity and the geometric center of the entire main body 10 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the entire main body 10, or any other point located inside the main body 10 that does not coincide with either of them.

[0099] In the first embodiment, the center of gravity and the geometric center of all eight rotor modules 20 coincide with each other at the reference point P0. However, this is not limited to this. The center of gravity and the geometric center of all eight rotor modules 20 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of all eight rotor modules 20, or any other point located inside the main body 10 that does not coincide with either of them.

[0100] In the first embodiment, the center of gravity and the geometric center of the cage 30 are described as coinciding with the reference point P0, but this is not limiting. The center of gravity and the geometric center of the cage 30 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the cage 30, or any other point located inside the main body 10 that does not coincide with either of the center of gravity and the geometric center.

[0101] In the first embodiment, the center of gravity and the geometric center of the entire moving body 1, which is composed of the main body 10, the eight rotor modules 20, and the cage 30, are described as coinciding with each other at the reference point P0. However, this is not limited to this. The center of gravity and the geometric center of the entire moving body 1 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the entire moving body 1, or any other point located inside the main body 10 that does not coincide with either of them.

[0102] In the first embodiment, the first polyhedron is described as a regular hexahedron, but is not limited thereto. The first polyhedron may be any solid body surrounded by four or more planes. When the first polyhedron is a regular hexahedron, the moving body 1 is described as being symmetrical with respect to three axes including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, but is not limited thereto. When the first polyhedron has n-fold rotational symmetry, the moving body 1 may be symmetrical with respect to multiple axes that intersect with each other at an angle of 360 / n°.

[0103] In the first embodiment, the moving body 1 has been described as having the cage 30 that forms the outer shape of the moving body 1 so as to surround the main body 10 and the rotor module 20 from the outside, but this is not limited to this. The moving body 1 does not necessarily have to have the cage 30.

[0104] In the first embodiment, the second polyhedron forming the cage 30 is described as a lattice dome, but is not limited to this. The second polyhedron may be any solid body surrounded by four or more planes.

[0105] FIG. 8A is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a first modified example. FIG. 8B is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a second modified example. FIG. 8C is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a third modified example. FIG. 8D is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a fourth modified example. FIG. 8E is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a fifth modified example. FIG. 8F is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a sixth modified example. FIG. 8G is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a seventh modified example. FIG. 8H is an external perspective view schematically showing a portion of the configuration of the cage 30 according to an eighth modified example. FIG. 8I is an external perspective view schematically showing a portion of the configuration of the cage 30 according to a ninth modified example.

[0106] In the first embodiment, the lattice dome is described as a fuller dome, but is not limited to this. The lattice dome may be a dome having a shape as shown in any one of Figures 8A to 8I, or may be a dome having any other shape.

[0107] In the first embodiment, the cage 30 is described as being fixed to the main body 10, but this is not limiting. The cage 30 may be attached to the main body 10 using any pivoting structure, such as a gimbal structure, so as to be rotatable relative to the main body 10. This allows the movable body 1 to maintain the main body 10 horizontally even when the cage 30 rotates. For example, even when the cage 30 comes into contact with an obstacle and actively rotates in accordance with the shape of the second polyhedron, the movable body 1 allows the main body 10 to maintain a horizontal posture without being linked to the rotation of the cage 30. Even in such a case, the description in the first embodiment regarding the connection between the cage 30 and the main body 10 by the arm applies equally.

[0108] In the first embodiment, the first control unit 2a is described as being housed inside the housing box 11, but this is not limiting. The first control unit 2a may be disposed outside the housing box 11. For example, the first control unit 2a may be included in each of the eight rotor modules 20 and disposed so as to be integrated with the rotors 21 and the drive unit 22.

[0109] In the first embodiment, the movable body 1 is described as being movable by operating only the four rotor modules 20 that are respectively positioned at the four vertices of one face of the regular hexahedron when that face is positioned on the upper surface, but this is not limiting. For example, the movable body 1 may be movable by operating only the pair of rotor modules 20 that are positioned on the longest diagonal line of the regular hexahedron in FIG. 2 .

[0110] For example, the mobile body 1 may move in an attitude such that the diagonal line connecting the third vertex P3 and the fifth vertex P5 in Fig. 2 is parallel to the vertical direction. In this case, the mobile body 1 may move and hover by operating only two rotor modules 20 so that the rotation directions of the rotors 21 are opposite to each other, with the rotor module 20 located at the third vertex P3 positioned vertically upward and the rotor module 20 located at the fifth vertex P5 positioned vertically downward. In this way, the mobile body 1 may move and maintain its attitude by operating only two rotor modules 20 so that the rotation directions of the two rotors 21 are opposite to each other, with the rotor module 20 located at one vertex of the first polyhedron positioned vertically upward and the rotor module 20 located at the other opposite vertex positioned vertically downward.

