Flying robot and contact unit for flying robot

Abstract

This flying robot comprises a contact unit that is provided outward of one or more propulsion units disposed in a direction facing an object and comes into contact with the object. The contact unit has a frame part swingable in the pitch direction, the frame part having a first protruding portion and a second protruding portion that are formed at positions different from each other in the up-down direction, and protrude outward and thereby come into contact with the object. The contact unit also has a mount part that is provided on the frame part and on which a work device for performing predetermined work on the object can be placed.

Description

Flying robot and contact unit for flying robot

[0001] The present invention relates to a flying robot and a contact unit for a flying robot.

[0002] In recent years, unmanned aerial vehicles have been used for various purposes and their development has been actively carried out. As unmanned aerial vehicles, radio-controlled unmanned helicopters and so-called drones are used. Here, a technique of attaching an arm to an unmanned aerial vehicle to perform various operations is known (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-193331

[0004] Operations such as inspections and repairs at high places have hitherto been carried out manually using scaffolding installation and rope work. However, the installation of scaffolding takes a long time and costs a lot, and rope work requires skilled workers, and both have problems such as being difficult and dangerous operations. As a new approach to this, the use of drones has been rapidly progressing, but it is mainly used for diagnosis using captured images, and inspections and repair operations involving contact such as sound inspection are still largely carried out manually.

[0005] Therefore, there is a need for a technique that enables a predetermined operation to be performed on an object by work equipment mounted on a flying robot such as a drone. Here, when trying to stably perform a predetermined operation on an object by work equipment mounted on a flying robot, it is required to maintain the relative position and relative posture of the work equipment with respect to the object at desired positions and postures. In order to meet such requirements, it is conceivable to maintain a state in which a flying robot in flight is in contact with an object. However, generally, the control system of a flying robot is not premised on the position and posture of the flying robot being restricted by physical contact. Therefore, if a deviation occurs between the target value and the actual value of the attitude control of the flying robot due to the state in which the flying robot is in contact with the object being maintained, unexpected behavior of the flying robot such as a sudden decrease in output (thrust) may occur.

[0006] This invention has been made in view of the various circumstances described above, and its purpose is to provide a technology that enables stable operation of a target object by work equipment mounted on a flying robot while maintaining the stable flight of the flying robot.

[0007] One aspect of the present invention is a flying robot comprising a body and a plurality of propulsion units arranged around the body, wherein the flying robot comprises a contact unit provided outside of one or more propulsion units arranged in a direction facing an object, and which contacts the object, the contact unit having a frame portion that is pivotable in the pitch direction, the frame portion having a first projection and a second projection that project outward and contact the object, the first projection and the second projection being formed at different positions in the vertical direction relative to each other, and a mount portion provided on the frame portion, the mount portion on which work equipment for performing a predetermined task on the object can be installed.

[0008] Furthermore, one aspect of the present invention is a contact unit for a flying robot, comprising a body and a plurality of propulsion units arranged around the body, wherein the contact unit is provided outside one or more propulsion units arranged in a direction facing an object and contacts the object, and comprises a frame portion that is pivotable in the pitch direction, and a first protrusion and a second protrusion that protrude outward and contact the object are formed at different positions in the vertical direction from each other, and a mount portion provided on the frame portion, on which work equipment for performing a predetermined task on the object can be installed.

[0009] According to the present invention, while maintaining the stable flight of the flying robot, it is possible to stably perform predetermined tasks on an object using work equipment mounted on the flying robot.

[0010] This figure shows an example of the schematic configuration of a flying robot according to the embodiment. This figure shows an example of the schematic configuration of the contact unit and its surrounding parts in the flying robot. This figure shows the state in which the contact unit is in contact with an object. This figure shows the movement of the contact unit when the contact unit of the flying robot makes contact with an object.

[0011] One embodiment of the present invention is a flying robot comprising a body and a plurality of propulsion units. Each propulsion unit is a unit that generates thrust for the flying robot. The propulsion units may generate thrust, for example, by driving a propeller. The plurality of propulsion units are arranged around the body. In other words, in the flying robot, each propulsion unit is located outside the body. The flying robot can control its flight direction and flight attitude by controlling the thrust of each of the plurality of propulsion units.

