Moving body

Abstract

A moving body 1 according to the present disclosure comprises: a body part 10; a plurality of rotor modules 20 that are attached to the body part 10 and that each include a rotor 21 and a driving part 22 which drives the rotor 21; and rotor guards 30 that each surround the periphery of a respective rotor 21, wherein the plurality of rotors 21 each have, as the rotational axis thereof, a straight line that passes through a reference point P0 which is located inward of the body part 10, and are disposed so as to all face mutually different directions.

Description

Mobile

[0001] This application claims priority to Japanese Patent Application No. 2024-122576, filed on July 29, 2024, the entire disclosure of which is incorporated herein by reference.

[0002] Conventionally, technologies relating to moving objects, including drones, have become widespread. For example, Patent Literature 1 discloses a device that achieves both vibration prevention and shock absorption for an unmanned aerial vehicle with a rotating spherical frame.

[0003] JP 2018-039488 A

[0004] As the fields of use of mobile objects expand, for example, when mobile objects are used for inspection purposes, there is an increased possibility that the mobile object will come into contact with an obstacle and crash when moving in a narrow space or approaching an obstacle. Stable movement of the mobile object without relying on external factors such as contact with an obstacle or wind will be an important issue in the future of autonomous driving. The conventional technology described in Patent Document 1 did not sufficiently consider how to achieve stable movement of the mobile object while protecting the surroundings from the rotor blades.

[0005] The present disclosure aims to provide a moving body that can move stably while protecting the surroundings from the rotor blades.

[0006] A moving body for solving the above problem comprises: a main body; a plurality of rotor modules attached to the main body, each including a rotor and a drive unit that drives the rotor; and a rotor guard that surrounds the rotor, wherein the rotors are arranged so that each has its rotation axis as a straight line passing through a reference point located inside the main body, and all of the rotors face in different directions.

[0007] According to the present disclosure, it is possible to provide a moving body that can move stably while protecting the surroundings from the rotor blades.

[0008] 1 is an external perspective view showing a moving body according to an embodiment of the present disclosure. FIG. 2 is an external perspective view showing a portion of the configuration of the moving body of FIG. 1. FIG. 3 is an external perspective view showing a portion of the configuration of the main body of FIG. 2. FIG. 4 is a side view showing the side surface of the regular hexahedron in FIG. 2. FIG. 5 is an enlarged perspective view showing an enlarged portion of the configuration of the moving body located in the area surrounded by the dashed dotted line in FIG. 2. FIG. 6 is an external perspective view showing another portion of the configuration of the moving body of FIG. 1. FIG. 7 is a block diagram showing an example of the configuration of the moving body of FIG. 1. FIG. 8 is an external perspective view corresponding to FIG. 1, showing a moving body according to a modified example of the present disclosure. FIG. 9 is an external perspective view showing a portion of the configuration of the moving body of FIG.

[0009] Hereinafter, one embodiment of the present disclosure will be mainly described with reference to the accompanying drawings.

[0010] Fig. 1 is an external perspective view showing a moving body 1 according to an embodiment of the present disclosure. Fig. 2 is an external perspective view showing a part of the configuration of the moving body 1 of Fig. 1. In Fig. 2, the guard 40 of the moving body 1 is not shown, and only the other components of the moving body 1 excluding the guard 40 are shown as an example. An example of the configuration and function of the moving body 1 according to an embodiment will be mainly described with reference to Figs. 1 and 2 .

[0011] The mobile object 1 includes, for example, an air vehicle. The air vehicle includes, for example, a flying drone and a multicopters. As an example, the mobile object 1 may be a flying drone. The mobile object 1 moves while flying at least one of outdoors and indoors.

[0012] 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.

[0013] 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 an object such as an obstacle present at the destination using an ultrasonic sensor 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 equipped with an acceleration sensor, a gyroscope, or the like, and autonomously circle around a target object or target position.

[0014] In addition to the sensor devices described above, the mobile object 1 may further include other sensor devices, such as an imaging device, and may acquire any data or information using the other sensor devices. For example, while flying through a narrow space, the mobile object 1 may capture images of inspection targets included in the floor, walls, ceiling, and the like that make up the narrow space using the imaging device, and output the captured images as data to any external device for inspection purposes via wireless communication.

[0015] The moving body 1 has a main body 10, a plurality of rotor modules 20, a plurality of rotor guards 30, and a guard 40. The moving body 1 is movable by the operation of the rotor modules 20. Each of the plurality of rotor modules 20 includes a rotor 21 and a drive unit 22 that drives the rotor 21. The rotor modules 20 are attached to the main body 10 based on an arbitrary attachment structure. The moving body 1 is movable by the operation of the rotor modules 20. The rotor guard 30 surrounds the periphery of the rotor 21.

[0016] The main body 10 is configured as, for example, a polyhedron. The polyhedron is, for example, a regular hexahedron. Without being limited to this, the main body 10 may be configured as a polyhedron other than a regular hexahedron, or may be configured as a sphere. The main body 10 is located at the center of the guard 40 that forms the outer shape of the mobile body 1. The main body 10 has a storage section 11 located at the center of the main body 10. The storage section 11 houses multiple functional modules, described below, that are required for the mobile body 1 to perform various operations.

[0017] Fig. 3 is an external perspective view showing a part of the configuration of the main body 10 of Fig. 2. In Fig. 2, the housing 11 of the main body 10 is not shown, and only the components of the main body 10 other than the housing 11 are shown as an example. The main body 10 has multiple frames that form a polyhedron. An example of the configuration and function of the main body 10 will be mainly described with reference to Fig. 3.

[0018] The main body 10 has four frames F11, F12, F13, and F14 that form the top surface of a regular hexahedron. The main body 10 has four frames F21, F22, F23, and F24 that are located on the four side surfaces of the regular hexahedron. The main body 10 has four frames F31, F32, F33, and F34 that form the bottom surface of the regular hexahedron. The main body 10 has a regular hexahedron outer shape formed by these 12 frames.

[0019] The main body 10 has four vertices located on the top side of a regular hexahedron. 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 frames F11, F14, and F21. The second vertex P2 is located at the intersection of frames F12, F11, and F22. The third vertex P3 is located at the intersection of frames F13, F12, and F23. The fourth vertex P4 is located at the intersection of frames F14, F13, and F24.