[0111] This allows the moving body 1 to further reduce the energy consumed during movement compared to when the four rotor modules 20 are operated to maintain such a stable attitude, and the moving body 1 can achieve energy savings during movement.

[0112] As described above, the mobile body 1 may operate only the rotor modules 20 located at two opposing vertices to move and maintain its attitude. Alternatively, the mobile body 1 may operate the rotor modules 20 located at each vertex of the first polyhedron while its attitude is changed so that one opposing vertex and the other opposing vertex are displaced from each other, thereby changing its attitude so that the same pair or different pairs of opposing vertices are located vertically above and below. For example, the mobile body 1 may change its attitude by operating eight rotor modules 20 located at eight vertices of a regular hexahedron. This allows the mobile body 1 to easily return to a stable attitude even if its attitude changes from that of a stable attitude for moving and maintaining its attitude, and allows stable movement without relying on external factors such as wind or collisions with obstacles.

[0113] As another flying method for the mobile body 1, the mobile body 1 may move and maintain its posture by generating a propulsive force in the vertically upward direction by operating all of the rotor modules 20 arranged at each vertex of the first polyhedron. This allows the mobile body 1 to obtain sufficient propulsive force in the vertically upward direction while maintaining each rotor module 20 in a horizontal position. The mobile body 1 can also float stably without relying on external factors such as wind or collisions with obstacles. As a result, the mobile body 1 can move stably.

[0114] In the first embodiment, the moving body 1 is described as including any flying object, but is not limited thereto. The moving body 1 may also include any vehicle, vehicle, submersible, etc. The moving body 1 may also include, for example, a submersible, such as a drone for underwater movement. The moving body 1 may also include, for example, a vehicle, such as a hovercraft, that is capable of moving on at least one of water and land.

[0115] In the first embodiment, the acquisition unit 4 is described as including an imaging device such as a camera as a sensor device. Such a camera may be attached to the main body 10 so as to maintain horizontality using a gimbal structure, for example, when the cage 30 is fixed to the main body 10 and the main body 10 rotates in conjunction with the rotation of the cage 30. Such a camera may be fixed to the main body 10 so as to maintain horizontality using a gimbal structure, for example, when the cage 30 is attached to the main body 10 using a gimbal structure and the main body 10 maintains horizontality in response to the rotation of the cage 30.

[0116] FIG. 9 is an enlarged perspective view schematically illustrating another example of the configuration of a portion of the movable body 1 shown in FIG. 3 . The same explanation as for FIG. 3 applies to the illustrated content of FIG. 9 . In the other example shown in FIG. 9 , the movable body 1 may further include a first drive unit 13 attached to the support unit 12. The first drive unit 13 may include at least one of a first drive module 131 that rotates the rotor module 20 about the first axis A1 and a second drive module 132 that rotates the rotor module 20 about the second axis A2. For example, the first drive unit 13 may include both the first drive module 131 and the second drive module 132.

[0117] In the first embodiment, the rotor module 20 is described as attempting to maintain a horizontal state by the weight of the rotor module 20 and a gimbal structure based on the support section 12, but this is not limiting. Instead of or in addition to this configuration, the rotor module 20 may be supported by the support section 12 in a state in which it can rotate around a predetermined axis by the first drive section 13. In this way, the rotor module 20 is arranged so that its angle with respect to the corresponding first support column can be changed relatively.

[0118] The first drive module 131 includes, for example, a servo motor. The first drive module 131 is attached, for example, to one of two ends of two V-shaped support rods 121 to which the support ring 122 is connected. The first drive module 131 rotates the support ring 122 at that end about the first axis A1, thereby rotating the rotor module 20 attached to the support ring 122 via the shaft rod 123 about the first axis A1.

[0119] The second drive module 132 includes, for example, a servo motor, etc. The second drive module 132 is attached, for example, to one of the two portions of the support ring 122 to which the shaft rod 123 is connected. The second drive module 132 rotates the shaft rod 123 about the second axis A2 in that portion, thereby rotating the rotor module 20 attached to the shaft rod 123 about the second axis A2.

[0120] The movable body 1 further includes a first drive unit 13 attached to the support unit 12, and is thereby able to actively change the attitude of the rotor module 20 relative to the support unit 12 by means of the first drive unit 13. The movable body 1 is able to actively change the angle of the rotor module 20 relative to the main body 10, which includes the first support column, by means of the first drive unit 13. The movable body 1 includes at least one of a first drive module 131 and a second drive module 132, and is therefore able to rotate the rotor module 20 around at least one of a first axis A1 and a second axis A2.