[0012] Furthermore, the flying robot is equipped with a contact unit. The contact unit is a unit that makes contact with an object while the flying robot is in flight. Here, the object is an object such as a structure or building that is the target of a predetermined task performed by work equipment mounted on the flying robot. In the flying robot, the contact unit is located outside of one or more propulsion units that are positioned facing the object, among the multiple propulsion units arranged around the body. When the flying robot performs a predetermined task on the object using the work equipment, it brings the contact unit into contact with the object. At this time, because the contact unit is located outside of one or more propulsion units that are positioned facing the object, the flying robot can bring the contact unit into contact with the object without bringing the propulsion units into contact with the object.

[0013] The contact unit has a frame portion that can pivot in the pitch direction. In other words, in the contact unit, the frame portion is configured to pivot around a rotation axis that extends horizontally and is located outside of one or more propulsion units arranged in a direction facing the object. Furthermore, the frame portion of the contact unit has a first projection and a second projection formed thereon. The first projection and the second projection are formed to contact the object by projecting outward. In other words, when the contact unit contacts the object, the first projection and the second projection come into contact with the object. In addition, the first projection and the second projection are formed at different positions in the vertical direction relative to each other on the frame portion.

[0014] Furthermore, the contact unit has a mounting section. The mounting section is provided on the frame of the contact unit and is configured to allow the installation of work equipment. The work equipment is equipment used to perform predetermined tasks on an object, such as inspection or repair.

[0015] When the flying robot according to the present invention performs a predetermined operation on an object using work equipment installed on the mount, it flies while bringing the first and second protrusions of the contact unit into contact with the object. When the first and second protrusions, which are formed at different positions in the vertical direction on the frame of the contact unit, are in contact with the object, the relative position and orientation of the contact unit with respect to the object are more easily maintained at a substantially constant level.

[0016] Furthermore, the frame portion of the contact unit is configured to swing in the pitch direction. Therefore, the flying robot can change the attitude of the main body, including the body and multiple propulsion units, while maintaining the state in which the first and second protrusions of the contact unit are in contact with the object. This allows the flying robot to control the attitude of the main body while maintaining the relative position and attitude of the work equipment mounted on the contact unit's mount portion to the object at a desired position and attitude. Therefore, it becomes possible to respond to external disturbances such as reaction forces from the object and wind from the outside by changing the magnitude and direction of the thrust force. Accordingly, according to the present invention, it is possible to stably perform predetermined work on an object using work equipment mounted on the flying robot while maintaining the stable flight of the flying robot.

[0017] Furthermore, in the flying robot according to the present invention, the first protrusion and the second protrusion may be positioned at different vertical positions relative to each other, straddling the axis of rotation when the frame swings in the pitch direction. With such a configuration, the first protrusion and the second protrusion can be pressed against the object by the thrust of the flying robot, thereby maintaining contact between the first protrusion and the object. Therefore, in a flying robot in flight, the relative position and orientation of the work equipment installed on the mounting part of the contact unit with respect to the object can be maintained more stably at the desired position and orientation.

[0018] Furthermore, if the first and second protrusions of the frame portion of the contact unit are positioned at different vertical positions relative to each other, straddling the axis of rotation when the frame portion swings in the pitch direction, the frame portion of the contact unit may be rotatably mounted in the pitch direction to a support member installed outside of one or more propulsion units positioned opposite the object. The flying robot may further include a first stopper that restricts the portion of the frame portion above the axis of rotation from rotating inward by a first predetermined angle, and a second stopper that restricts the portion of the frame portion below the axis of rotation from rotating inward by a second predetermined angle. This allows the contact unit to be configured to swing in the pitch direction relative to the main body within the range of rotation angles restricted by the first and second stoppers.

