Guard and mobile body

Abstract

A guard 30 according to the present disclosure is used for a mobile body 1, and comprises a first frame group including a plurality of first frames 31 having a first elastic property, and a second frame group including a plurality of second frames 32 having a second elastic property different from the first elastic property, wherein the first frames 31 and the second frames 32 are alternately connected to form a polyhedron shape.

Description

Guards and Mobile Units

[0001] This application claims priority from Japanese Patent Application No. 2024-122579, 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 for mobile objects expand, for example when they 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. Being able to move stably without relying on external factors such as contact with obstacles or wind will be an important issue for future autonomous driving.

[0005] Therefore, a guard is needed to protect the moving object from the surroundings. In the prior art described in Patent Document 1, a rotating spherical frame is installed as a guard around the unmanned aerial vehicle. However, in the prior art described in Patent Document 1, the impact absorption properties of the guard were not sufficiently considered.

[0006] The present disclosure aims to provide a guard and a moving body that improves the shock absorption properties of the guard.

[0007] A guard for solving the above problem is a guard for use on a moving body, comprising: a first frame group including a plurality of first frames having a first elastic characteristic; and a second frame group including a plurality of second frames having a second elastic characteristic different from the first elastic characteristic, wherein the first frames and the second frames are alternately connected to form a polyhedron shape.

[0008] A moving body for solving the above problem includes the above guard; and a main body portion connected to at least one of the first frame and the second frame and disposed inside the guard.

[0009] According to the present disclosure, it is possible to provide a guard and a moving body in which the shock absorption properties of the guard are improved.

[0010] 1 is an external perspective view showing a moving body according to an embodiment of the present disclosure. FIG. 1 is an external perspective view showing a portion of the configuration of the moving body of FIG. 1. FIG. 2 is an external perspective view showing another portion of the configuration of the moving body of FIG. 1. FIG. 3 is a front view of the guard of FIG. 3. FIG. 4 is a side view of the guard of FIG. 3. FIG. 5 is an external perspective view showing only the second frame group constituting a portion of the guard of FIG. 3. FIG. 6 is an external perspective view showing one second frame alone of FIG. 6. FIG. 7 is an external perspective view showing another second frame alone of FIG. 6. FIG. 8 is an external perspective view showing only the first frame group constituting a portion of the guard of FIG. 3. FIG. 9 is an external perspective view showing the first frame alone of FIG. 8. FIG. 10 is an external perspective view showing only the third frame group constituting a portion of the guard of FIG. 3. FIG. 11 is an external perspective view showing the third frame alone of FIG. 10. FIG. 12 is an external perspective view showing only a plurality of frames constituting a portion of the guard of FIG. 3. FIG. 13 is an external perspective view showing only a plurality of frames constituting another portion of the guard of FIG. 3. FIG. 14 is a block diagram showing an example of the configuration of the moving body of FIG. 1.

[0011] An embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0012] 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 30 of the moving body 1 is not shown, and only the main body 10 and the rotor module 20 are shown as examples. 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 .

[0013] 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.

[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 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.

[0016] 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.

[0017] The moving body 1 has, as its main components, a main body 10, a rotor module 20, and a guard 30. The moving body 1 can move by the operation of the rotor module 20.

[0018] The main body 10 is configured as, for example, a regular hexahedron. However, the main body 10 is not limited to this, and 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 a polyhedron-shaped guard 30 that forms the outer shape of the mobile body 1. The main body 10 is configured as a regular hexahedron-shaped storage box. The storage box houses multiple functional modules, described below, that are required for the mobile body 1 to perform various operations.

[0019] 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 shifted from the center. "Outside" is the opposite of inside.

[0020] The rotor module 20 includes a rotor 21 and a drive unit 22 that drives the rotor 21. The rotor module 20 further includes a rotor guard 23 that is arranged along the circumference described by the tip of the rotor 21 when the rotor 21 rotates. The rotor guard 23 is, for example, an annular frame that is arranged on the rotation plane of the rotor 21 and surrounds the rotor 21 from the radial outside along the circumference. The rotor module 20 further includes a support unit 24 that is connected to three points on the circumference of the rotor guard 23 and supports the drive unit 22 from inside the mobile body 1. The rotor module 20 has struts 25 that extend linearly outward from each vertex of the main body 10. The tips of the struts 25 that are located opposite the vertices of the main body 10 are connected to the support unit 24.

[0021] 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, positioned at each vertex of the main body 10, which has a regular hexahedron shape. The rotor modules 20 are arranged so that the rotor 21 and drive unit 22 rotate around the corresponding rotation axis at each of the eight vertices of the main body 10. The rotor 21 and drive unit 22 of the rotor module 20 can rotate both clockwise and counterclockwise around the corresponding rotation axis. The rotor 21 and drive unit 22 included in the rotor module 20 are positioned inside the guard 30. The rotor 21 and drive unit 22 rotate inside the guard 30, which has a polyhedron shape.

[0022] The eight rotor modules 20 are arranged symmetrically to one another on 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.

[0023] The rotor 21 has a rotation axis that is a first line connecting the rotor 21 and a reference point P0 located inside the main body 10. The drive unit 22 has a rotation axis that is a second line connecting the reference point P0 and the drive unit 22. The first line and the second line may be the same. Each of the eight diagonal struts 25 attached to the main body 10 is disposed, for example, on the rotation axis of the corresponding rotor 21 and drive unit 22. The rotors 21 disposed at each vertex of the main body 10 rotate in a plane perpendicular to the rotation axis. This plane faces the reference point P0. For example, the rotor 21 rotates in a plane perpendicular to the rotation axis, i.e., perpendicular to the struts 25.

[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 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.

[0025] For example, the moving body 1 is configured symmetrically with respect to three axial directions. In this case, when the density of the main body 10 configured as a storage box 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 may be the geometric center of a regular hexahedron that forms the main body 10.

[0026] In the mobile body 1, the geometric center of the main body 10 and the geometric center of the guard 30 having a polyhedral shape may coincide with each other at the reference point P0. The center of gravity and the geometric center of the main body 10 may coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire eight rotor modules 20 may coincide with each other at the reference point P0. The center of gravity and the geometric center of the guard 30 may coincide with each other at the reference point P0. As described above, the center of gravity and the geometric center of the entire mobile body 1 formed by the main body 10, the eight rotor modules 20, and the guard 30 may coincide with each other at the reference point P0.

[0027] The movable 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 guard 30. The movable 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 guard 30. Even if the movable body 1 is rotated 90° from the state in FIG. 1 toward any one of the four side surfaces of the main body 10, it returns to the same state as in FIG. 1.

[0028] 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 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.