[0020] The main body 10 has four vertices located on the bottom side of the regular hexahedron. 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 frames F31, F34, and F21. The sixth vertex P6 is located at the intersection of frames F32, F31, and F22. The seventh vertex P7 is located at the intersection of frames F33, F32, and F23. The eighth vertex P8 is located at the intersection of frames F34, F33, and F24.

[0021] The main body 10 has frames extending into the interior of the main body 10 from each of the four vertices located on the top side of the regular hexahedron. More specifically, the main body 10 has a frame F41 extending into the interior of the main body 10 from the first vertex P1. The main body 10 has a frame F42 extending into the interior of the main body 10 from the second vertex P2. The main body 10 has a frame F43 extending into the interior of the main body 10 from the third vertex P3. The main body 10 has a frame F44 extending into the interior of the main body 10 from the fourth vertex P4.

[0022] The main body 10 has frames extending into the interior of the main body 10 from each of the four vertices located on the underside of the regular hexahedron. More specifically, the main body 10 has a frame F51 extending into the interior of the main body 10 from the fifth vertex P5. The main body 10 has a frame F52 extending into the interior of the main body 10 from the sixth vertex P6. The main body 10 has a frame F53 extending into the interior of the main body 10 from the seventh vertex P7. The main body 10 has a frame F54 extending into the interior of the main body 10 from the eighth vertex P8.

[0023] The main body 10 has frames located on diagonals of each of the six faces of the regular hexahedron. More specifically, the main body 10 has a frame F61 located on the diagonal line connecting the first vertex P1 and the third vertex P3. The main body 10 has a frame F62 located on the diagonal line connecting the sixth vertex P6 and the eighth vertex P8. The main body 10 has a frame F63 located on the diagonal line connecting the first vertex P1 and the eighth vertex P8. The main body 10 has a frame F64 located on the diagonal line connecting the second vertex P2 and the fifth vertex P5. The main body 10 has a frame F65 located on the diagonal line connecting the third vertex P3 and the sixth vertex P6. The main body 10 has a frame F66 located on the diagonal line connecting the fourth vertex P4 and the seventh vertex P7.

[0024] 2 and 3, the storage unit 11 of the main body 10 is located inside a regular hexahedron formed by 12 frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. The storage unit 11 is connected to each of eight frames F41, F42, F43, F44, F51, F52, F53, and F54 at an end opposite the corresponding vertex of the regular hexahedron.

[0025] Fig. 4 is a side view showing the side of the regular hexahedron in Fig. 2. Fig. 4 is a side view of the side formed by frames F14, F24, F34, and F21, among the multiple side surfaces of the regular hexahedron in Fig. 3, as viewed from the front. Fig. 4 shows the mobile object 1 as viewed from that side, but because the mobile object 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 object 1 also appears as viewed from each of the other five surfaces in the same manner as Fig. 4.

[0026] As shown in Figures 2 and 4, each of the multiple rotor modules 20 is located at a vertex of the polyhedron of the main body 10. The rotor modules 20 extend outward from each vertex of the main body 10 and are attached to the main body 10. In the present disclosure, "inside" corresponds to, for example, a direction toward the center of the moving body 1 or each component that makes up the moving body 1. For example, the inside of the moving body 1 corresponds to a direction toward the center of the moving body 1. The inside of each component that makes up the moving body 1 corresponds to a direction toward the center of each component that makes up the moving body 1. Without being limited to this, the inside does not have to be a direction completely toward the center, and may correspond to a direction toward a position slightly offset from the center. "Outside" is the opposite of inside.

[0027] Rotor modules 20, each including a rotor 21 and a drive unit 22 that drives the rotor 21, are attached to the main body 10, which has a regular hexahedral shape, at each vertex of the main body 10. The rotor modules 20 are arranged so that the rotor 21 and the drive unit 22 rotate around a corresponding rotation axis 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. The rotor 21 and drive unit 22 of the rotor module 20 can rotate both clockwise and counterclockwise around the corresponding rotation axis.

[0028] The rotors 21 and drive units 22 included in the rotor module 20 are located outside the main body 10. The rotors 21 and drive units 22 rotate outside the regular hexahedron formed by the 12 frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. On the other hand, the rotors 21 and drive units 22 included in the rotor module 20 are located inside the rotor guards 30 and 40, respectively. The rotors 21 and drive units 22 rotate inside the rotor guards 30 and 40, respectively.

[0029] The eight rotor modules 20 are arranged symmetrically with respect to the main body 10. The eight rotor modules 20 may have the same shape and size. The rotors 21 included in the rotor modules 20 may have the same shape and size in the eight rotor modules 20. The drive units 22 included in the rotor modules 20 may have the same shape and size in the eight rotor modules 20.

[0030] When one of the six outer surfaces of the main body 10, which is configured as a regular hexahedron, faces vertically upward, the movable body 1 assumes a state that is similar to 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.

[0031] The multiple rotors 21 are arranged so that each rotor has a rotation axis that is a straight line passing through a reference point P0 located inside the main body 10, and all rotors 21 face in different directions. For example, rotor 21 is located outside the main body 10, and its rotation axis is a straight line connecting the reference point P0 and the vertex of the main body 10. Similarly, drive unit 22 is located outside the main body 10, and its rotation axis is a straight line connecting the reference point P0 and the vertex of the main body 10.

[0032] 4 , for example, the rotor 21 and driver 22 located at the first vertex P1 have a rotation axis that is the line connecting the reference point P0 and the first vertex P1. The rotor 21 and driver 22 located at the fourth vertex P4 have a rotation axis that is the line connecting the reference point P0 and the fourth vertex P4. The rotor 21 and driver 22 located at the eighth vertex P8 have a rotation axis that is the line connecting the reference point P0 and the eighth vertex P8. The rotor 21 and driver 22 located at the fifth vertex P5 have a rotation axis that is the line connecting the reference point P0 and the fifth vertex P5. The same explanation applies to the rotor 21 and driver 22 located at the other vertices: the second vertex P2, the third vertex P3, the sixth vertex P6, and the seventh vertex P7.

[0033] 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 formed symmetrically in three axes, 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.