[0121] As described above, the mobile body 1 can easily and quickly change its attitude from one attitude to another by controlling the attitude of each rotor module 20 relative to the main body 10. For example, the mobile body 1 can easily tilt its attitude from a state in which it is maintained in a stable attitude for moving and maintaining its attitude. Conversely, even if the mobile body 1 changes its attitude from a stable attitude due to external factors such as wind or a collision with an obstacle, it can easily return to the same stable attitude. This allows the mobile body 1 to float stably and move stably without relying on external factors.

[0122] As a flying method of the moving body 1, the moving body 1 may move and maintain its posture by operating the rotor module 20 and driving the rotor module 20 with the first drive module 131 and the second drive module 132.

[0123] 9, the first drive unit 13 is described as rotating the rotor module 20 around at least one of the first axis A1 and the second axis A2, but is not limited to this. The first drive unit 13 may also rotate the rotor module 20 around three or more axes.

[0124] Fig. 10 is an external perspective view that schematically illustrates a portion of the configuration of a moving body 1 according to a modified example of the present disclosure. As with Fig. 2, Fig. 10 omits the cage 30 of the moving body 1 and illustrates only the main body 10 and the rotor module 20. As with Fig. 2, Fig. 10 illustrates an example of the state of the moving body 1 in which both the main body 10 and the rotor module 20 are maintained in a horizontal position.

[0125] In the first embodiment, the intersection P10 between the first axis A1 and the second axis A2, at which the rotor module 20 is located, is described as being located more inward of the apex of the main body 10. However, this is not limiting. The intersection P10 between the first axis A1 and the second axis A2, at which the rotor module 20 is located, may also be located more outward of the apex of the main body 10.

[0126] 10 , the support rods 121 of the support unit 12 may be directly connected to each vertex of the main body 10. The support rings 122 of the support unit 12 may be connected to the end of the support rod 121 located on the opposite side of the main body 10 from each vertex of the main body 10. In the support units 12 and rotor modules 20 arranged at each vertex, the intersection point P10 is located outside the main body 10 relative to each vertex. Therefore, the entire support units 12 and rotor modules 20 arranged at each vertex are located outside the vertex. The rotor 21 and drive unit 22 rotate while being supported by the shaft rod 123 of the support unit 12 outside the regular hexahedron formed by the eight second support columns F11, F12, F13, F14, F31, F32, F33, and F34 and the four third support columns F21, F22, F23, and F24.

[0127] 10 , the moving body 1 can further separate the rotors 21 of the rotor modules 20 arranged at each vertex. By increasing the distance between the rotors 21, the moving body 1 can prevent airflows generated by the rotation of each rotor 21 from interfering with each other inside the main body 10. This allows the moving body 1 to obtain sufficient propulsive force in the vertically upward direction and float stably. As a result, the moving body 1 can move stably.

[0128] Second Embodiment Fig. 11 is an external perspective view that schematically illustrates a portion of the configuration of a moving body 1 according to a second embodiment of the present disclosure. As in Fig. 2, Fig. 11 omits the cage 30 of the moving body 1 and illustrates only the main body 10 and the rotor module 20. Fig. 11 illustrates, as an example of the state of the moving body 1, a state in which the main body 10 is maintained in a horizontal position.

[0129] The moving body 1 according to the second embodiment differs from the first embodiment in that it does not have a support portion 12, and the rotor modules 20 are directly disposed at each vertex of the main body portion 10 formed as a first polyhedron. Other configurations, functions, effects, and modifications are the same as those of the first embodiment, and the corresponding explanations also apply to the moving body 1 according to the second embodiment. In the following, components similar to those of the first embodiment are given the same reference numerals, and their explanations will be omitted. Differences from the first embodiment will be mainly explained.

[0130] As shown in FIG. 11 , in the second embodiment, the first vertex P1 is located at the intersection of the second columns F11, F14, and the third column F21. The second vertex P2 is located at the intersection of the second columns F12, F11, and the third column F22. The third vertex P3 is located at the intersection of the second columns F13, F12, and the third column F23. The fourth vertex P4 is located at the intersection of the second columns F14, F13, and the third column F24. The fifth vertex P5 is located at the intersection of the second columns F31, F34, and the third column F21. The sixth vertex P6 is located at the intersection of the second columns F32, F31, and the third column F22. The seventh vertex P7 is located at the intersection of the second columns F33, F32, and the third column F23. The eighth vertex P8 is located at the intersection of the second pillars F34, F33 and the third pillar F24.