[0029] Fig. 3 is an external perspective view showing another part of the configuration of the moving body 1 of Fig. 1. In Fig. 3, the main body 10 and the rotor module 20 of the moving body 1 are not shown, and only the guard 30 is shown as an example. Fig. 4 is a front view of the guard 30 of Fig. 3. Fig. 5 is a side view of the guard 30 of Fig. 3. An example of the configuration and function of the guard 30 according to an embodiment of the present disclosure will be described in detail below, mainly with reference to Fig. 3 and subsequent drawings.

[0030] The guard 30 is used in the moving body 1. The guard 30 has a first frame group including a plurality of first frames 31 having a first geometric shape, and a second frame group including a plurality of second frames 32 having a second geometric shape different from the first geometric shape. In this disclosure, the "first geometric shape" is, for example, a regular hexagon. The "second geometric shape" is, for example, a regular octagon. The guard 30 has a polyhedral shape formed by alternatingly connecting the first frames 31 and the second frames 32.

[0031] The first frame group includes a plurality of first frames 31 each having a first elastic characteristic. The second frame group includes a plurality of second frames 32 each having a second elastic characteristic different from the first elastic characteristic. For example, the bending elastic modulus of the first frame 31 is smaller than the bending elastic modulus of the second frame 32.

[0032] The first frame 31 constituting the first frame group has a smaller bending elastic modulus as a first elastic characteristic than the second frame 32 so as to be easily elastically deformed from the viewpoints of improving ease of assembly and impact absorption. In order to obtain such a bending elastic modulus, a material described below may be used as the first material of the first frame 31.

[0033] The second frame 32 constituting the second frame group has a larger bending elastic modulus as a second elastic characteristic than the first frame 31 so as to be less susceptible to elastic deformation from the viewpoints of increasing the strength so as to maintain the shape of the guard 30 and reducing excessive deformation of the guard 30 to prevent the guard 30 from contacting the rotor module 20. In order to obtain such a bending elastic modulus, a material described below may be used as the second material of the second frame 32.

[0034] The guard 30 further includes a third frame group including a plurality of third frames 33 each having a third geometric shape. In this disclosure, the "third geometric shape" is, for example, the same as the second geometric shape, a regular octagon. The guard 30 achieves an overall polyhedral shape that is closer to a sphere by attaching the third frames 33 to the second frames 32.

[0035] The third frames 33 included in the third frame group have a third elastic characteristic. For example, the bending modulus of the third frames 33 is smaller than the bending modulus of the second frames 32, similar to the bending modulus of the first frames 31. The bending modulus of the third frames 33 may be the same as or different from the bending modulus of the first frames 31.

[0036] The third frame 33 constituting the third frame group has, as a third elastic characteristic, a smaller bending elastic modulus than the second frame 32, similar to the first frame 31, so as to be easily elastically deformed from the viewpoints of improving assembly ease and shock absorption. In order to obtain such a bending elastic modulus, a material described below may be used as the third material of the third frame 33. The first material and the third material may be the same or different from each other.

[0037] For each of the first frame 31, the second frame 32, and the third frame 33, from the viewpoint of, for example, enhancing impact absorption while reducing excessive deformation and preventing the guard 30 from contacting the rotor module 20, the flexural modulus of the material 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 defined in ISO 178.

[0038] When the moving object 1 is a flying drone, the first material may be, for example, a resin material that can maintain lightness by forming the first frame 31 thin. Similarly, the second material may be, for example, a resin material that can maintain lightness by forming the second frame 32 thin. The third material may be, for example, a resin material that can maintain lightness by forming the third frame 33 thin.

[0039] Examples of materials that may be used as the first material, second material, and third material include 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 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. 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.

[0040] The guard 30 is attached to the main body 10 based on any attachment structure. The main body 10 is connected to at least one of the first frame 31 and the second frame 32 of the guard 30 and is disposed inside the guard 30. For example, the guard 30 and the main body 10 may be connected to each other by at least one arm. One end of the at least one arm may be connected to, for example, any one of the outer surfaces of the main body 10. The other end of the at least one arm may be connected to, for example, the first frame 31 constituting the guard 30 or the second frame 32 constituting the guard 30.

[0041] The main body 10 and the guard 30 may be connected to each other via an arm while being fixed to each other. In this case, the arm may be connected to the guard 30 and the main body 10 so as to be detachable from at least one of the guard 30 and the main body 10. The arm may be configured to be detachable from at least one of the guard 30 and the main body 10 in any manner, such as by screwing, fitting, engaging, or locking.

[0042] On the other hand, the arm may be connected to the guard 30 and the main body 10 so as to be non-detachable from at least one of the guard 30 and the main body 10. The arm may be configured to be non-detachable from at least one of the guard 30 and the main body 10 by any method, such as integral molding, joining, or adhesion.

[0043] When attached to the main body 10, the guard 30 configures 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 guard 30 may be fixed to the main body 10. For example, when the guard 30 rotates in conjunction with the rotation of the moving body 1, the main body 10 rotates in accordance with the rotation of the guard 30. Conversely, if the guard 30 maintains a constant attitude, the main body 10 is maintained in an attitude that corresponds to the attitude of the guard 30. The attitude of the main body 10 may correspond one-to-one to the attitude of the guard 30.

[0044] Figure 6 is an external perspective view showing only the second frame group that constitutes a part of the guard 30 of Figure 3. As shown in Figure 6, the second frame 32 having a second geometric shape of a regular octagon further includes second frames 32a and second frames 32b. The second frame group is made up of four second frames 32a and two second frames 32b. In the following description, when there is no need to distinguish between the second frames 32a and the second frames 32b, they will be collectively referred to as the "second frames 32."

[0045] Of the six second frames 32, one second frame 32 and the other second frames 32 are arranged to face each other. For example, one second frame 32a and the other second frames 32a are arranged to face each other. One second frame 32b and the other second frames 32b are arranged to face each other.

[0046] Of the multiple sets of second frames 32, each set consisting of two opposing second frames 32, the second frames 32 of one set are orthogonal to the second frames 32 of the other sets. The three sets of second frames 32 are arranged so as to be orthogonal to the X-axis, Y-axis, and Z-axis, respectively, in an XYZ Cartesian coordinate system having the origin at a reference point P0 located inside the main body 10, for example.

[0047] 1 and 6 , when the guard 30 is attached to the main body 10, the six second frames 32 included in the second frame group face the six outer surfaces of the regular hexahedron of the main body 10 from the outside. For example, a set of second frames 32b perpendicular to the X axis face a set of outer surfaces of the regular hexahedron-shaped main body 10 perpendicular to the X axis in the X-axis direction. For example, a set of second frames 32a perpendicular to the Y axis face a set of outer surfaces of the regular hexahedron-shaped main body 10 perpendicular to the Y axis in the Y-axis direction. For example, a set of second frames 32a perpendicular to the Z axis face a set of outer surfaces of the regular hexahedron-shaped main body 10 perpendicular to the Z axis in the Z-axis direction.

[0048] Fig. 7A is an external perspective view showing one second frame 32a alone in Fig. 6. The configuration of the second frame 32a alone will be mainly described with reference to Fig. 7A.