[0034] For example, the movable body 1 is configured symmetrically with respect to three axial directions. The reference point P0 may be the geometric center of a polyhedron that configures the main body 10. Eight diagonal frames F41, F42, F43, F44, F51, F52, F53, and F54 that connect the regular hexahedron formed by the 12 frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34 to the storage unit 11 are each disposed on the rotation axis of the corresponding rotor 21 and drive unit 22.

[0035] 4, for example, frame F41 is disposed on the rotation axis of the rotor 21 and drive unit 22 located at the first vertex P1. Frame F44 is disposed on the rotation axis of the rotor 21 and drive unit 22 located at the fourth vertex P4. Frame F54 is disposed on the rotation axis of the rotor 21 and drive unit 22 located at the eighth vertex P8. Frame F51 is disposed on the rotation axis of the rotor 21 and drive unit 22 located at the fifth vertex P5. The same explanation applies to the other frames F42, F43, F52, and F53.

[0036] 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, the rotor 21 located at the first vertex P1 rotates in a plane perpendicular to the rotation axis, i.e., frame F41. The rotor 21 located at the fourth vertex P4 rotates in a plane perpendicular to the rotation axis, i.e., frame F44. The rotor 21 located at the eighth vertex P8 rotates in a plane perpendicular to the rotation axis, i.e., frame F54. The rotor 21 located at the fifth vertex P5 rotates in a plane perpendicular to the rotation axis, i.e., frame 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.

[0037] Figure 5 is an enlarged perspective view showing a portion of the configuration of the moving body 1 located in the area V enclosed by the dashed dotted line in Figure 2. Figure 5 is an enlarged perspective view of the rotor module 20 and rotor guard 30 located at the eighth vertex P8 of the regular hexahedron in Figure 3. Figure 5 shows an enlarged view of the rotor module 20 and rotor guard 30 located at the eighth vertex P8, 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 rotor modules 20 and rotor guards 30 located at each of the other seven vertices also appear enlarged in the same manner as in Figure 5.

[0038] The rotor guard 30 has, for example, a frame 31 that is arranged in the same plane as the rotation plane of the rotor 21, which is perpendicular to the rotation axis. The frame 31 is arranged along the circumference described by the tip of the rotor 21 when the rotor 21 rotates. The frame 31 is arranged, for example, on the rotation plane of the rotor 21 and has an annular shape that surrounds the rotor 21 along the circumference from the outside in the radial direction. The diameter of the circular frame 31 is slightly larger than the diameter of the circumference described by the tip of the rotor 21 when the rotor 21 rotates. The center of the circular frame 31 may coincide with the center of the rotation axis of the rotor 21.

[0039] The rotor guard 30 has a support part 32 that is connected at one end to three points on the circumference of the frame 31 and at the other end to each vertex of the polyhedron that makes up the main body 10. The support part 32 supports the frame 31 on the outside of the main body 10 with three linear frames, and supports the drive unit 22 from the inside of the support part 32. The rotor guard 30 has the frame 31 disposed around the rotor 21 with the support part 32 attached to the main body 10.

[0040] The rotor guard 30 is disposed on the frame 31 and includes legs 33 having surfaces that are horizontal to the takeoff and landing surface when the vehicle 1 is in a takeoff and landing attitude. For example, the legs 33 are disposed at each of the connection points of the support 32 with the three linear frames of one frame 31. In the configuration example shown in FIG. 5 , the legs 33 include a first leg 33a located on the lower side in the vertical direction and a second leg 33b and a third leg 33c located on the upper side in the vertical direction. Assuming that the takeoff and landing surface is located at the bottom of the diagram in the arrangement example of the vehicle 1 shown in FIGS. 2 and 5 , the plane of the first leg 33a of the three legs 33 is horizontal to the takeoff and landing surface. The vehicle 1 enables takeoff and landing when the planes of the first leg 33a located at the fifth vertex P5, the sixth vertex P6, and the seventh vertex P7 shown in FIG. 3, in addition to the first leg 33a located at the eighth vertex P8 shown in FIG. 5 , come into contact with the takeoff and landing surface.

[0041] Fig. 6 is an external perspective view showing another part of the configuration of the moving body 1 in Fig. 1. Fig. 6 shows only the guard 40 of the moving body 1, and does not show other components of the moving body 1 other than the guard 40. An example of the configuration and function of the guard 40 of the moving body 1 according to one embodiment will be mainly described with reference to Fig. 6.

[0042] 1 and 6 , the guard 40 of the moving body 1 is attached to the rotor guard 30 and forms the outer shape of the moving body 1. The guard 40 is attached to the frame 31 of the rotor guard 30 based on any attachment structure. The guard 40 may be attached so as to be detachable from the frame 31 of the rotor guard 30. The guard 40 may be configured so as to be detachable from the frame 31 by any manner, such as screwing, fitting, engaging, and locking.

[0043] On the other hand, the guard 40 may be attached so as to be non-detachable from the frame 31. The guard 40 may be configured to be non-detachable from the frame 31 in any manner, such as by integral molding, bonding, or adhesion.

[0044] The guard 40 is located further outward on the moving body 1 than the main body 10 and the rotor module 20. The guard 40 is fixed to the main body 10. When the guard 40 rotates in conjunction with the rotation of the moving body 1, the main body 10 rotates in accordance with the rotation of the guard 40. Conversely, if the guard 40 maintains a constant attitude, the main body 10 is maintained in an attitude that corresponds to the attitude of the guard 40. The attitude of the main body 10 corresponds one-to-one with the attitude of the guard 40.

[0045] The guard 40 is composed of a plurality of frames. Each of the plurality of frames is disposed between a pair of frames 31 so as to connect the frames 31 of a pair of adjacent rotor guards 30. For example, the guard 40 has at least one of a first frame 41 perpendicular to the pitch axis A1, a second frame 42 perpendicular to the roll axis A2, and a third frame 43 perpendicular to the yaw axis A3. In the example shown in Fig. 6, the guard 40 has the first frame 41 perpendicular to the pitch axis A1 and the second frame 42 perpendicular to the roll axis A2.

[0046] The first frame 41 includes three first frames 41a arranged in a first plane perpendicular to the pitch axis A1. Each of the three first frames 41a has an arc shape between a pair of frames 31. A circumference formed by connecting the three arcs formed by the three first frames 41a is located in the first plane perpendicular to the pitch axis A1.