[0131] The rotor modules 20 are arranged at the vertex of the main body 10, which has one end of the first support strut as its vertex. The rotor modules 20 are arranged, for example, at all of the vertices of the main body 10, including the first vertex P1 to the eighth vertex P8. The rotor modules 20 are attached to the main body 10 at each vertex of the first polyhedron. More specifically, the rotor modules 20 are attached to each of the first vertex P1, second vertex P2, third vertex P3, fourth vertex P4, fifth vertex P5, sixth vertex P6, seventh vertex P7, and eighth vertex P8.

[0132] The moving body 1 is configured symmetrically with respect to three axial directions with respect to each of the main body 10, the eight rotor modules 20, and the cage 30. The moving body 1 is configured symmetrically with respect to three axial directions with respect to the entire configuration including the main body 10, the eight rotor modules 20, and the cage 30. Even if the moving body 1 is rotated 90° from the state in FIG. 11 toward any one of the four side surfaces of the main body 10, it will return to the same state as in FIG. 11.

[0133] When one of the six outer surfaces of the main body 10, which is formed as a regular hexahedron, faces vertically upward, the movable body 1 assumes the same state as when the other outer surfaces face vertically upward. The movable body 1 is configured symmetrically so that when one of the six outer surfaces of the main body 10 faces vertically upward, the combination of the four rotor modules 20 located on the upper surface side assumes the same shape, size, arrangement, and orientation as when the other outer surfaces face vertically upward.

[0134] Fig. 12 is an enlarged perspective view schematically illustrating a portion of the configuration of the moving body 1 shown in Fig. 11. Fig. 12 is an enlarged schematic view of the rotor module 20, which is arranged at a second vertex P2 among the multiple vertices of the main body 10 in Fig. 11. Fig. 12 shows the moving body 1 enlarged around the second vertex P2, but because the moving body 1 is configured symmetrically with respect to three axes including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the moving body 1 also appears enlarged around each of the other seven vertices in the same manner as Fig. 12.

[0135] The rotor module 20 is supported by the main body 10 in a state in which it can rotate around a predetermined axis by the second drive unit 14, which will be described later. As a result, the rotor module 20 is arranged so that its angle with respect to the corresponding first support strut can be relatively changed. The rotor module 20 is rotatable around a third axis A3. The third axis A3, for example, intersects with the axis A0 of the first support strut. As an example, the third axis A3 is perpendicular to the axis A0. The third axis A3 corresponds to the pitch axis. The rotor module 20 is rotatable around a fourth axis A4. The fourth axis A4, for example, is aligned with the axis A0 of the first support strut. As an example, the fourth axis A4 coincides with the axis A0 of the first support strut and is perpendicular to the third axis A3. The fourth axis A4 corresponds to the roll axis.

[0136] The movable body 1 further includes a second drive unit 14 attached to the main body 10, for example. The second drive unit 14 includes at least one of a third drive module 141 that rotates the rotor module 20 about a third axis A3 and a fourth drive module 142 that rotates the rotor module 20 about a fourth axis A4. For example, the second drive unit 14 includes both the third drive module 141 and the fourth drive module 142.

[0137] The third drive module 141 includes, for example, a servo motor. The third drive module 141 is attached, for example, to each vertex of the main body 10. The third drive module 141 rotates the rotor module 20 around the third axis A3 at each vertex of the main body 10. The fourth drive module 142 includes, for example, a servo motor. The fourth drive module 142 is attached, for example, to the inside of the housing box 11, as shown in FIG. 11 . For the purpose of simplifying the illustration in FIG. 11 , only the fourth drive module 142 arranged relative to the first support column F42 is representatively shown in perspective, but similar fourth drive modules 142 are also arranged inside the housing box 11 for the other seven first support columns F41, F43, F44, F51, F52, F53, and F54. The fourth drive module 142 rotates the rotor module 20 around the fourth axis A4 from inside the housing box 11. For example, the fourth drive module 142 may rotate the rotor module 20 together with the corresponding first support column around the fourth axis A4, or may rotate only the rotor module 20 around the fourth axis A4.