[0049] The second frame 32a has a second side wall 32a1 that forms the outer periphery of the second frame 32a and has a regular octagonal shape. The second side wall 32a1 is thin with a predetermined thickness, but is configured to extend in the height direction with a width that is sufficiently greater than the thickness.

[0050] The second frame 32a has a protruding portion 32a2 that bends at a right angle from the second side wall 32a1 of the second frame 32a and protrudes inward of the second frame 32a. The protruding portions 32a2 are disposed on four of the eight sides of the second side wall 32a1, which has a regular octagonal shape, each side being spaced apart from the other four sides. The protruding portions 32a2 are disposed over the entirety of one side of the second side wall 32a1. The cross-sectional shape of the portion of the second side wall 32a1 where the protruding portions 32a2 are disposed is L-shaped.

[0051] The second frame 32a has second connection portions 32a3 that bend at a right angle from the second side wall 32a1 of the second frame 32a and extend inward of the second frame 32a. The second connection portions 32a3 are disposed on four of the eight sides of the regular octagonal second side wall 32a1, each side being spaced apart from the other sides. The second connection portions 32a3 are disposed over the entirety of one side of the second side wall 32a1. The cross-sectional shape of the portion of the second side wall 32a1 where the second connection portions 32a3 are disposed is L-shaped.

[0052] The protruding portions 32a2 and the second connecting portions 32a3 are alternately arranged on the eight sides of the second side wall 32a1. The extension amount of the second connecting portions 32a3 from the second side wall 32a1 toward the inside of the second frame 32a is greater than the extension amount of the protruding portions 32a2 from the second side wall 32a1 toward the inside of the second frame 32a. The second connecting portions 32a3 extend further toward the inside of the second frame 32a than the protruding portions 32a2.

[0053] The second frame 32a has first engagement holes 32a4 formed through the second side wall 32a1. A pair of the first engagement holes 32a4 is disposed on each of the four sides of the regular octagonal second side wall 32a1 on which the protruding portions 32a2 are disposed. The pair of first engagement holes 32a4 is spaced apart by a predetermined distance on the side on which the protruding portions 32a2 are disposed.

[0054] The second frame 32a has second engagement holes 32a5 penetrating through the second connection portion 32a3. Of the eight sides of the second side wall 32a1 having a regular octagonal shape, a pair of second engagement holes 32a5 is disposed in the second connection portion 32a3, one for each of the four sides on which the second connection portion 32a3 is disposed. The pair of second engagement holes 32a5 is spaced apart from each other at a predetermined interval in the second connection portion 32a3.

[0055] Fig. 7B is an external perspective view showing another second frame 32b alone of Fig. 6. The configuration of the second frame 32b alone will be mainly described with reference to Fig. 7B.

[0056] The second frame 32b has a second side wall 32b1 that forms the outer periphery of the second frame 32b and has a regular octagonal shape. The second side wall 32b1 is thin with a predetermined thickness, but is configured to extend in the height direction with a width that is sufficiently greater than the thickness.

[0057] The second frame 32b has a protruding portion 32b2 that bends at a right angle from the second side wall 32b1 of the second frame 32b and protrudes inward of the second frame 32b. The protruding portions 32b2 are disposed on four of the eight sides of the regular octagonal second side wall 32b1, each side being spaced apart from the other sides. The protruding portions 32b2 are disposed over the entirety of one side of the second side wall 32b1. The cross-sectional shape of the portion of the second side wall 32b1 where the protruding portions 32b2 are disposed is L-shaped.

[0058] The second frame 32b has second connection portions 32b3 that bend at a right angle from the second side wall 32b1 of the second frame 32b and extend inward of the second frame 32b. The second connection portions 32b3 are located on four of the eight sides of the regular octagonal second side wall 32b1, each side being spaced apart from the other sides. The second connection portions 32b3 are located over the entirety of one side of the second side wall 32b1. The cross-sectional shape of the portion of the second side wall 32b1 where the second connection portions 32b3 are located is L-shaped.

[0059] The protruding portions 32b2 and the second connecting portions 32b3 are alternately arranged on the eight sides of the second side wall 32b1. The extension amount of the second connecting portions 32b3 from the second side wall 32b1 toward the inside of the second frame 32b is greater than the extension amount of the protruding portions 32b2 from the second side wall 32b1 toward the inside of the second frame 32b. The second connecting portions 32b3 extend further toward the inside of the second frame 32b than the protruding portions 32b2.

[0060] The second frame 32b has first engagement holes 32b4 that penetrate the second side wall 32b1. A pair of the first engagement holes 32b4 is disposed on each of the four sides of the regular octagonal second side wall 32b1 on which the protruding portions 32b2 are disposed. The pair of first engagement holes 32b4 is spaced apart by a predetermined distance on the side on which the protruding portions 32b2 are disposed.

[0061] The second frame 32b has second engagement holes 32b5 penetrating the second connection portion 32b3. A pair of second engagement holes 32b5 is disposed in the second connection portion 32b3, one for each of the four sides on which the second connection portion 32b3 is disposed, out of the eight sides of the second side wall 32b1 having a regular octagonal shape. The pair of second engagement holes 32b5 are spaced apart from each other at a predetermined interval in the second connection portion 32b3.

[0062] The second frame 32b has trapezoidal protrusions 32b6 that protrude from the second side wall 32b1 toward the inside of the second frame 32b. The protrusions 32b6 are located on each of a pair of opposing sides of the four sides of the second side wall 32b1 where the overhanging portions 32b2 are located. One of the pair of protrusions 32b6 protrudes toward the inside of the second frame 32b toward the other protrusion 32b6 and faces the other protrusion 32b6.

[0063] Fig. 8 is an external perspective view showing only the first frame group that constitutes part of the guard 30 in Fig. 3. As shown in Fig. 8, eight first frames 31 having a first geometric shape of a regular hexagon are arranged. The second frame group is made up of the eight first frames 31.

[0064] Of the eight first frames 31, one first frame 31 and the other first frames 31 are arranged to face each other. Of the multiple sets of first frames 31, each set consisting of two opposing first frames 31, the first frames 31 of one set intersect with the first frames 31 of the other sets. The four sets of first frames 31 are arranged so as to be orthogonal to four axes that obliquely intersect the X-axis, Y-axis, and Z-axis in an XYZ Cartesian coordinate system having the origin at a reference point P0 located inside the main body 10, for example.

[0065] When aligned along the X-axis direction, half of the eight first frames 31 (four first frames 31) are located on the positive side of the X-axis, and the remaining four first frames 31 are located on the negative side of the X-axis. When aligned along the Y-axis direction, half of the eight first frames 31 (four first frames 31) are located on the positive side of the Y-axis, and the remaining four first frames 31 are located on the negative side of the Y-axis. When aligned along the Z-axis direction, half of the eight first frames 31 (four first frames 31) are located on the positive side of the Z-axis, and the remaining four first frames 31 are located on the negative side of the Z-axis.