[0047] The first frame 41 includes three first frames 41b arranged in a second plane that is perpendicular to the pitch axis A1 and spaced apart from the first plane along the pitch axis A1. Each of the three first frames 41b has an arc shape between a pair of frames 31. A circumference formed by connecting the three arcs formed by the three first frames 41b is located in the second plane that is perpendicular to the pitch axis A1.

[0048] The second frame 42 includes three second frames 42a arranged in a third plane perpendicular to the roll axis A2. Each of the three second frames 42a has an arc shape between a pair of frames 31. A circumference formed by connecting the three arcs formed by the three second frames 42a is located in the third plane perpendicular to the roll axis A2.

[0049] The second frame 42 includes three second frames 42b arranged in a fourth plane that is perpendicular to the roll axis A2 and spaced apart from the third plane along the roll axis A2. Each of the three second frames 42b has an arc shape between a pair of frames 31. A circumference formed by connecting the three arcs formed by the three second frames 42b is located in the fourth plane that is perpendicular to the roll axis A2.

[0050] For example, the guard 40 further includes a fourth frame 44 that is horizontal to the takeoff and landing surface when the vehicle 1 is in a takeoff and landing attitude. Four fourth frames 44 are arranged in a fifth plane perpendicular to the yaw axis A3. Each of the four fourth frames 44 has a linear shape between a pair of frames 31. A rectangular shape formed by connecting the four sides formed by each of the four fourth frames 44 is located in the fifth plane perpendicular to the yaw axis A3.

[0051] 1 and 6, assuming that a landing surface is located at the bottom of the drawing, the rectangular shape formed by the four fourth frames 44 is horizontal to the landing surface. The mobile body 1 can take off and land when the rectangular shape formed by the four fourth frames 44 shown in FIG. 6 comes into contact with the landing surface.

[0052] From the viewpoint of enhancing impact absorption while suppressing excessive deformation and preventing the guard 40 from coming into contact with the rotor module 20, the bending modulus of the material of each frame constituting the polyhedron of the main body 10 and each frame constituting the guard 40 is preferably 5.0 GPa or more, more preferably 8.0 GPa or more, and preferably 250.0 GPa or less. From the same viewpoint, the bending 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 bending modulus and bending strength are based on the bending strength specified in ISO 178.

[0053] 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 frame.

[0054] The material is not limited to the above-mentioned resin materials, and may be, for example, a metal material such as pure titanium, titanium alloy, steel, aluminum alloy, magnesium alloy, maraging steel, stainless steel, mild steel, etc. These metal materials can be formed into specific shapes and used for each frame, but each frame may have a hollow structure, honeycomb structure, etc. to further impart light weight and high strength to each frame.

[0055] From the viewpoint of improving the shock absorption of the guard 40, it is preferable that the above-mentioned resin materials be used as the material for each frame that constitutes the guard 40. From the same viewpoint, each frame that constitutes the polyhedron of the main body 10 can also be made of the above-mentioned resin materials, but from the viewpoint of suppressing excessive deformation, the material may have a higher flexural modulus or higher flexural strength than the material of each frame that constitutes the guard 40, in which case the above-mentioned metal materials can also be used.

[0056] Figure 7 is a 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 storage unit 5. In the moving body 1, the rotor module 20 is disposed outside the main body unit 10, while the first control unit 2a, the second control unit 2b, the communication unit 3, the acquisition unit 4, and the storage unit 5 are housed inside a housing unit 11.

[0057] 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 the corresponding rotation axis described above. In the present disclosure, the "predetermined rotation speed" may take any value within a range from zero to the maximum value that can be output as the performance of the rotor module 20. The eight rotors 21 may rotate in the same direction and at the same rotation speed, or may rotate so that at least one of the rotation direction and rotation speed differs from one another.

[0058] 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 at a predetermined rotation speed around the corresponding rotation axis. 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.

[0059] 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.

[0060] The second control unit 2b includes one or more processors. The second control unit 2b functions as a central control module, such as a CPU (Central Processing Unit) in a flying drone. The second control unit 2b is communicatively connected to the first control unit 2a, the communication unit 3, the acquisition unit 4, and the storage unit 5. The second control unit 2b is communicatively connected to each component of the mobile object 1, and executes processing related to the operation of the mobile object 1. The second control unit 2b controls the operation of the entire mobile object 1. For example, the second control unit 2b outputs first control information to the first control unit 2a.

[0061] The communication unit 3 includes a communication module that enables communication between the mobile object 1 and the control device. The communication unit 3 includes 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.

[0062] 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.

[0063] Additionally, the acquisition unit 4 may include one or more imaging devices such as cameras as sensor devices. The acquisition unit 4 may acquire arbitrary image data, etc., using such imaging devices. 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.

[0064] 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.

[0065] The mobile body 1 according to the embodiment described above can move stably while protecting the surroundings from the rotors 21. For example, the mobile body 1 has rotor guards 30 that surround the rotors 21. As a result, the mobile body 1 can provide a rotor guard 30 that surrounds each rotor 21, thereby protecting objects located around the mobile body 1 when the rotors 21 are operated for movement, hovering, or the like. In the present disclosure, "object" includes, for example, living things such as humans, structures such as buildings, other mobile bodies different from the mobile body 1 such as vehicles and drones, inspection targets to be inspected using the mobile body 1, and any other obstacles. For example, the mobile body 1 can protect parts of the body, such as the hands and fingers of a person located around the mobile body 1, when the rotors 21 are operated.

[0066] In the mobile body 1, the multiple rotors 21 are arranged so that each has a rotation axis that is a straight line passing through a reference point P0 located inside the main body 10, and all of them face in different directions. This allows the mobile body 1 to move stably without relying on external factors such as wind or collisions with obstacles. Even if the attitude of the main body 10 changes, for example, when one surface of the main body 10 faces vertically upward, the mobile body 1 can achieve a state similar to when the other surface faces vertically upward.