[0019] Furthermore, in the flying robot according to the present invention, at least one of the first and second protrusions may be provided in multiple locations on the frame at different horizontal positions relative to each other, or may have a shape in which its longitudinal direction extends horizontally. With such a configuration, when the first and second protrusions of the contact unit are in contact with an object, the orientation of the contact unit with respect to the object is more easily maintained. As a result, the relative position and orientation of the contact unit with respect to the object are more easily maintained at a desired position and orientation. Consequently, the work equipment mounted on the flying robot can perform predetermined tasks on the object more stably. Furthermore, at least one of the first and second protrusions may be made of a flexible material. With such a configuration, it is possible to absorb the impact when the first or second protrusion comes into contact with the object. In addition, since the contact area of ​​the first or second protrusion with respect to the object is increased, the frictional force generated between them can be increased. As a result, even if a situation temporarily arises where the magnitude of the thrust force acting vertically upward on the flying robot is not balanced by external disturbances, it becomes possible to maintain the flying robot's relative position to the object.

[0020] Furthermore, in the flying robot according to the present invention, the mounting portion of the contact unit may have a transport mechanism that transports the installed work equipment in a predetermined direction. With such a configuration, while the contact unit is in contact with the object, the relative position of the work equipment with respect to the object can be changed by the transport mechanism. In addition, this makes it possible to change whether or not the work equipment is in contact with the object, and the strength of the contact, etc., by the transport mechanism.

[0021] Furthermore, in the flying robot according to the present invention, each of the multiple propulsion units may have a propeller. The angle of the rotation axis of each propeller with respect to the body may be fixed at the same angle. When the angle of the rotation axis of each propeller with respect to the body is fixed at the same angle, the flying robot can be tilted by creating a difference in the thrust force generated by each propeller. The flying robot then moves in the direction of the tilt. In other words, by controlling the thrust force generated by each propeller, the flight attitude and flight direction of the flying robot can be controlled. By controlling the flight attitude and flight direction of the flying robot, the contact unit can be brought into contact with the object. In addition, this allows the transport mechanism to change whether or not the work equipment makes contact with the object, and the strength of the contact.

[0022] Specific embodiments of the present invention will be described below with reference to the drawings. Unless otherwise specified, the dimensions, materials, shapes, and relative arrangements of the components described in these embodiments are not intended to limit the technical scope of the invention to those specific components.

[0023] <Embodiment> (Outline Configuration) Figure 1 shows an example of the schematic configuration of a flying robot according to this embodiment. The flying robot 1 is a drone used to perform predetermined tasks on an object using work equipment. Examples of the object include structures or buildings. The flying robot 1 also has the ability to fly in any direction, including vertical and horizontal directions. Therefore, the flying robot 1 can take off and land vertically.

[0024] For the purposes of the following explanation, we will use the XYZ Cartesian coordinate system shown in Figure 1 to describe the configuration of the flying robot 1. Here, the vertical direction in the direction of gravity is defined as the Z-axis direction. The forward and backward direction of the flying robot 1 is defined as the Y-axis direction. As mentioned above, the flying robot 1 can fly in any direction horizontally, but the direction of travel of the flying robot 1 when flying towards an object is defined as the front of the flying robot 1. The direction opposite to the front of the flying robot 1 in the Y-axis direction is defined as the rear of the flying robot 1. In Figure 1, the direction diagonally downward to the left is the front of the flying robot 1. The left and right direction of the flying robot 1 is defined as the direction to the left or right of the flying robot 1 when the direction of travel of the flying robot 1 when flying towards an object is defined as the front of the flying robot 1.

[0025] The flying robot 1 is composed of a main body 2. The main body 2 has a body 4 and four propulsion units 3. In the main body 2, the body 4 is located roughly in the center. The four propulsion units 3 are arranged around the body 4. In the example shown in Figure 1, four propulsion units 3 are mounted on the main body 2, but the number of propulsion units 3 is not limited to four, as long as the main body 2 is able to fly.

[0026] Each propulsion unit 3 has a propeller 31, which is a rotating blade. Each propulsion unit 3 has a structure in which the angle of the rotation axis of the propeller 31 with respect to the body 4 is fixed at the same angle. Each propulsion unit 3 also has a flight actuator 32 for rotating the propeller 31. The flight actuator 32 is driven by electricity. The flight actuator 32 of each propulsion unit 3 can be controlled independently. Therefore, it is possible to appropriately control the thrust force obtained by each propulsion unit 3, thereby appropriately controlling the flight direction, flight attitude, and flight speed of the main body 2 and the flying robot 1. The attitude of the flying robot 1 when it flies toward an object will be described later.