[0066] 1 and 8 , when the guard 30 is attached to the main body 10, the eight first frames 31 included in the first frame group face, from the outside, the eight rotor modules 20 that extend outward from the eight vertices of the regular hexahedral main body 10. For example, each of the eight first frames 31 faces the rotor module 20 along the rotation axis of the rotor 21 described above. Each of the eight first frames 31 faces, from the outside, the rotor 21 and the rotor guard 23 while being close to them along the rotation axis.

[0067] Fig. 9A is an external perspective view showing the first frame 31 alone in Fig. 8. Fig. 9B is a side view showing the first frame 31 alone in Fig. 8. The configuration of the first frame 31 alone will be mainly described with reference to Figs. 9A and 9B.

[0068] The first frame 31 has a first side wall 31a having a regular hexagonal shape that forms the outer periphery of the first frame 31. The first side wall 31a is thin and has a predetermined thickness, but is configured to extend in the height direction with a width that is sufficiently larger than the thickness.

[0069] The first frame 31 has a third side wall 31b that bends at a right angle from the first side wall 31a of the first frame 31 and extends inward of the first frame 31. The third side wall 31b is disposed on each of the six sides of the first side wall 31a, which has a regular hexagonal shape. The third side wall 31b is disposed over the entirety of one side of the first side wall 31a. Because the third side wall 31b is disposed continuously with respect to the first side wall 31a, the first frame 31 has an L-shaped cross section when any portion of the first frame 31 is cut.

[0070] The first frame 31 has first connection portions 31c that extend outward from the first frame 31 at an obtuse angle θ1 from the first side wall 31a of the first frame 31. The first connection portions 31c are disposed on three of the six sides of the first side wall 31a, which has a regular hexagonal shape, that are spaced apart by one side. The first connection portions 31c are disposed over the entirety of one side of the first side wall 31a. The first connection portions 31c also extend outward from the first frame 31 at an obtuse angle θ2 relative to the third side wall 31b, which is perpendicular to the first side wall 31a.

[0071] The first frame 31 has engaging protrusions 31d protruding from the first connecting portion 31c. Of the six sides of the first side wall 31a having a regular hexagonal shape, a pair of engaging protrusions 31d is arranged on the first connecting portion 31c, one for each of the three sides on which the first connecting portion 31c is arranged. The pair of engaging protrusions 31d is spaced apart from each other at a predetermined interval on the first connecting portion 31c.

[0072] Fig. 10 is an external perspective view showing only the third frame group that constitutes a part of the guard 30 in Fig. 3. As shown in Fig. 10, six third frames 33 having a third geometric shape of a regular octagon are arranged. The third frame group is made up of the six third frames 33.

[0073] Of the six third frames 33, one third frame 33 and the other third frames 33 are arranged to face each other. Of the multiple sets of third frames 33, each set consisting of two opposing third frames 33, the third frames 33 of one set are orthogonal to the third frames 33 of the other sets. The three sets of third frames 33 are arranged to be orthogonal to the X-axis, Y-axis, and Z-axis, respectively, in an XYZ Cartesian coordinate system with the origin at a reference point P0 located inside the main body 10, for example.

[0074] 1 and 10 , when the guard 30 is attached to the main body 10, the six third frames 33 included in the third frame group face, from the outside, six outer surfaces that constitute the regular hexahedron shape of the main body 10. For example, a set of third frames 33 perpendicular to the X axis face, in the X-axis direction, a set of outer surfaces of the regular hexahedron-shaped main body 10 that face, in the X-axis direction, a set of outer surfaces of the regular hexahedron-shaped main body 10 that face, in the Y-axis direction, a set of outer surfaces of the regular hexahedron-shaped main body 10 that face, in the Y-axis direction. For example, a set of third frames 33 perpendicular to the Z axis face, in the Z-axis direction, a set of outer surfaces of the regular hexahedron-shaped main body 10 that face, in the Z-axis direction.

[0075] Fig. 11 is an external perspective view showing the third frame 33 alone in Fig. 10. The configuration of the third frame 33 alone will be mainly described with reference to Fig. 11.

[0076] The third frame 33 has a fourth side wall 33a that forms the outer periphery of the third frame 33 and has a regular octagonal shape. The fourth side wall 33a is thin and has a predetermined thickness, but is configured to extend in the height direction with a width that is sufficiently greater than the thickness.

[0077] The third frame 33 is disposed inside the fourth side wall 33 a and has an inner wall 33 b that is similar to the fourth side wall 33 a. The inner wall 33 b is thin and has a predetermined thickness, but is configured to extend in the height direction with a width that is sufficiently larger than the thickness.

[0078] The third frame 33 has connecting portions 33c that connect the eight vertices of the regular octagonal fourth side wall 33a to the eight vertices of the regular octagonal inner wall 33b in a one-to-one relationship. The connecting portions 33c extend linearly between the fourth side wall 33a and the inner wall 33b. The connecting portions 33c are inclined obliquely from the fourth side wall 33a toward the inner wall 33b, toward the outside of the movable body 1. Therefore, the inner wall 33b is located more outer than the fourth side wall 33a on the guard 30.

[0079] The third frame 33 has engagement protrusions 33d that protrude from the outer surface of the fourth side wall 33a toward the outside of the third frame 33. A pair of engagement protrusions 33d is arranged on each of four of the eight sides of the regular octagonal fourth side wall 33a, each side being spaced apart from the other sides. The pair of engagement protrusions 33d are spaced apart from each other at a predetermined interval on one side of the fourth side wall 33a.

[0080] Fig. 12 is an external perspective view showing only a plurality of frames that form part of the guard 30 in Fig. 3. Fig. 12 shows four first frames 31 connected to one second frame 32. An example of a connection structure between the first frame 31 and the second frame 32 will be described in detail with reference to Fig. 12.

[0081] The first connection portion 31c of the first frame 31 is connected to the second frame 32. Similarly, the second connection portion of the second frame 32 is connected to the first frame 31. The second connection portion of the second frame 32 is connected to the first connection portion 31c of the first frame 31. For example, as shown in FIG. 12 , the second connection portion 32a3 of the second frame 32a is connected to the first connection portion 31c of the first frame 31. Similarly, the second connection portion 32b3 of the second frame 32b is connected to the first connection portion 31c of the first frame 31.

[0082] The first connection portion 31c of the first frame 31 and the second connection portion of the second frame 32 are engaged and connected to each other through surface contact. When the first frame 31 and the second frame 32 are connected to each other via the first connection portion 31c and the second connection portion, substantially the entire surface of the second connection portion facing the inside of the movable body 1 comes into contact with substantially the entire surface of the first connection portion 31c that forms an obtuse angle θ1 with the first side wall 31a.