[0067] The rotor guard 30 has a frame 31 that is arranged in the same plane as the rotation plane of the rotor 21, which is perpendicular to the rotation axis. This allows the frame 31 to prevent the rotor 21, which is rotating in the rotation plane, from coming into contact with objects located around the mobile body 1 when the rotor 21 is operating. For example, the frame 31 allows the frame 31 to prevent parts of the body, such as the hands and fingers of a person located around the mobile body 1, from coming into contact with the rotor 21 when the rotor 21 is operating.

[0068] The rotor guard 30 is disposed on the frame 31 and has legs 33 with surfaces that are horizontal to the takeoff and landing surface when the mobile body 1 is in a takeoff and landing attitude. This allows the mobile body 1 to use the rotor guard 30 as legs when the mobile body 1 takes off and lands on the takeoff and landing surface. Therefore, the mobile body 1 can take off and land on the takeoff and landing surface in a predetermined attitude based on the horizontal surface of the legs 33 of the rotor guard 30. Therefore, the mobile body 1 can take off and land stably on the takeoff and landing surface, and as a result, can move stably.

[0069] The rotor 21 is located outside the main body 10, and its axis of rotation is a straight line connecting the reference point P0 and a vertex of the polyhedron constituting the main body 10. This allows the mobile body 1 to move stably without relying on external factors such as wind or collisions with obstacles. Even if the attitude of the main body 10, which is configured as a polyhedron, changes, the mobile body 1 can achieve a state when one face of the polyhedron faces vertically upward, similar to when the other faces face vertically upward. The mobile body 1 can be configured such that when one face of the polyhedron faces vertically upward, a combination of rotor modules 20, the number of which is the same as the number of vertices of one face located on the upper surface, has an arrangement and orientation similar to when the other faces face vertically upward.

[0070] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind and collision with an obstacle, causing the top surface of the mobile body 1 to change from one side of a 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 similar numbers, arrangements, and orientations between one side and the other side of the 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.

[0071] The same state can be obtained even if the movable body 1 is rotated by a rotation angle according to the rotational symmetry of the polyhedron. For example, when the polyhedron has n-fold rotational symmetry, the movable body 1 can be rotated by an angle of 360 / n° from a state in which one face of the polyhedron is the top face so that the other face becomes the top face. The movable 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°.

[0072] The main body 10 has multiple frames that form a polyhedron. This allows the robustness of the main body 10 of the moving body 1 to be improved. Therefore, the moving body 1 can more firmly attach the rotor module 20 to the main body 10, making the arrangement of the rotor module 20 relative to the main body 10 more stable. Therefore, the moving body 1 can reduce the rocking of the rotor module 20 relative to the main body 10 when the rotor 21 is operating. As a result, the moving body 1 can move stably.

[0073] The polyhedron is a regular hexahedron. This allows the symmetry of the mobile body 1 to be further improved. More specifically, as long as each rotor module 20 has the same shape and size and the reference point P0 coincides with the geometric center of the polyhedron, even if the attitude of the main body 10 configured as a polyhedron changes, when one face of the polyhedron faces vertically upward, the same state can be achieved as when the other faces face vertically upward. The mobile body 1 can be configured such that when one face of the 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.

[0074] 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 side of a polyhedron to another. Even in such a case, the mobile unit 1 can continue moving with the same propulsive force between one side of the polyhedron and the other side by combining rotor modules 20 that have the same number, arrangement, and orientation. Therefore, even if the mobile unit 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 unit 1 can continue flying more stably even if its attitude is disturbed, and has even better resistance to gusts of wind.

[0075] In this case, since the polyhedron of the mobile unit 1 has four-fold rotational symmetry, when one face of the polyhedron is rotated by 90 degrees from the state where the other face is the upper face, the mobile unit 1 can be configured to be symmetrical with respect to the directions of three axes, the X-axis, the Y-axis, and the Z-axis, which intersect with each other at 90 degrees. 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.

[0076] For example, the mobile body 1 moves and maintains its attitude by operating only the rotor modules 20 arranged at the vertices of a polyhedron face when the face is positioned vertically upward. For example, the mobile body 1 can also move and hover by operating only four rotor modules 20 arranged at the four vertices of a regular hexahedron face when the face is positioned upward. The mobile body 1 can move without operating the remaining four rotor modules 20 arranged on the lower face. 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.

[0077] In this way, the mobile body 1 operates the rotor modules 20 located at each vertex of the upper surface to move and maintain its attitude, for example. Meanwhile, when the mobile body 1 changes its attitude so that one face is no longer located at the upper surface, it operates the rotor modules 20 located at each vertex of a polyhedron 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 can also 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.

[0078] The reference point P0 is the center of gravity of the main body 10. This allows the mobile body 1 to more significantly achieve the above-mentioned effect of stable movement. More specifically, the mobile body 1 can be configured so that when one face of the polyhedron is facing up, each of the multiple rotors 21 arranged at the multiple vertices of that face faces the center of gravity. This makes it possible for the mobile body 1 to operate the corresponding multiple rotor modules 20 in accordance with the center of gravity of the main body 10 during flight with that face facing up, for example, and to maintain its posture more stably.

[0079] The symmetry of the mobile body 1 can be improved by the reference point P0 being the center of gravity of the main body 10 and also the geometric center of the polyhedron constituting the main body 10. 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 configured as a polyhedron changes, when one face of the 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 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.

[0080] 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 side of a 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 similar number, arrangement, and orientation between the one side and the other side of the 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.

[0081] Even when the center of gravity of the main body 10 and the geometric center of the polyhedron are different from each other and the reference point P0 is the geometric center of the 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. in accordance with the deviation of the center of gravity from the geometric center.

[0082] The moving body 1 further includes a guard 40 attached to the rotor guard 30 and constituting the outer shape of the moving body 1. As a result, 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 guard 40 that constitutes its outer shape. For example, when the moving body 1 collides with an obstacle, the guard 40 is the component that first comes into contact with the obstacle. 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 guard 40. At this time, because the guard 40 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the guard 40.

[0083] The guard 40 has at least one of a first frame 41 perpendicular to the pitch axis A1, a second frame 42 perpendicular to the roll axis A2, and a third frame 43 perpendicular to the yaw axis A3. This allows the mobile unit 1 to rotate about at least one of the pitch axis A1, the roll axis A2, and the yaw axis A3 as a rotation axis. For example, even if the mobile unit 1 comes into contact with an obstacle, it can continue to move by actively rotating about each of the pitch axis A1 and the roll axis A2 according to the shape of the guard 40 that forms the outer shape shown in FIG. 6.