[0138] FIG. 13 is a side view schematically illustrating a side surface of the regular hexahedron in FIG. 11 . FIG. 13 is a side view of a side surface formed by the second support column F14, the third support column F24, the second support column F34, and the third support column F21, among the multiple side surfaces of the regular hexahedron serving as the first polyhedron in FIG. 11 , as viewed from the front. FIG. 13 illustrates, as an example of the state of the mobile body 1, a state in which the main body 10 maintains a horizontal position and the rotor module 20 is in a predetermined position. While FIG. 13 illustrates the mobile body 1 as viewed from the side, because the mobile body 1 is configured symmetrically with respect to three axes including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, the mobile body 1 also appears as viewed from each of the other five surfaces in the same manner as FIG. 13 .

[0139] The rotor 21 and drive unit 22 included in the rotor module 20 are located outside the main body 10. The rotor 21 and drive unit 22 are arranged to rotate outside a regular hexahedron formed by eight second support columns F11, F12, F13, F14, F31, F32, F33, and F34 and four third support columns F21, F22, F23, and F24.

[0140] When the rotor module 20 is in a predetermined state, the rotor 21 and the driver 22 have a rotation axis that is a line connecting the reference point P0 located inside the main body 10 and a vertex of the first polyhedron. For example, referring to FIG. 13 , the rotor 21 and the driver 22 located at the first vertex P1 have a rotation axis that is a line connecting the reference point P0 and the first vertex P1. The rotor 21 and the driver 22 located at the fourth vertex P4 have a rotation axis that is a line connecting the reference point P0 and the fourth vertex P4. The rotor 21 and the driver 22 located at the eighth vertex P8 have a rotation axis that is a line connecting the reference point P0 and the eighth vertex P8. The rotor 21 and the driver 22 located at the fifth vertex P5 have a rotation axis that is a line connecting the reference point P0 and the fifth vertex P5. The same explanation applies to the rotor 21 and the driver 22 located at the other second vertex P2, third vertex P3, sixth vertex P6, and seventh vertex P7 in a predetermined state.

[0141] In the movable body 1, the geometric center of the containment box 11 and the geometric center of the first polyhedron coincide with each other at the reference point P0, for example. Eight diagonal first supports F41, F42, F43, F44, F51, F52, F53, and F54 connect the containment box 11 to the first polyhedron, which is a regular hexahedron formed by eight second supports F11, F12, F13, F14, F31, F32, F33, and F34 and four third supports F21, F22, F23, and F24. Each of these supports is disposed on the rotation axis of the corresponding rotor 21 and drive unit 22.

[0142] For example, referring to Figure 13, the first support F41 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the first vertex P1. The first support F44 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the fourth vertex P4. The first support F54 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the eighth vertex P8. The first support F51 is disposed on the rotation axis of the rotor 21 and the drive unit 22 located at the fifth vertex P5. The same explanation applies to the other first support F42, F43, F52, and F53. The rotation axis of the rotor 21 and the drive unit 22 located at each vertex is the same as the axis A0 of the corresponding first support.

[0143] The rotor 21 located at each vertex rotates in a plane perpendicular to the rotation axis. This plane faces the reference point P0. For example, referring to FIG. 13 , the rotor 21 located at the first vertex P1 rotates in a plane perpendicular to the rotation axis, i.e., the first support F41. The rotor 21 located at the fourth vertex P4 rotates in a plane perpendicular to the rotation axis, i.e., the first support F44. The rotor 21 located at the eighth vertex P8 rotates in a plane perpendicular to the rotation axis, i.e., the first support F54. The rotor 21 located at the fifth vertex P5 rotates in a plane perpendicular to the rotation axis, i.e., the first support F51. The same explanation applies to the rotors 21 located at the other vertices, the second vertex P2, the third vertex P3, the sixth vertex P6, and the seventh vertex P7.

[0144] As described above, the rotor module 20 is disposed at the apex of the main body 10, which has one end of the first support strut as its apex. The moving body 1 according to the second embodiment has the same effect as that described in the first embodiment regarding stable movement of the moving body 1.

[0145] The moving body 1 further includes a second drive unit 14 attached to the main body 10, and is thereby able to actively change the attitude of the rotor module 20 relative to the main body 10 by the second drive unit 14. The moving body 1 is able to actively change the angle of the rotor module 20 relative to the main body 10, including the first support, by the second drive unit 14. The moving body 1 includes at least one of a third drive module 141 and a fourth drive module 142, and is therefore able to rotate the rotor module 20 around at least one of a third axis A3 and a fourth axis A4.

[0146] As described above, the mobile body 1 can easily and quickly change its attitude from one attitude to another by controlling the attitude of each rotor module 20 relative to the main body 10. For example, the mobile body 1 can easily tilt its attitude from a state in which it is maintained in a stable attitude for moving and maintaining its attitude. Conversely, even if the mobile body 1 changes its attitude from a stable attitude due to external factors such as wind or a collision with an obstacle, it can easily return to the same stable attitude. This allows the mobile body 1 to float stably and move stably without relying on external factors.