[0083] The first connection portion 31c of the first frame 31 and the second connection portion of the second frame 32 are connected to each other by a pair of engaging protrusions 31d protruding from the first connection portion 31c engaging with a pair of second engaging holes formed through the second connection portion. For example, the pair of engaging protrusions 31d protruding from the first connection portion 31c engage with a pair of second engaging holes 32a5 formed through the second connection portion 32a3. For example, the pair of engaging protrusions 31d protruding from the first connection portion 31c engage with a pair of second engaging holes 32b5 formed through the second connection portion 32b3.

[0084] As described above, the bending modulus of the first frame 31 is smaller than the bending modulus of the second frame 32. Therefore, the first connection portion 31c of the first frame 31 elastically deforms in the direction of the angle formed with the first side wall 31a. The first connection portion 31c elastically deforms so that the obtuse angle θ1 increases or decreases from a reference value when the first connection portion 31c is not elastically deformed. Even when the first connection portion 31c of the first frame 31 is connected to the second connection portion of the second frame 32 as shown in FIG. 12 , the first connection portion 31c of the first frame 31 can elastically deform in response to external forces, such as when the guard 30 comes into contact with an obstacle. In addition, the first connection portion 31c of the first frame 31 can elastically deform in response to stresses generated during attachment of the first frame 31 and the second frame 32 to achieve the connection state shown in FIG. 12 .

[0085] Fig. 13 is an external perspective view showing only a plurality of frames constituting another part of the guard 30 in Fig. 3. Fig. 13 shows a state in which one third frame 33 is connected to one second frame 32. An example of a connection structure between the second frame 32 and the third frame 33 will be described in detail with reference to Fig. 13.

[0086] The second frame 32 and the third frame 33 are connected to each other by engaging a pair of first engagement holes formed through the second side walls with a pair of engagement protrusions 33d protruding from the outer surface of the fourth side wall 33a. For example, the pair of first engagement holes 32a4 formed through the second side wall 32a1 engage with a pair of engagement protrusions 33d protruding from the outer surface of the fourth side wall 33a. For example, the pair of first engagement holes 32b4 formed through the second side wall 32b1 engage with a pair of engagement protrusions 33d protruding from the outer surface of the fourth side wall 33a.

[0087] The third frame 33 is connected to the second side wall from the inside of the second side wall of the second frame 32 and is disposed along the inside of the second side wall. The second connection portion of the second frame 32 has a receiving surface that receives and supports the third frame 33. For example, as shown in FIG. 13 , the second connection portion 32a3 of the second frame 32a has a receiving surface 32a6 that receives and supports the third frame 33. Similarly, the second connection portion 32b3 of the second frame 32b has a receiving surface 32b7 that receives and supports the third frame 33.

[0088] The third frame 33 is connected to the second frame 32 and has a shape that protrudes from the second frame 32 to the outside of the guard 30. For example, the inner wall 33b of the third frame 33 is located more outward on the guard 30 than the fourth side wall 33a of the third frame 33 and the second side wall of the second frame 32.

[0089] As described above, the bending modulus of the third frame 33 is smaller than the bending modulus of the second frame 32. Therefore, the third frame 33 is elastically deformed. For example, the third frame 33 is elastically deformed such that the connecting portion 33c bends and the position of the inner wall 33b relative to the fourth side wall 33a changes. Even when the third frame 33 is connected to the second frame 32 as shown in FIG. 13 , the third frame 33 can be elastically deformed in response to external forces such as when the guard 30 comes into contact with an obstacle. In addition, the third frame 33 can be elastically deformed in response to stresses generated during attachment when the second frame 32 and the third frame 33 are attached to each other to achieve the connection state shown in FIG. 13 .

[0090] Figure 14 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 the main body unit 10, which serves as a housing box.

[0091] 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 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 one another.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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 airflow. The sensor includes, for example, a wind speed sensor and a wind direction sensor. The acquisition unit 4 may acquire information on airflow based on the sensor.

[0098] 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.

[0099] The guard 30 and the moving object 1 according to the embodiment described above improve the impact absorption of the guard 30. The guard 30 has a polyhedron shape formed by alternately connecting first frames 31 having a first elastic characteristic and second frames 32 having a second elastic characteristic different from the first elastic characteristic. As a result, the guard 30 can be easily assembled by simply alternately connecting multiple parts made up of parts with different elastic characteristics, such as the first frames 31 having the first elastic characteristic and the second frames 32 having the second elastic characteristic.

[0100] In addition, the guard 30 can alternately arrange frames that are easily elastically deformed and frames that are not easily elastically deformed but have high strength by interposing one pair of first frames 31 and second frames 32, which have different elastic properties, between the other pair. This allows the guard 30 to absorb impact due to contact with an obstacle or the like by elastically deforming the frames that are easily elastically deformed in response to external forces, etc. On the other hand, the guard 30 can also improve its robustness against impact by using frames that are not easily elastically deformed but have high strength. The guard 30 can improve its resistance to impact by alternately arranging the first frames 31 and second frames 32, which have different elastic properties.

[0101] The bending elastic modulus of the first frame 31 is smaller than the bending elastic modulus of the second frame 32. This allows the guard 30 to have a polyhedral shape in which the first frames 31, which are prone to elastic deformation, and the second frames 32, which are resistant to elastic deformation and have high strength, are alternately arranged. Therefore, the guard 30 can absorb impact due to contact with an obstacle or the like by elastically deforming the first frames 31, which are prone to elastic deformation, in response to external forces received from contact with the obstacle or the like. On the other hand, the second frames 32, which are resistant to elastic deformation and have high strength, can also improve the robustness of the guard 30 against impact.

[0102] The first frame 31 has a first connection portion 31c connected to the second frame 32, the first connection portion 31c being inclined at an obtuse angle θ1 from the first side wall 31a of the first frame 31 and extending outward from the first frame 31. This allows the guard 30 to transmit an impact received by one of the first frame 31 and the second frame 32, which are connected to each other via the first connection portion 31c, to the other, thereby dispersing the impact.

[0103] The guard 30 can support the first frame 31, which has been elastically deformed by an impact received by the first frame 31, with the second frame 32 having high strength. The guard 30 can absorb the impact by, for example, transmitting the impact received by the second frame 32 to the first frame 31 and causing the first frame 31 to elastically deform.

[0104] The second frame 32 has a second connection portion that is connected to the first frame 31. The first connection portion 31c and the second connection portion are engaged and connected to each other through surface contact. This allows the guard 30 to more efficiently transmit an impact received by one of the first frame 31 and the second frame 32, which are connected to each other via the first connection portion 31c and the second connection portion, to the other. As a result, the guard 30 can more effectively disperse the impact.

[0105] The second connection portion is bent at a right angle from the second side wall of the second frame 32 and extends inward of the second frame 32. This allows the guard 30 to facilitate contact of the first connection portion 31c of the first frame 31 with the second connection portion of the second frame 32, and enables an impact received by one of the first frame 31 and the second frame 32 to be more efficiently transmitted to the other. As a result, the guard 30 can more effectively disperse the impact.