[0084] Each of the first frame 41, the second frame 42, and the third frame 43 has an arc shape. This allows the guard 40, which forms the outer shape of the mobile body 1, to approximate a spherical shape. Because the guard 40, which forms the outer shape of the mobile body 1, can approximate a spherical structure, the mobile body 1 can actively rotate in accordance with the spherical shape and continue moving even if it comes into contact with an obstacle. More specifically, when the mobile body 1 collides with an obstacle, the guard 40 is the first component to come into contact with the obstacle. Therefore, the mobile 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 guard 40, which can approximate a spherical structure. At this time, because the guard 40 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the guard 40.

[0085] By improving the symmetry of the guard 40, the mobile body 1 can more easily rotate actively in accordance with the shape of the guard 40 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. As a result, even when the mobile body 1 is used for inspection purposes in a narrow space, for example, it can continue moving without any problems even if it comes close to and comes into contact with an inspection target part to capture an image of the inspection target part. For example, even if the mobile body 1 comes close to and comes into contact with an inspection target part during flight, the guard 40 allows the mobile body 1 to rotate actively, thereby reducing the possibility of it crashing.

[0086] The moving body 1 can reduce air resistance during movement by improving the symmetry of the guard 40. 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 can also reduce the weight of the guard 40 by using each frame with an arc shape. 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.

[0087] The guard 40 has a fourth frame 44 that is horizontal to the takeoff and landing surface when the mobile unit 1 is in a takeoff and landing attitude. This allows the mobile unit 1 to use the guard 40 as legs when the mobile unit 1 takes off and lands on the takeoff and landing surface. Therefore, the mobile unit 1 can take off and land on the takeoff and landing surface in a predetermined attitude based on the horizontal plane formed by the fourth frame 44 of the guard 40. Therefore, the mobile unit 1 can take off and land stably on the takeoff and landing surface, and as a result, can move stably.

[0088] The movable body 1 can suppress fluctuations in the attitude of the main body 10 relative to the guard 40 by fixing the guard 40 to the main body 10. If the guard 40 and the main body 10 are attached to each other via a gimbal structure to keep the main body 10 horizontal, the main body 10 will attempt to maintain its horizontal position in response to rotation of the guard 40, which will cause the attitude of the main body 10 to fluctuate significantly. The movable body 1 can sufficiently reduce such fluctuations in the attitude of the main body 10 by using an attachment structure different from such a gimbal structure.

[0089] 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.

[0090] 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.

[0091] In the above 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.

[0092] In the above embodiment, the rotor guard 30 has been described as having the frame 31 arranged in the same plane as the rotation plane of the rotor 21, which is perpendicular to the rotation axis, but this is not limited to this. The frame 31 does not have to be arranged in the same plane as the rotation plane of the rotor 21, which is perpendicular to the rotation axis.

[0093] In the above embodiment, the frame 31 has been described as having, for example, an annular shape that circumferentially surrounds the rotor blades 21 from the radially outer side, but is not limited to this. The frame 31 may have any other shape. For example, the frame 31 may have a polygonal shape.

[0094] In the above embodiment, the rotor guard 30 is disposed on the frame 31 and has the legs 33 having a surface that is horizontal to the takeoff and landing surface when the mobile body 1 is in the takeoff and landing attitude. However, the rotor guard 30 is not limited to this. The rotor guard 30 does not have to have the legs 33.

[0095] In the above embodiment, the leg portions 33 are described as being arranged at each of the connection points of the support portion 32 with the three linear frames in one frame 31, but this is not limited thereto. The leg portions 33 may be configured in any other manner with respect to at least one of the arrangement and the number of the legs 33 in one frame 31. For example, at least one leg portion 33 may be arranged in one frame 31 at a location other than the connection points of the support portion 32 with the three linear frames.

[0096] In the above embodiment, the main body 10 is described as being configured as a polyhedron, but is not limited to this. The main body 10 does not have to be configured as a polyhedron. Each of the multiple rotor modules 20 is described as being located at a vertex of a polyhedron, but is not limited to this. Each of the multiple rotor modules 20 may be located at a position on the polyhedron other than the vertex. In this case, the rotor 21 does not have to use a straight line connecting the reference point P0 and the vertex of the polyhedron as its rotation axis, but may use another straight line passing through the reference point P0 as its rotation axis.

[0097] In the above embodiment, the main body 10 has been described as having a plurality of frames that form a polyhedron, but this is not limiting. The main body 10 does not have to have a plurality of frames to form a polyhedron. For example, the main body 10 may be formed by a polyhedron formed by imaginary lines, rather than a polyhedron as a physical object formed by a plurality of frames.

[0098] In the above embodiment, the polyhedron is described as a regular hexahedron, but is not limited to this. The polyhedron may be any solid body surrounded by four or more planes. When the polyhedron is a regular hexahedron, the mobile body 1 is described as being configured symmetrically with respect to three axes including the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system, but is not limited to this. When the polyhedron has n-fold rotational symmetry, the mobile body 1 may be configured symmetrically with respect to multiple axes that intersect with each other at an angle of 360 / n°.

[0099] In the above embodiment, the center of gravity of the main body 10 and the geometric center of the 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 polyhedron may be different from each other. In the above embodiment, the reference point P0 is described as being the center of gravity of the main body 10 and also the geometric center of the polyhedron, but this is not limiting. The reference point P0 may be either the center of gravity of the main body 10 or the geometric center of the 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 polyhedron.

[0100] In the above embodiment, the moving body 1 is described as further including the guard 40 that is attached to the rotor guard 30 and that forms the outer shape of the moving body 1, but this is not limited to this. The moving body 1 does not necessarily have to include the guard 40.

[0101] In the above embodiment, the guard 40 has been described as having the first frame 41 perpendicular to the pitch axis A1 and the second frame 42 perpendicular to the roll axis A2, but this is not limited thereto. The guard 40 may have at least one of the first frame 41 perpendicular to the pitch axis A1, the second frame 42 perpendicular to the roll axis A2, and the third frame 43 perpendicular to the yaw axis A3. For example, the guard 40 may have all of the first frame 41, the second frame 42, and the third frame 43.