[0027] Furthermore, in the main body 2, four bridges 5 extend radially from the body 4. A propulsion unit 3 is provided at the tip of each bridge 5. The four propulsion units 3 are arranged at equal intervals on a circle in the horizontal plane (XY plane) with the body 4 as the center. Adjacent propulsion units 3 are connected to each other via reinforcing bridges 51. A rectangle is formed by the four reinforcing bridges 51 connecting adjacent propulsion units 3. Legs 6 are also connected near the connection points of the propulsion units 3 on each bridge 5. Each leg 6 extends downward in the Z-axis direction from the bridge 5. Each leg 6 supports the main body 2 when the flying robot 1 lands. Some of the bridges 5 are equipped with batteries to supply power to the flight actuators 32 of each propulsion unit 3.

[0028] Furthermore, the flying robot 1 has a propeller guard 7. The propeller guard 7 is a component provided to prevent the propellers 31 of the two propulsion units 3 located on the front side of the flying robot 1 from coming into contact with an object during the flight of the flying robot 1. The propeller guard 7 is installed on the front side of the flying robot 1, facing the object. The propeller guard 7 has two guard sections 71, a connecting section 72, two side support sections 73, and a center support section 74. The two guard sections 71 are each located outside the propellers 31 of the two propulsion units 3 located on the front side of the flying robot 1. Each guard section 71 has a shape that extends from a position further forward and outward than the foremost part of each propeller 31 toward the side and outward of each propeller 31, following the arc shape of each propeller 31.

[0029] The connecting portion 72 is a member that connects the two guard portions 71 to each other. The connecting portion 72 is a rod-shaped member that extends in the X-axis direction, and both ends of it are connected to the front ends of each guard portion 71. The two guard portions 71 are each supported by side support portions 73. One end of each side support portion 73 is connected to the end of the bridge 5, and the other end is connected to the guard portion 71. The connecting portion 72 is also supported by a center support portion 74. One end of the center support portion 74 is connected to the body 4, and the other end is connected to the approximate center of the connecting portion 72 in the X-axis direction. A portion of the center support portion 74 is also connected to the reinforcing bridge 51. A first stopper 81 is provided near the other end of the center support portion 74. The function of the first stopper 81 will be described later. In the flying robot 1, each guard portion 71 of the propeller guard 7 is positioned outside the two propellers 31 that are positioned forward in the Y-axis direction, which is the direction facing the object. This prevents the propellers 31 from coming into contact with the object when the flying robot 1 is flying towards the object.

[0030] A control device 21 for controlling the flight actuators 32 is mounted in the center of the upper surface of the body 4. The control device 21 can be configured as a computer having a processor and memory. The control device 21 is configured to execute a predetermined control program stored in memory. Through the execution of this program, the flight actuators 32 and the like are controlled. This allows the processor to realize a function that matches a predetermined purpose. For example, the control device 21 performs feedback control of the flight actuators 32.

[0031] The control device 21 may also include a communication unit that communicates with the outside by wire or wireless connection, receive control commands via the communication unit, and control the flight actuator 32 according to those control commands. Furthermore, the control device 21 may transmit information acquired by the end effector to the outside. In addition, separate from the control device 21 that controls flight, a control device that controls equipment mounted on the flying robot 1 and performs information processing may be mounted on the main unit 2.

[0032] (Contact Unit) The flying robot 1 is also equipped with a contact unit 10. The contact unit 10 is a unit that makes contact with an object while the flying robot 1 is in flight. The contact unit 10 is composed of a frame portion 11 and a mounting portion 12. In the flying robot 1, a work device 100 is installed on the mounting portion 12 of the contact unit 10. The work device 100 is a device that performs predetermined work on the object, such as inspection or repair. The work device 100 may be a device that performs work by making contact with the object, or it may be a device that performs work without making contact with the object.

[0033] The configuration of the contact unit 10 will be described below with reference to Figures 2 and 3. Figure 2 is a diagram showing an example of the schematic configuration of the contact unit and its surrounding parts in a flying robot. Figure 3 is a diagram showing the state in which the contact unit is in contact with an object. In Figures 2 and 3, the directions represented by each coordinate axis in the XYZ Cartesian coordinate system are the same as in Figure 1.