[0106] The bending elastic modulus of the third frame 33 is smaller than the bending elastic modulus of the second frame 32. The third frame 33 is connected to the second frame 32 and has a shape that protrudes from the second frame 32 toward the outside of the guard 30. This allows the guard 30 to arrange the third frame 33, which is prone to elastic deformation, against the second frame 32, which is less prone to elastic deformation and has high strength.

[0107] In this case, the guard 30 can achieve a polyhedral shape that is closer to a sphere due to the protruding shape of the third frame 33. Therefore, the guard 30 can easily absorb impacts due to contact with an obstacle or other external force by elastically deforming the third frame 33, which is located at the outermost side of the polyhedral shape and is prone to elastic deformation. On the other hand, the guard 30 can also improve its robustness against impacts by supporting the third frame 33 with the second frame 32, which is less prone to elastic deformation and has high strength.

[0108] The third frame 33 is connected to the second side wall from the inside thereof and is disposed along the inside of the second side wall. This allows the second side wall of the second frame 32 to absorb the elastic deformation of the third frame 33, which occurs when the third frame 33 receives an impact and its protruding shape is depressed, causing the third frame 33 to expand outward. This allows the guard 30 to further strengthen the connection between the second frame 32 and the third frame 33. Even when an impact is applied to the third frame 33, the guard 30 can reduce the likelihood of the third frame 33 coming off the second frame 32, thereby improving impact resistance.

[0109] In addition, the guard 30 can distribute an impact received by one of the third frame 33 and the second frame 32, which are connected to each other via the second side wall, by transmitting the impact to the other. For example, the guard 30 can support the third frame 33, which has been elastically deformed by an impact received by the third frame 33, with the second frame 32 having high strength. For example, the guard 30 can absorb the impact by transmitting the impact received by the second frame 32 to the third frame 33 and elastically deforming the third frame 33.

[0110] The second connection portion has a receiving surface that receives and supports the third frame 33. This allows the guard 30 to stably receive the third frame 33, which may be moving toward the inside of the guard 30 due to an impact, from the inside of the guard 30 by the receiving surface. Therefore, even if an impact is received at the third frame 33, the guard 30 can reduce the likelihood of the third frame 33 falling off the second frame 32, thereby improving resistance to the impact.

[0111] The first connecting portion 31c elastically deforms in the angular direction of the angle formed with the first side wall 31a. Therefore, the guard 30 elastically deforms the first connecting portion 31c of the first frame 31 in response to external forces received upon contact with an obstacle or the like, and the first frame 31 can more easily absorb impacts due to the contact.

[0112] The first frame 31 further has a third side wall 31b that is bent at a right angle from the first side wall 31a and extends inward of the first frame 31. This allows the cross section of the first frame 31 of the guard 30 to be L-shaped, and the strength of the first frame 31 can be maintained even if the first frame 31 itself is made thinner and lighter.

[0113] The first geometric shape is a regular hexagon. The second geometric shape is a regular octagon. This improves the symmetry of the polyhedron shape of the guard 30, which is formed by alternately connecting first frames 31 having the first geometric shape and second frames 32 having the second geometric shape. Therefore, the guard 30 can receive impacts symmetrically in various directions, further improving the impact absorption.

[0114] In the mobile body 1, the rotor 21 has a rotation axis that is a straight line connecting the rotor 21 and a reference point P0 located inside 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 changes, the mobile body 1 can achieve a state when one face of the main body 10 faces vertically upward that is similar to when the other faces face vertically upward. The mobile body 1 can be configured such that when one face of the main body 10 faces vertically upward, a combination of rotor modules 20 in the same number as the number of vertices of one face located on the upper surface will have an arrangement and orientation similar to when the other faces face vertically upward.

[0115] 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 of the main body 10 to another. Even in such a case, the mobile unit 1 can continue moving with the same propulsive force by combining rotor modules 20 that have similar numbers, arrangements, and orientations between the one surface and the other surface of the main body 10. Therefore, even if the mobile unit 1 changes its attitude significantly due to rotation, etc., it can prevent 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.

[0116] The movable body 1 can achieve the same state even when rotated by a rotation angle according to the rotational symmetry of the main body 10. For example, when the main body 10 has n-fold rotational symmetry, the movable body 1 can rotate from a state in which one surface of the main body 10 is the upper surface through an angle of 360 / n° so that the other surface becomes the upper surface. 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°.

[0117] 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 surface of the main body 10 is facing up, each of the multiple rotors 21 arranged at multiple vertices of that surface 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, for example, during flight when that surface is facing up, and to maintain its posture more stably.

[0118] 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 regular hexahedron that forms 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 changes, when one face of the main body 10 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 main body 10 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 surface will have an arrangement and orientation that is more similar to when the other faces face vertically upward.

[0119] 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 the main body 10 to another. Even in such a case, the mobile unit 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 main body 10. Therefore, even if the mobile unit 1 experiences a significant change in attitude due to rotation, etc., it is possible to further prevent it from 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.

[0120] Even when the center of gravity and the geometric center of the main body 10 are different from each other and the reference point P0 is the geometric center of the main body 10, 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.

[0121] Because the guard 30 that forms the exterior of the moving body 1 has a polyhedral shape, the moving body 1 can continue moving by actively rotating in accordance with the polyhedral shape even if it comes into contact with an obstacle. More specifically, when the moving body 1 collides with an obstacle, the guard 30 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 polyhedral shape of the guard 30. At this time, because the guard 30 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the guard 30.

[0122] As a result, even when the mobile body 1 is used for inspection purposes in a narrow space, for example, it can continue to move without any problems even if it comes close to and comes into contact with the inspection target part in order 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 the inspection target part during flight, the guard 30 allows it to actively rotate, thereby reducing the possibility of it crashing.

[0123] The moving body 1 can reduce air resistance during movement by improving the symmetry of the guard 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 guard 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.

[0124] In the moving body 1, the first frame 31 of the guard 30 faces the rotor module 20 along the rotation axis. This allows the first frame 31 to arrange holes for passing wind in a shape symmetrical with respect to the rotor module 20 that generates the wind power necessary for movement in the moving body 1. The moving body 1 can move in various directions with a symmetrical shape.

[0125] In the mobile body 1, the guard 30 is fixed to the main body 10. This allows the mobile body 1 to reduce fluctuations in the attitude of the main body 10 relative to the guard 30. If the guard 30 and the main body 10 are attached to each other using a gimbal structure to keep the main body 10 horizontal, the main body 10 will attempt to maintain its horizontal position when the guard 30 rotates. However, this will cause the attitude of the main body 10 to fluctuate significantly. By using an attachment structure other than this gimbal structure, the mobile body 1 can sufficiently reduce such fluctuations in the attitude of the main body 10.