[0102] At least one third frame 43 of the guard 40 may be included in a plane that is perpendicular to the yaw axis A3 and includes the reference point P0, and is on the equator of a sphere approximately formed by the guard 40. Each of the at least one third frame 43 may have an arc shape between the pair of frames 31. This allows the mobile object 1 to continue moving by actively rotating about each of the pitch axis A1, roll axis A2, and yaw axis A3 as rotation axes in accordance with the shape of the guard 40 that constitutes its outer shape, even if it comes into contact with an obstacle.

[0103] In the above embodiment, the guard 40 has been described as having the fourth frame 44 that is horizontal to the takeoff and landing surface when the vehicle 1 is in the takeoff and landing attitude, but this is not limited to this. The guard 40 does not have to have the fourth frame 44. Instead of the fourth frame 44, the guard 40 may have the above-mentioned first frame 41 and second frame 42 that have an arc shape, as shown on the upper surface side in Figure 6. This allows the guard 40 to more closely resemble a spherical structure.

[0104] Fig. 8 is an external perspective view corresponding to Fig. 1 , showing a moving body 1 according to a modified example of the present disclosure. Fig. 9 is an external perspective view showing a part of the configuration of the moving body 1 of Fig. 8. Fig. 9 illustrates only the guard 40 of the moving body 1, and does not illustrate other components of the moving body 1 other than the guard 40. An example of the configuration and function of the guard 40 of the moving body 1 according to the modified example will be mainly described with reference to Figs. 8 and 9 .

[0105] Each of the first frame 41, the second frame 42, and the third frame 43 may have any other shape instead of the arc shape. For example, each of the first frame 41, the second frame 42, and the third frame 43 may have a circular shape.

[0106] 9, the first frame 41 may include one first frame 41a disposed in a first plane perpendicular to the pitch axis A1. The first frame 41a may be attached to four frames 31 and have a circular shape that includes the four frames 31 therein. The circumference formed by the first frame 41a may be located in the first plane perpendicular to the pitch axis A1.

[0107] The first frame 41 may include one first frame 41b disposed in a second plane perpendicular to the pitch axis A1 and spaced apart from the first plane along the pitch axis A1. The first frame 41b may be attached to the four frames 31 and have a circular shape that includes the four frames 31 therein. The circumference formed by the first frame 41b may be located in the second plane perpendicular to the pitch axis A1.

[0108] The second frame 42 may include one second frame 42a disposed in a third plane perpendicular to the roll axis A2. The second frame 42a may be attached to the four frames 31 and have a circular shape that includes the four frames 31 inside. The circumference formed by the second frame 42a may be located in the third plane perpendicular to the roll axis A2.

[0109] The second frame 42 may include one second frame 42b arranged in a fourth plane perpendicular to the roll axis A2 and spaced apart from the third plane along the roll axis A2. The second frame 42b may be attached to the four frames 31 and have a circular shape that includes the four frames 31 inside. The circumference formed by the second frame 42b may be located in the fourth plane perpendicular to the roll axis A2.

[0110] 9, the third frame 43 of the guard 40 may be included in a plane that is perpendicular to the yaw axis A3 and includes the reference point P0, and is on the equator of a sphere approximately formed by the guard 40. The third frame 43 may be attached to at least one of the main body 10, the rotor guard 30, and the first frame 41 and the second frame 42 by any attachment method. The third frame 43 may have a circular shape that goes around the equator.

[0111] Because the first frame 41, the second frame 42, and the third frame 43 each have a circular shape, the guard 40 constituting the outer shape of the mobile body 1 can be made to resemble a sphere. Because the guard 40 constituting the outer shape of the mobile body 1 can be made to resemble a sphere, the mobile body 1 can continue moving even if it comes into contact with an obstacle by actively rotating in accordance with the shape of the sphere. More specifically, when the mobile body 1 collides with an obstacle, the guard 40 is the component that first comes into contact with the obstacle. Therefore, the mobile 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 guard 40, which can be made to resemble a sphere. At this time, because the guard 40 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the guard 40.

[0112] Additionally, the movable body 1 can improve the rigidity of the frame itself compared to when each of the frames of the guard 40 has an arc shape. The movable body 1 can also reduce the number of parts that make up the guard 40 compared to when each of the frames of the guard 40 has an arc shape, making it easier to attach the guard 40 to the rotor guard 30, etc.

[0113] 9, like the guard 40 shown in FIG. 6, may further include a fourth frame 44 that is horizontal to the takeoff and landing surface when the vehicle 1 is in the takeoff and landing attitude. At least one fourth frame 44 may be disposed in a fifth plane perpendicular to the yaw axis A3. Each of the at least one fourth frame 44 may have a linear shape between the pair of frames 31. A shape formed by connecting at least one side formed by each of the at least one fourth frame 44 may be located in the fifth plane perpendicular to the yaw axis A3.

[0114] In the above embodiment, the guard 40 is described as being fixed to the main body 10, but this is not limiting. The guard 40 may be attached by any rotation structure, such as a gimbal structure, so as to be rotatable relative to the main body 10. This allows the mobile body 1 to maintain the main body 10 horizontally even if the guard 40 rotates. For example, even if the guard 40 comes into contact with an obstacle and actively rotates in accordance with the shape of the guard 40, the mobile body 1 can also maintain the main body 10 in a horizontal position without being linked to the rotation of the guard 40.

[0115] In the above embodiment, the first control unit 2a is described as being housed inside the housing unit 11, but this is not limiting. The first control unit 2a may be disposed outside the housing unit 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.

[0116] In the above embodiment, the movable body 1 is described as being movable by operating only the four rotor modules 20 located at the four vertices of one face of a regular hexahedron when that face is positioned on the upper surface, but this is not limited to this. For example, the movable body 1 may be movable by operating only the pair of rotor modules 20 located on the longest diagonal line of the regular hexahedron in FIG. 2 .

[0117] 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 polyhedron constituting the main body 10 positioned vertically upward and the rotor module 20 located at the other opposite vertex positioned vertically downward.

[0118] 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.