[0147] As a flying method of the moving body 1, the moving body 1 may move and maintain its posture by operating the rotor module 20 and driving the rotor module 20 with the third drive module 141 and the fourth drive module 142.

[0148] The mobile body 1 exhibits the above-described effect of stable movement more significantly by locating the reference point P0 at the center of gravity of the main body 10. More specifically, the mobile body 1 can be configured so that when one face of the first polyhedron is the upper surface, each of the multiple rotors 21 arranged at the multiple vertices of the one face faces the center of gravity. This makes it possible for the mobile body 1 to operate the multiple corresponding rotor modules 20 in accordance with the center of gravity of the main body 10 during flight with the one face facing up, for example, and to maintain its posture more stably.

[0149] 11 to 13, the second drive unit 14 is described as rotating the rotor module 20 around at least one of the third axis A3 and the fourth axis A4, but this is not limited to this. The second drive unit 14 may rotate the rotor module 20 around three or more axes. Alternatively, the moving body 1 may not have the second drive unit 14 at all. In this case, the moving body 1 may be configured so that the rotor module 20 is steadily positioned in a predetermined state relative to the main body 10. The moving body 1 may move based on the rotation of the rotor module 20, whose attitude relative to the main body 10 is fixed in a predetermined state.

[0150] In the second embodiment, the third axis A3 is described as intersecting the axis A0 of the first support, but this is not limiting. The third axis A3 does not have to intersect with the axis A0. Similarly, the fourth axis A4 is described as coinciding with the axis A0 of the first support and perpendicular to the third axis A3, but this is not limiting. The fourth axis A4 may be offset from the axis A0 while remaining parallel to the axis A0, or may be tilted relative to the axis A0. The fourth axis A4 does not have to be perpendicular to the third axis A3, or may not intersect with it at all.

[0151] In the second embodiment, the fourth drive module 142 is described as being attached inside the housing box 11, but this is not limiting. Instead of or in addition to being attached inside the housing box 11, the fourth drive module 142 may be attached, for example, to each vertex of the main body 10. Instead of or in addition to being attached inside the housing box 11, the fourth drive module 142 may rotate the rotor module 20 around the fourth axis A4 at each vertex of the main body 10.

[0152] In the second embodiment, the main body 10 is described as being formed as a first polyhedron and having a first support pillar, a second support pillar, and a third support pillar. However, this is not limited to this. The main body 10 may not have some of the first support pillar, the second support pillar, and the third support pillar, as long as all vertices are virtually connected to form a three-dimensional shape. The rotor module 20 may be disposed at a vertex of the main body 10, the vertex being one end of at least one of the supports, including the first support pillar, the second support pillar, and the third support pillar. The rotor module 20 may rotate about a third axis A3 that intersects with the axis A0 of at least one of the supports, including the first support pillar, the second support pillar, and the third support pillar. The rotor module 20 may rotate about a fourth axis A4 that aligns with the axis A0.

[0153] It will be apparent to those skilled in the art that the present disclosure may be embodied in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the foregoing description is illustrative and not limiting. The scope of the disclosure is defined not by the foregoing description but by the appended claims. All modifications within the range of equivalents of any modifications are intended to be embraced therein.

[0154] For example, the shape, pattern, size, arrangement, orientation, type, and number of each of the above-described components are not limited to those shown in the above description and drawings. The shape, pattern, size, arrangement, orientation, type, and number of each component may be configured arbitrarily as long as the function can be realized. The components of the illustrated moving body 1 are functional concepts, and the specific form of each component is not limited to those shown.

[0155] For example, functions included in each configuration can be rearranged so as not to cause logical contradictions, and multiple configurations can be combined into one or divided. Other modifications are possible within the scope of the present disclosure.