[0034] In the flying robot 1, the contact unit 10 is attached to the propeller guard 7. In other words, the contact unit 10 is located outside the two propellers 31 that are positioned on the front side in the Y-axis direction, which is the direction in which the flying robot 1 faces the object. Note that in Figure 2, in order to show the schematic configuration of the area surrounding the contact unit 10 in the flying robot 1, the left propeller (the one on the near side in Figure 2) of the two propellers 31 positioned on the front side of the flying robot 1 is not shown.

[0035] Furthermore, the frame portion 11 of the contact unit 10 is configured to swing in the pitch direction. More specifically, the frame portion 11 has two side frames 111, an upper frame 112, an under frame 113, and two connecting members 114. The two side frames 111 are arranged side by side in the X-axis direction and are frames that extend parallel to each other in a direction substantially perpendicular to the connecting portion 72 of the propeller guard 7. Connecting members 114 are provided in the middle of each side frame 111. Each side frame 111 is rotatably connected to the connecting portion 72 of the propeller guard 7 via the connecting members 114 in the pitch direction (direction around the X-axis).

[0036] The upper frame 112 is a frame that connects the upper ends of the two side frames 111. The under frame 113 is a frame that connects the lower ends of the two side frames 111. The frame portion 11 is formed in a substantially rectangular shape by the two side frames 111, the upper frame 112, and the under frame 113. Each side frame 111 is rotatably connected in the pitch direction to the connecting portion 72 of the propeller guard 7, so that the frame portion 11 can swing in the pitch direction. Therefore, the central axis of the connecting portion 72, shown by the dashed line L0 in Figure 2, becomes the axis of rotation when the frame portion 11 swings in the pitch direction. The connecting portion 72 is an example of a support member according to the present invention.

[0037] A mounting section 12 is provided on the upper frame 112 of the frame section 11. The mounting section 12 is connected to the inside of the upper frame 112. Work equipment 100 is installed on the mounting section 12. The mounting section 12 also has a transport mechanism 121. The transport mechanism 121 is a mechanism that transports the work equipment 100 installed on the mounting section 12 in a predetermined direction. The transport mechanism 121 may be a linear motion mechanism composed of, for example, gears. The transport mechanism 121 is controlled by a control device 21 mounted on the body 4, similar to the flight actuator 32.

[0038] Furthermore, the upper frame 112 has two first protrusions 112a. The two first protrusions 112a are formed to protrude forward and outward at the right and left ends of the upper frame 112 in the X-axis direction, respectively. The under frame 113 also has a second protrusion 113a. The second protrusion 113a has a shape in which its longitudinal direction extends in the X-axis direction and is formed to protrude forward and outward in the under frame 113. Therefore, in the frame portion 11, the two first protrusions 112a and the second protrusions 113a are formed at different positions in the Z-axis direction (vertical direction). And, because the two first protrusions 112a and the second protrusions 113a are formed to protrude forward and outward in the upper frame 112 and under frame 113 respectively, when the contact unit 10 contacts the object X, the first protrusions 112a and the second protrusions 113a contact the object X, as shown in Figure 3.

[0039] Furthermore, a second stopper 82 is provided on the mounting portion 12 connected to the upper frame 112. The second stopper 82 is connected to the inside of the mounting portion 12. Also, in the X-axis direction, the second stopper 82 is positioned at the same location as the center support portion 74 of the main body portion 2. Therefore, as shown in Figure 2, when the portion of the frame portion 11 above the rotation axis L0 tilts inward, the second stopper 82 comes into contact with the center support portion 74. In other words, the second stopper 82 restricts the portion of the frame portion 11 above the rotation axis L0 (the portion above the connecting portion 72) from rotating inward by more than a first predetermined angle. Here, the first predetermined angle is the inclination angle of the frame portion 11 when the second stopper 82 is in contact with the center support portion 74, as shown in Figure 2. In particular, when no external force is acting, the contact unit 10 is biased to rotate inward (towards the rear) by gravity acting on the mounting portion 12, which is located rearward and inward of the upper frame 112, and the installed work equipment 100. Therefore, when the flying robot 1 flies toward the target object X, the state (attitude) of the contact unit 10 is basically maintained in a state where the second stopper 82 is in contact with the center support portion 74, as shown in Figure 2.