[0126] 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.

[0127] For example, the shape, pattern, size, arrangement, orientation, type, and number of each of the above-mentioned 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 illustrated components of the guard 30 and the mobile body 1 are functional concepts, and the specific form of each component is not limited to those shown.

[0128] In the above embodiment, the first geometric shape of the first frame 31 and the second geometric shape of the second frame 32 are described as being different from each other, but this is not limiting. The first geometric shape and the second geometric shape may be the same.

[0129] In the above embodiment, the flexural modulus of the first frame 31 is smaller than the flexural modulus of the second frame 32. However, this is not limiting. The flexural modulus of the first frame 31 may be the same as or larger than the flexural modulus of the second frame 32.

[0130] In the above embodiment, the first connecting portion 31c is described as extending from the first side wall 31a of the first frame 31 at an obtuse angle to the outside of the first frame 31, but is not limited to this. The first connecting portion 31c may be arranged on the first frame 31 in any other shape, size, arrangement, and orientation.

[0131] In the above embodiment, the first connecting portion 31c and the second connecting portion are described as being connected by engaging with each other through surface contact, but this is not limited thereto. The first connecting portion 31c and the second connecting portion may be connected to each other through a contact manner other than surface contact. The first connecting portion 31c and the second connecting portion may be connected to each other through a connection manner other than engaging.

[0132] In the above embodiment, the second connection portion is bent at a right angle from the second side wall of the second frame 32 and extends inside the second frame 32, but this is not limiting. The second connection portion may be arranged in the second frame 32 in any other shape, size, arrangement, and orientation.

[0133] 12, for example, a V-shaped gap is provided between the first side wall 31a of the first frame 31 and the second side wall of the second frame 32. However, the present invention is not limited to this. For example, the first frame 31 may have a rib protruding from the first side wall 31a so as to contact or be close to the second side wall in the gap between the first side wall 31a and the second side wall.

[0134] This allows the rib of the guard 30 to easily come into contact with the second side wall of the second frame 32 when the first frame 31, which is prone to elastic deformation, elastically deforms in response to external forces received upon contact with an obstacle or the like. This allows the guard 30 to transmit the impact received by the first frame 31 to the second frame 32 as well, thereby effectively dispersing the impact.

[0135] Alternatively, the guard 30 may further include an elastic member disposed in the gap between the first side wall 31 a and the second side wall to fill the gap. This allows the first frame 31 to more easily contact the second side wall of the second frame 32 via the elastic member when the first frame 31, which is prone to elastic deformation, elastically deforms in response to an external force received upon contact with an obstacle or the like. This allows the guard 30 to transmit an impact received by the first frame 31 to the second frame 32 as well, thereby more effectively dispersing the impact.

[0136] In the above embodiment, the first connecting portion 31c is elastically deformed in the angular direction of the angle formed with the first side wall 31a, but this is not limiting. The first connecting portion 31c may be elastically deformed in a direction other than the angular direction of the angle formed with the first side wall 31a, or may not be elastically deformed at all.

[0137] In the above embodiment, the first frame 31 further includes the third side wall 31b that is bent at a right angle from the first side wall 31a and extends inward of the first frame 31, but this is not limiting. The first frame 31 does not necessarily have to include the third side wall 31b.

[0138] In the above embodiment, the first geometric shape is described as a regular hexagon, but is not limited thereto. The first geometric shape may be a shape other than a regular hexagon. In the above embodiment, the second geometric shape is described as a regular octagon, but is not limited thereto. The second geometric shape may be a shape other than a regular octagon.

[0139] In the above embodiment, the guard 30 is described as further including a third frame group including a plurality of third frames 33 having a third geometric shape, but this is not limiting. The guard 30 may not include a third frame group. The third geometric shape is described as being the same as the second geometric shape, but this is not limiting. The third geometric shape may be different from the second geometric shape. The third geometric shape may be a shape other than a regular octagon.

[0140] In the above embodiment, the flexural modulus of the third frame 33 is described as being smaller than the flexural modulus of the second frame 32. However, this is not limiting. The flexural modulus of the third frame 33 may be the same as or larger than the flexural modulus of the second frame 32.

[0141] In the above embodiment, the third frame 33 is connected to the second frame 32 and has a shape that protrudes from the second frame 32 to the outside of the guard 30, but this is not limiting. The third frame 33 may be disposed relative to the second frame 32 in any other shape.

[0142] In the above embodiment, the third frame 33 is connected to the second side wall from the inside thereof and is disposed along the inside of the second side wall, but is not limited thereto. The third frame 33 may be disposed relative to the second frame 32 in any other arrangement.

[0143] In the above embodiment, the second connection portion has been described as having a receiving surface that receives and supports the third frame 33, but this is not limited thereto. The second connection portion does not necessarily have to have a receiving surface that receives and supports the third frame 33.

[0144] In the above embodiment, the rotor 21 of the moving body 1 has a rotation axis that is a straight line connecting the rotor 21 and the reference point P0 located inside the main body 10, but this is not limited to this. The rotation axis of the rotor 21 may be a straight line other than the straight line connecting the rotor 21 and the reference point P0 located inside the main body 10.

[0145] In the above embodiment, the first frame 31 of the moving body 1 is described as facing the rotor module 20 along the rotation axis, but this is not limiting. The first frame 31 may be disposed relative to the rotor module 20 in any other position and orientation.

[0146] 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.

[0147] In the above embodiment, the center of gravity of the main body 10 and the geometric center of the main body 10 are described as coinciding with the reference point P0, but this is not limited to this. The center of gravity of the main body 10 and the geometric center of the main body 10 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 main body 10, or any other point located inside the main body 10 that does not coincide with either of them.

[0148] In the above embodiment, the geometric center of the main body 10 and the geometric center of the polyhedron-shaped guard 30 are described as coinciding with each other at the reference point P0, but this is not limited thereto. The geometric center of the main body 10 and the geometric center of the polyhedron-shaped guard 30 may be different from each other. The reference point P0 may be either the geometric center of the main body 10 or the geometric center of the polyhedron-shaped guard 30, or any other point located inside the main body 10 that does not coincide with either of them.

[0149] In the above embodiment, the center of gravity and the geometric center of all eight rotor modules 20 are described as coinciding with each other at the reference point P0, but 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.

[0150] In the above embodiment, the center of gravity and the geometric center of the guard 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 guard 30 may be different from each other. The reference point P0 may be either the center of gravity or the geometric center of the guard 30, or any other point located inside the main body 10 that does not coincide with either of them.

[0151] In the above 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 guard 30, are described as coinciding with each other at the reference point P0, but 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.