[0156] Some embodiments of the present disclosure are described below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Supplementary Note 1] A moving body comprising: a main body having a plurality of support columns; and a rotor module disposed at each of a plurality of vertices of the main body, the rotor module including a rotor and a drive section for driving the rotor, wherein the main body forms a three-dimensional shape when all of the vertices are connected, and the rotor module is disposed so that its angle with respect to the support columns can be changed relatively. [Supplementary Note 2] The moving body according to Supplementary Note 1, further comprising a support section connected to one end of the support column, the support section supporting the rotor module so that it can swing about a first axis and so that it can swing about a second axis intersecting the first axis. [Supplementary Note 3] The moving body according to Supplementary Note 2, wherein the intersection between the first axis and the second axis, at which the rotor module is located, is disposed more inward of the main body than the vertices. [Supplementary Note 4] The moving body according to Supplementary Note 2, wherein an intersection between the first axis and the second axis, at which the rotor module is located, is located outside the main body portion relative to the vertex. [Supplementary Note 5] The moving body according to any one of Supplements 2 to 4, further comprising a first drive unit attached to the support unit, wherein the first drive unit has at least one of a first drive module that rotates the rotor module about the first axis and a second drive module that rotates the rotor module about the second axis. [Supplementary Note 6] The moving body according to Supplementary Note 1, wherein the rotor module is located at the vertex of the main body portion, with one end of the support column serving as the vertex. [Supplementary Note 7] The moving body according to Supplementary Note 6, further comprising a second drive unit having at least one of a third drive module that rotates the rotor module about a third axis that intersects with the axis of the support column and a fourth drive module that rotates the rotor module about a fourth axis that is aligned with the axis.[Supplementary Note 8] The moving body according to any one of Supplements 1 to 7, wherein the main body has a plurality of the support columns arranged on at least a part of an edge connecting one of the vertices to another of the vertices, and is formed in the shape of a first polyhedron. [Supplementary Note 9] The moving body according to Supplementary Note 8, wherein the first polyhedron is a regular hexahedron. [Supplementary Note 10] The moving body according to Supplementary Note 8 or 9, further comprising a cage attached to the main body and forming the outer shape of the moving body so as to surround the main body and the rotor module from the outside, the cage being formed as a second polyhedron. [Supplementary Note 11] The moving body according to Supplementary Note 10, wherein the cage is fixed to the main body. [Supplementary Note 12] The moving body according to Supplementary Note 10 or 11, wherein the second polyhedron is a lattice dome. [Supplementary Note 13] The mobile body according to Supplementary Note 12, wherein the lattice dome is a flare dome. [Supplementary Note 14] The mobile body according to any one of Supplements 8 to 13, wherein the mobile body is a flying drone. [Supplementary Note 15] A flight method for a mobile body according to any one of Supplements 8 to 14, wherein, with one face of the first polyhedron positioned on an upper surface in the vertical direction, only the rotary wing modules arranged at the vertices of the one face are operated to move and maintain attitude. [Supplementary Note 16] A flight method for a mobile body according to Supplementary Note 15, wherein, with the attitude of the mobile body changed so that the one face is no longer positioned on the upper surface, the rotary wing modules arranged at the vertices of the first polyhedron are operated to change the attitude of the mobile body so that the one face or another face different from the one face is positioned on the upper surface. [Supplementary Note 17] A flying method for a moving body as described in any one of Supplementary Notes 8 to 14, wherein the rotor module located at one vertex of the first polyhedron is located vertically upward, and the rotor module located at the other vertex on the opposite side is located vertically downward, and the rotor module is operated only for the two rotor modules so that the rotation directions of the two rotors are opposite to each other, thereby moving and maintaining attitude.[Supplementary Note 18] A flight method for a moving body according to Supplementary Note 17, comprising: operating the rotary wing modules located relative to each of the vertices of the first polyhedron when the attitude of the moving body has changed and the positions of the one vertex and the other vertex that face each other are shifted, thereby changing the attitude so that the same pair or different pairs of the two opposing vertices are located in the vertical direction. [Supplementary Note 19] A flight method for a moving body according to Supplementary Note 5, comprising operating the rotary wing modules and driving the rotary wing modules with the first drive module and the second drive module to move and maintain the attitude. [Supplementary Note 20] A flight method for a moving body according to Supplementary Note 7, comprising operating the rotary wing modules and driving the rotary wing modules with the third drive module and the fourth drive module to move and maintain the attitude. [Supplementary Note 21] A flying method for a moving body according to any one of Supplementary Notes 8 to 14, comprising operating all of the rotary wing modules arranged at each of the vertices of the first polyhedron to generate a propulsive force in a vertically upward direction, thereby moving and maintaining attitude.