[0040] Furthermore, as described above, a first stopper 81 is provided near the other end of the center support portion 74 of the main body portion 2. The first stopper 81 has a shape in which a part of it protrudes downward in the Z-axis direction from the center support portion 74. Therefore, as shown in Figure 3, when the portion of the frame portion 11 below the rotation axis L0 (the portion below the connecting portion 72) tilts inward, the inside of the underframe 113 comes into contact with the first stopper 81. In other words, the first stopper 81 restricts the portion of the frame portion 11 below the rotation axis L0 from rotating inward by more than a second predetermined angle. Here, the second predetermined angle is the inclination angle of the frame portion 11 when the underframe 113 is in contact with the first stopper 81.

[0041] (Movement of the Contact Unit) Next, the movement of the contact unit 10 of the flying robot 1 when it makes contact with the object X will be explained based on Figure 4. Figure 4 is a diagram showing the movement of the contact unit when the flying robot's contact unit makes contact with the object. Note that in Figures 4(a), (b), and (c), the directions represented by each coordinate axis in the XYZ Cartesian coordinate system are the same as in Figure 1. Note that in Figures 4(a), (b), and (c), the white arrows indicate the direction of travel of the flying robot 1.

[0042] As shown in Figure 4(a), when the flying robot 1 flies toward the object X, the flying robot 1 moves forward. At this time, the contact unit 10 is maintained in a state where the second stopper 82 is in contact with the center support portion 74, that is, the portion above the connecting portion 72 in the frame portion 11 is tilted inward. In this state, the second protrusion 113a formed on the underframe 113 of the contact unit 10 is located at the furthest forward position in the flying robot 1. In addition, the posture of the main body portion 2 of the flying robot 1 is maintained in a slightly forward-leaning posture. With this flight posture, the thrust force generated in the propulsion unit 3 of the flying robot 1 has a horizontal component that acts forward.

[0043] When the flying robot 1 flies toward the object X in the state shown in Fig. 4(a), as shown in Fig. 4(b), the second protrusion 113a formed on the underframe 113 of the contact unit 10 first contacts the object X. Then, when the flying robot 1 approaches the object X further, the contact unit 10 swings in the direction of the black arrow with the central axis of the connecting part 72 as the rotation axis L0. That is, the upper part of the frame part 11 above the connecting part 72 rises forward. For example, when the flying robot 1 approaches the object X in an inclined state, the propeller guard 7 may contact the object X before the contact unit 10. However, even in such a case, after the propeller guard 7 contacts the object X, the posture of the flying robot 1 transitions in the direction in which the contact unit 10 approaches the object X around the contact point. Therefore, the state of the flying robot 1 can proceed to the state where the contact unit 10 contacts the object X. Thus, the flying robot 1 can approach the object X stably.

[0044] When the contact unit 10 swings in the direction of the black arrow in Fig. 4(b), as shown in Fig. 4(c), following the second protrusion 113a, the two first protrusions 112a formed on the upper frame 112 of the contact unit 10 contact the object X. Also, in the state shown in Fig. 4(c), when the propulsion force of the flying robot 1 acts forward, the first protrusion 112a and the second protrusion 113a are pressed against the object X. As a result, the state where the first protrusion 112a and the second protrusion 113a contact the object X is maintained.

[0045] (Function and Effect) As shown in Figure 3, when the flying robot 1 performs a predetermined operation on an object X using the work equipment 100 installed on the mount section 12, it flies while bringing the first protrusion 112a and the second protrusion 113a of the contact unit 10 into contact with the object X. When the first protrusion 112a and the second protrusion 113a, which are formed at different positions in the vertical direction (Z-axis direction) on the frame section 11 of the contact unit 10, are in contact with the object X, the relative position and orientation of the contact unit 10 with respect to the object X are more easily maintained at a substantially constant level. And if the relative position and orientation of the contact unit 10 with respect to the object X are maintained at a substantially constant level, the relative position and orientation of the work equipment 100 installed on the mount section 12 with respect to the object X are more easily maintained at a desired position and orientation.