[0119] 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 a polyhedron while its attitude is changed so that one opposing vertex and the other opposing vertex are misaligned, thereby changing its attitude so that the same or different pairs of opposing vertices are positioned 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 a stable attitude required for movement and attitude maintenance, enabling stable movement without relying on external factors such as wind or collisions with obstacles.

[0120] In the above embodiment, the moving body 1 is described as a flying drone, but is not limited to this. The moving body 1 may include any vehicle, vehicle, submersible, etc. The moving body 1 may 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 can move on at least one of water and land.

[0121] In the above embodiment, the acquisition unit 4 has been 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 guard 40 is fixed to the main body 10 and the main body 10 rotates in conjunction with the rotation of the guard 40. Such a camera may be fixed to the main body 10 so as to maintain horizontality using a gimbal structure, for example, when the guard 40 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 guard 40.

[0122] Some embodiments of the present disclosure are exemplified below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Supplementary Note 1] A mobile body comprising: a main body; a plurality of rotor modules attached to the main body, each including a rotor and a drive unit that drives the rotor; and a rotor guard surrounding the rotor, wherein the rotors each have a rotation axis that is a line passing through a reference point located inside the main body, and are arranged so that all of the rotors face in different directions. [Supplementary Note 2] The mobile body according to Supplementary Note 1, wherein the rotor guard has a frame that is arranged in the same plane as the rotation plane of the rotor, which is perpendicular to the rotation axis. [Supplementary Note 3] The mobile body according to Supplementary Note 2, wherein the rotor guard has legs that are arranged on the frame and have a surface that is horizontal to the takeoff and landing surface when the mobile body is in a takeoff or landing attitude. [Supplementary Note 4] The mobile body according to any one of Supplements 1 to 3, wherein the main body is configured as a polyhedron, each of the plurality of rotor modules is located at a vertex of the polyhedron, the rotors are located outside the main body, and the straight line connecting the reference point and the vertex serves as the rotation axis. [Supplementary Note 5] The mobile body according to Supplementary Note 4, wherein the main body has a plurality of frames that constitute the polyhedron. [Supplementary Note 6] The mobile body according to Supplementary Note 4 or 5, wherein the polyhedron is a regular hexahedron. [Supplementary Note 7] The mobile body according to any one of Supplements 4 to 6, wherein the reference point is the geometric center of the polyhedron. [Supplementary Note 8] The mobile body according to any one of Supplements 1 to 7, wherein the reference point is the center of gravity of the main body. [Supplementary Note 9] The moving body according to any one of Supplements 1 to 8, further comprising a guard attached to the rotor guard and constituting an outer shape of the moving body. [Supplementary Note 10] The moving body according to Supplementary Note 9, wherein the guard has at least one of a first frame perpendicular to a pitch axis, a second frame perpendicular to a roll axis, and a third frame perpendicular to a yaw axis.[Supplementary Note 11] The moving body according to Supplementary Note 10, wherein each of the first frame, the second frame, and the third frame has an arc shape or a circular shape. [Supplementary Note 12] The moving body according to any one of Supplements 9 to 11, wherein the guard has a fourth frame that is horizontal to a takeoff and landing surface when the moving body is in a takeoff or landing attitude. [Supplementary Note 13] The moving body according to any one of Supplements 1 to 12, wherein the moving body is a flying drone.

[0123] 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 Storage unit 20 Rotor module 21 Rotor 22 Drive unit 30 Rotor guard 31 Frame 32 Support unit 33 Leg 33a First leg 33b Second leg 33c Third leg 40 Guard 41 First frame 41a First frame 41b First frame 42 Second frame 42a Second frame 42b Second frame 43 Third frame 44 Fourth frame A1 Pitch axis A2 Roll axis A3 Yaw axis F11 Frame F12 Frame F13 Frame F14 Frame F21 Frame F22 Frame F23 Frame F24 Frame F31 Frame F32 Frame F33 Frame F34 Frame F41 Frame F42 Frame F43 Frame F44 Frame F51 Frame F52 Frame F53 Frame F54 Frame F61 Frame F62 Frame F63 Frame F64 Frame F65 Frame F66 Frame P0 Reference point P1 1st vertex P2 2nd vertex P3 3rd vertex P4 4th vertex P5 5th vertex P6 6th vertex P7 7th vertex P8 8th vertex

Claims

1. A mobile body comprising: a main body; a plurality of rotor modules attached to the main body, each including a rotor and a drive unit that drives the rotor; and a rotor guard that surrounds the rotor, wherein the rotors are arranged so that each has its rotation axis aligned with a straight line that passes through a reference point located inside the main body, and all of the rotors face in different directions.

2. A moving body according to claim 1, wherein the rotor guard has a frame that is arranged in the same plane as the rotation plane of the rotor, which is perpendicular to the rotation axis.

3. A mobile body according to claim 2, wherein the rotor guard is disposed on the frame and has legs with surfaces that are horizontal to the takeoff and landing surface when the mobile body is in a takeoff and landing attitude.

4. A moving body according to any one of claims 1 to 3, wherein the main body is configured as a polyhedron, each of the plurality of rotor modules is located at a vertex of the polyhedron, the rotor is located outside the main body, and the straight line connecting the reference point and the vertex serves as the rotation axis.

5. A moving body according to claim 4, wherein the main body has a plurality of frames that constitute the polyhedron.

6. A moving body according to claim 4, wherein the polyhedron is a regular hexahedron.

7. A moving body according to claim 4, wherein the reference point is the geometric center of the polyhedron.

8. A moving body according to any one of claims 1 to 3, wherein the reference point is the center of gravity of the main body.

9. A moving body according to any one of claims 1 to 3, further comprising a guard attached to said rotor guard and constituting the outer shape of said moving body.

10. A moving body according to claim 9, wherein the guard has at least one of a first frame perpendicular to the pitch axis, a second frame perpendicular to the roll axis, and a third frame perpendicular to the yaw axis.

11. A moving body according to claim 10, wherein each of the first frame, the second frame, and the third frame has an arc shape or a circular shape.

12. A mobile body according to claim 9, wherein the guard has a fourth frame that is horizontal to the landing surface when the mobile body is in a takeoff or landing attitude.

13. A mobile object according to any one of claims 1 to 3, wherein the mobile object is a flying drone.

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