[0157] REFERENCE SIGNS LIST 1 Mobile body 2a First control unit 2b Second control unit 3 Communication unit 4 Acquisition unit 5 Memory unit 10 Main body unit 11 Housing box 12 Support unit 121 Support rod 122 Support ring 123 Shaft rod 13 First drive unit 131 First drive module 132 Second drive module 14 Second drive unit 141 Third drive module 142 Fourth drive module 20 Rotor module 21 Rotor 22 Drive unit 30 Cage A0 Axis A1 First axis A2 Second axis A3 Third axis A4 Fourth axis F11 Second support F12 Second support F13 Second support F14 Second support F21 Third support F22 Third support F23 Third support F24 Third support F31 Second support F32 Second support F33 Second support F34 Second support F41 First support F42 First support F43 First support F44 First support F51 First support F52 First support F53 First support F54 First support P0 Reference point P1 First vertex P2 Second vertex P3 Third vertex P4 Fourth vertex P5 Fifth vertex P6 Sixth vertex P7 Seventh vertex P8 Eighth vertex P10 Intersection

Claims

1. A moving body comprising: a main body having a plurality of support pillars; and a rotor module arranged at each of a plurality of vertices of the main body, the rotor module including a rotor and a drive unit for driving the rotor, wherein the main body forms a three-dimensional shape when all of the vertices are connected, and the rotor module is arranged so that its angle with respect to the support pillars can be changed relatively.

2. A moving body as described in claim 1, further comprising a support part connected to one end of the support column, the support part supporting the rotor module so that the rotor module can swing about a first axis, and the support part supporting the rotor module so that the rotor module can swing about a second axis intersecting the first axis.

3. A moving body according to claim 2, wherein the intersection between the first axis and the second axis, at which the rotor module is located, is located inside the main body portion relative to the apex.

4. A moving body according to claim 2, wherein the intersection between the first axis and the second axis, at which the rotor module is located, is disposed outside the main body portion relative to the apex.

5. A moving body as claimed in any one of claims 2 to 4, further comprising a first drive unit attached to the support part, the first drive unit having at least one of a first drive module that rotates the rotor module around the first axis and a second drive module that rotates the rotor module around the second axis.

6. A moving body according to claim 1, wherein the rotor module is disposed at an apex of the main body, the apex being one end of the support column.

7. A moving body as described in claim 6, further comprising a second drive unit having at least one of a third drive module that rotates the rotor module around a third axis that intersects with the axis of the support column, and a fourth drive module that rotates the rotor module around a fourth axis along the axis.

8. A moving body as claimed in any one of claims 1 to 4, wherein the main body has a plurality of support pillars arranged on at least a part of an edge connecting one of the vertices to another of the vertices, and is formed into a first polyhedron.

9. The moving body according to claim 8, wherein the first polyhedron is a regular hexahedron.

10. A moving body as claimed in claim 8, further comprising a cage attached to the main body and surrounding the main body and the rotor module from the outside to form the outer shape of the moving body, the cage being formed as a second polyhedron.

11. A moving body according to claim 10, wherein the cage is fixed to the main body.

12. A moving body according to claim 10, wherein the second polyhedron is a lattice dome.

13. A moving body according to claim 12, wherein the lattice dome is a flare dome.

14. A moving object according to claim 8, wherein the moving object is a flying drone.

15. A flying method for a moving body as described in claim 8, comprising the steps of: moving the moving body and maintaining its attitude by operating only the rotor module arranged at the vertex of one face of the first polyhedron while the one face is positioned on an upper vertical surface.

16. A flying method for a moving body as described in claim 15, comprising the steps of: when the attitude of the moving body has changed so that the one face is no longer positioned on the upper face, operating the rotor modules located at each of the vertices of the first polyhedron to change the attitude of the moving body so that the one face or another face different from the one face is positioned on the upper face.

17. A flight method for a moving body as described in claim 8, comprising the steps of: operating only the two rotor modules so that the rotation directions of the two rotors are opposite to each other, while the rotor module located at one vertex of the first polyhedron is positioned vertically upward and the rotor module located at the other vertex on the opposite side is positioned vertically downward, thereby moving and maintaining attitude.

18. A flying method for a moving body as described in claim 17, comprising the steps of: operating the rotor modules located relative to each of the vertices of the first polyhedron while the attitude of the moving body is changed to displace the positions of the one vertex and the other vertex that face each other, thereby changing the attitude of the moving body so that the same pair or different pairs of the two opposing vertices are respectively positioned in the vertical direction above and below.

19. A flying method for a moving body as described in claim 5, comprising the steps of: operating the rotor module; and moving and maintaining attitude while driving the rotor module by the first drive module and the second drive module.

20. A flying method for a moving body as described in claim 7, comprising the steps of: operating the rotary wing module; and moving and maintaining attitude while driving the rotary wing module by the third drive module and the fourth drive module.

21. A flying method for a moving body as described in claim 8, comprising the steps of: operating all of the rotor modules arranged at each of the vertices of the first polyhedron to generate a thrust force in a vertically upward direction, thereby moving the moving body and maintaining its attitude.

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