[0046] Furthermore, the frame portion 11 of the contact unit 10 is configured to swing in the pitch direction. Therefore, the flying robot 1 can change the posture of the main body portion 2 in the pitch direction as shown by arrow Dp in Figure 3 while maintaining the state in which the first protrusion 112a and the second protrusion 113a of the contact unit 10 are in contact with the object X. In other words, it is possible to suppress the physical constraint on the posture of the main body portion 2. As a result, the flying robot 1 can control the posture of the main body portion 2 while maintaining the relative position and posture of the work equipment 100 installed on the mount portion 12 of the contact unit 10 with respect to the object X at a desired position and posture. Therefore, according to the configuration of this embodiment, it is possible to stably perform predetermined work on the object X by the work equipment 100 mounted on the flying robot 1 while maintaining the stable flight of the flying robot 1.

[0047] Also, in the flying robot 1, in the frame portion 11 of the contact unit 10, the first protruding portion 112a and the second protruding portion 113a are provided at different positions in the vertical direction with the connecting portion 72 of the propeller guard 7 interposed therebetween. That is, the first protruding portion 112a and the second protruding portion 113a are provided at different positions in the vertical direction with the rotation axis L0 (center axis of the connecting portion 72) when the frame portion 11 swings in the pitch direction interposed therebetween. According to such a configuration, by pressing the first protruding portion 112a and the second protruding portion 113a against the object X by the propulsive force of the flying robot 1, the state in which the first protruding portion 112a and the second protruding portion 113a are in contact with the object X can be maintained. Therefore, in the flying robot 1 during flight, the relative position and relative posture of the working device 100 installed on the mount portion 12 of the contact unit 10 with respect to the object X can be more stably maintained at a desired position and posture.

[0048] Also, in the flying robot 1, a first stopper 81 and a second stopper 82 for restricting the rotation range of the frame portion 11 of the contact unit 10 around the rotation axis L0 are provided. According to such a configuration, the contact unit 10 can be swung in the pitch direction with respect to the main body portion 2 within the range of the rotation angle restricted by the first stopper 81 and the second stopper 82. Note that in the flying robot 1, a biasing member such as a spring for biasing the frame portion 11 so as to maintain the angle (posture) in the pitch direction of the frame portion 11 with respect to the main body portion 2 at a predetermined angle may be provided instead of the first stopper 81 and the second stopper 82. According to such a configuration, the operation of the frame portion 11 around the rotation axis L0 and its rotation range can be restricted by the biasing member.

[0049] Furthermore, in the contact unit 10, two first protrusions 112a are formed on the right and left ends of the upper frame 112 in the X-axis direction, respectively. In other words, in the frame portion 11, the two first protrusions 112a are formed at different positions relative to each other in the X-axis direction (left-right direction). In addition, in the contact unit 10, the second protrusion 113a has a shape in which the longitudinal direction extends in the X-axis direction (left-right direction) in the under frame 113. With this configuration, when the two first protrusions 112a and the second protrusion 113a are in contact with the object X, it is possible to suppress changes in the orientation of the contact unit 10 in the roll direction (direction around the Z axis). Therefore, when the first protrusions 112a and the second protrusions 113a of the contact unit 10 are in contact with the object X, it becomes easier to maintain a more constant orientation of the contact unit 10 relative to the object X. As a result, the relative position and orientation of the contact unit 10 relative to the object X become easier to maintain in a more desired position and orientation. Therefore, the work equipment 100 mounted on the flying robot 1 can perform predetermined tasks on the object X more stably.

[0050] Furthermore, the form of the protrusions formed on the upper frame 112 and the under frame 113 so as to project forward and outward is not limited to the forms of the first protrusion 112a and the second protrusion 113a described above. For example, in the upper frame 112, three or more first protrusions 112a may be formed at different positions relative to each other in the X-axis direction (left-right direction). Also, in the under frame 113, instead of the second protrusion 113a, two or more protrusions may be formed at different positions relative to each other in the X-axis direction (left-right direction). Also, in the upper frame 112, instead of the two first protrusions 112a, a protrusion having a shape whose longitudinal direction extends in the X-axis direction (left-right direction) may be formed.