[0152] In the above embodiment, the guard 30 is described as being fixed to the main body 10, but this is not limiting. The guard 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 mobile body 1 to maintain the main body 10 horizontally even when the guard 30 rotates. For example, even when the guard 30 comes into contact with an obstacle and actively rotates according to its polyhedral shape, the mobile body 1 can also maintain the main body 10 in a horizontal position without being linked to the rotation of the guard 30. Even in such a case, the description in the above embodiment regarding the connection between the guard 30 and the main body 10 by an arm applies equally.

[0153] In the above embodiment, the first control unit 2a is described as being housed inside the main body unit 10, but this is not limiting. The first control unit 2a may be disposed outside the main body unit 10. 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.

[0154] In the above embodiment, the movable body 1 can be moved by operating only the four rotor modules 20 that are respectively located at the four vertices of one face of the regular hexahedron when that face is located on the upper surface, but this is not limiting. For example, in FIG. 2, the movable body 1 may be moved by operating only the pair of rotor modules 20 that are located on the longest diagonal line of the regular hexahedron.

[0155] 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.

[0156] In the above embodiment, the mobile body 1 has been described as including an aircraft, but is not limited thereto. The mobile body 1 may also include a vehicle, a vehicle, a submersible, etc. The mobile body 1 may also include, for example, a submersible, such as a drone for underwater movement. The mobile 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.

[0157] 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 30 is fixed to the main body 10 and the main body 10 rotates in conjunction with the rotation of the guard 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 guard 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 guard 30.

[0158] 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 guard for use in a moving body, comprising: a first frame group including a plurality of first frames having a first elastic characteristic; and a second frame group including a plurality of second frames having a second elastic characteristic different from the first elastic characteristic, wherein the first frames and the second frames are alternately connected to form a polyhedron shape. [Supplementary Note 2] The guard according to Supplementary Note 1, wherein the bending elastic modulus of the first frames is smaller than the bending elastic modulus of the second frames. [Supplementary Note 3] The guard according to Supplementary Note 1 or 2, wherein the first frame has a first connecting portion connected to the second frame, and the first connecting portion extends outward from a first side wall of the first frame at an obtuse angle. [Supplementary Note 4] The guard according to Supplementary Note 3, wherein the second frame has a second connection portion connected to the first frame, and the first connection portion and the second connection portion are engaged and connected to each other in surface contact. [Supplementary Note 5] The guard according to Supplementary Note 4, wherein the second connection portion is bent at a right angle from a second side wall of the second frame and extends inward of the second frame. [Supplementary Note 6] The guard according to Supplementary Note 5, wherein the first frame has a rib protruding from the first side wall so as to contact or be close to the second side wall in the gap between the first side wall and the second side wall. [Supplementary Note 7] The guard according to Supplementary Note 5 or 6, further comprising an elastic member disposed in the gap between the first side wall and the second side wall to fill the gap. [Supplementary Note 8] The guard according to any one of Supplementary Notes 5 to 7, further comprising a third frame group including a plurality of third frames having a third elastic characteristic that is smaller than the bending elastic modulus of the second frames, the third frames being connected to the second frames and having a shape that protrudes from the second frames to the outside of the guard.[Supplementary Note 9] The guard according to Supplementary Note 8, wherein the third frame is connected to the second side wall from an inner side of the second side wall and is disposed along the inner side of the second side wall. [Supplementary Note 10] The guard according to Supplementary Note 8 or 9, wherein the second connection portion has a receiving surface that receives and supports the third frame. [Supplementary Note 11] The guard according to any one of Supplements 3 to 10, wherein the first connection portion elastically deforms in an angular direction that forms an angle with the first side wall. [Supplementary Note 12] The guard according to any one of Supplements 3 to 11, wherein the first frame further has a third side wall bent at a right angle from the first side wall and extending inward of the first frame. [Supplementary Note 13] A mobile body comprising: the guard according to any one of Supplements 1 to 12; and a main body portion connected to at least one of the first frame and the second frame and disposed inside the guard. [Supplementary Note 14] The mobile body according to Supplementary Note 13, wherein the mobile body is a flying drone.

[0159] 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 20 Rotor module 21 Rotor 22 Drive unit 23 Rotor guard 24 Support unit 25 Support 30 Guard 31 First frame 31a First side wall 31b Third side wall 31c First connection unit 31d Engagement protrusion 32 Second frame 32a Second frame 32a1 Second side wall 32a2 Overhanging portion 32a3 Second connection unit 32a4 First engagement hole 32a5 Second engagement hole 32a6 Receiving surface 32b Second frame 32b1 Second side wall 32b2 Overhanging portion 32b3 Second connection unit 32b4 First engagement hole 32b5 Second engagement hole 32b6 Protruding portion 32b7 Receiving surface 33 Third frame 33a Fourth side wall 33b Inner wall 33c Connecting portion 33d Engagement protrusion P0 Reference point θ1 Obtuse angle θ2 Obtuse angle

Claims

1. A guard for use on a moving body, comprising: a first frame group including a plurality of first frames having a first elastic characteristic; and a second frame group including a plurality of second frames having a second elastic characteristic different from the first elastic characteristic, wherein the first frames and the second frames are alternately connected to form a polyhedron shape.

2. A guard according to claim 1, wherein the flexural modulus of said first frame is less than the flexural modulus of said second frame.

3. A guard according to claim 1, wherein the first frame has a first connecting portion connected to the second frame, and the first connecting portion extends outward from the first frame at an obtuse angle from a first side wall of the first frame.

4. A guard according to claim 3, wherein the second frame has a second connection part connected to the first frame, and the first connection part and the second connection part are connected by engaging with each other in surface contact.

5. A guard according to claim 4, wherein the second connection portion is bent at a right angle from the second side wall of the second frame and extends to the inside of the second frame.

6. A guard according to claim 5, wherein said first frame has a rib projecting from said first side wall so as to contact or be adjacent to said second side wall in the gap between said first side wall and said second side wall.

7. A guard according to claim 5 or 6, further comprising an elastic member disposed in a gap between said first side wall and said second side wall to fill said gap.

8. A guard as claimed in claim 5 or 6, further comprising a third frame group including a plurality of third frames having a third elastic characteristic smaller than the flexural modulus of the second frames, the third frames being connected to the second frames and having a shape that protrudes from the second frames to the outside of the guard.

9. A guard according to claim 8, wherein the third frame is connected to the second side wall from the inside of the second side wall and is disposed along the inside of the second side wall.

10. A guard according to claim 8, wherein the second connection portion has a receiving surface that receives and supports the third frame.

11. A guard according to any one of claims 3 to 6, wherein the first connection portion is elastically deformable in the direction of an angle formed with the first side wall.

12. A guard according to any one of claims 3 to 6, wherein the first frame further has a third side wall bent at a right angle from the first side wall and extending inward of the first frame.

13. A mobile body comprising: a guard according to any one of claims 1 to 6; and a main body portion connected to at least one of the first frame and the second frame and disposed inside the guard.

14. A mobile object according to claim 13, wherein the mobile object is a flying drone.

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