[0051] Furthermore, in the flying robot 1, the mounting portion 12 of the contact unit 10 has a transport mechanism 121. With this configuration, as shown in Figure 3, while the first protrusion 112a and the second protrusion 113a of the contact unit 10 are in contact with the object X, the position of the work equipment 100 installed on the mounting portion 12 can be moved in a desired direction (for example, the front-to-back direction) by the transport mechanism 121. Therefore, it is possible to change the relative position of the work equipment 100 installed on the mounting portion 12 with respect to the object X. This allows the work equipment 100 to perform predetermined tasks on the object X more flexibly. Moreover, if the transport mechanism 121 is movable in multiple directions (for example, the front-to-back direction and the left-to-right direction), it is possible to perform predetermined tasks on multiple locations while maintaining contact with the contact unit 10, and it becomes easier to control the work position and the interval of work time to desired values.

[0052] 1...Flying robot, 2...Main body, 3...Propulsion unit, 4...Body, 7...Propeller guard, 10...Contact unit, 11...Frame, 12...Mount, 31...Propeller, 72...Connecting part, 81...First stopper, 82...Second stopper, 100...Working equipment, 111...Side frame, 112...Upper frame, 112a...First protrusion, 113...Under frame, 113a...Second protrusion, 121...Transportation mechanism

Claims

1. A flying robot comprising a body and a plurality of propulsion units arranged around the body, wherein the contact unit is provided outside one or more propulsion units arranged in a direction facing an object and contacts the object, the contact unit having a frame portion that is pivotable in the pitch direction, and having a first projection and a second projection that project outward and contact the object, with each projection being formed at different positions in the vertical direction from each other, and a mount portion provided on the frame portion, on which work equipment for performing a predetermined task on the object can be installed.

2. The flying robot according to claim 1, wherein in the frame portion of the contact unit, the first protrusion and the second protrusion are formed at different positions in the vertical direction from each other, straddling the axis of rotation when the frame portion swings in the pitch direction.

3. The flying robot according to claim 2, wherein the frame portion of the contact unit is rotatably mounted in the pitch direction to a support member provided outside the one or more propulsion units arranged in a direction facing the object, and further comprising: a first stopper that restricts the portion of the frame portion above the rotation axis from rotating inward by a first predetermined angle; and a second stopper that restricts the portion of the frame portion below the rotation axis from rotating inward by a second predetermined angle.

4. The flying robot according to claim 1, wherein at least one of the first protrusion and the second protrusion is formed in the frame at different horizontal positions relative to each other, or has a shape in which its longitudinal direction extends horizontally.

5. The flying robot according to claim 1, wherein the mounting portion of the contact unit has a transport mechanism for transporting the installed work equipment in a predetermined direction.

6. The flying robot according to claim 1, wherein each of the plurality of propulsion units has a propeller, and the angle of the rotation axis of each propeller with respect to the body is fixed at the same angle.

7. A flying robot comprising a body and a plurality of propulsion units arranged around the body, wherein the contact unit is provided outside one or more propulsion units arranged facing an object and contacts the object, and comprises: a frame portion that is pivotable in the pitch direction, wherein a first protrusion and a second protrusion that protrude outward and contact the object are formed at different positions in the vertical direction relative to each other; and a mount portion provided on the frame portion, on which work equipment for performing a predetermined task on the object can be installed.

8. The contact unit for a flying robot according to claim 7, wherein the first projection and the second projection are formed at different positions in the vertical direction from each other, straddling the axis of rotation when the frame swings in the pitch direction.

9. The contact unit for a flying robot according to claim 8, wherein the frame portion is rotatably mounted in the pitch direction to a support member provided outside the one or more propulsion units arranged in a direction facing the object, and further comprises: a first stopper that restricts the portion of the frame portion above the rotation axis from rotating inward by a first predetermined angle; and a second stopper that restricts the portion of the frame portion below the rotation axis from rotating inward by a second predetermined angle.

10. The contact unit for a flying robot according to claim 7, wherein at least one of the first protrusion and the second protrusion is formed in the frame at different horizontal positions relative to each other, or has a shape in which its longitudinal direction extends horizontally.

11. The contact unit for a flying robot according to claim 7, wherein the mounting portion has a transport mechanism for transporting the installed work equipment in a predetermined direction.

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