Mobile body

Abstract

A mobile body (1) according to the present disclosure comprises: a control unit that controls actions including rotation of the mobile body (1); a body unit (10); and a plurality of motive power units (20) that are attached to the body unit (10) and generate a force for causing the body unit (10) to rotate. The control unit acquires the rotational state of the body unit (10), and in accordance with the acquired rotational state, selects and controls at least some of the plurality of motive power units (20).

Description

Moving body

[0002]

[0001] The present disclosure relates to a moving body. This application claims the priority of Japanese Patent Application No. 2025-011717, which was filed in Japan on January 27, 2025, and the entire disclosure of the application is incorporated herein by reference for reference purposes.

[0002] Conventionally, technologies related to moving bodies including drones and the like have been widely spread. For example, Patent Document 1 discloses a device that achieves both vibration prevention and shock buffering of an unmanned aircraft with a rotating spherical frame.

[0003] Japanese Unexamined Patent Application Publication No. 2018-039488

[0004] The application fields of moving bodies are expanding. For example, when moving bodies are applied to inspection applications or the like, it is also assumed that they move in narrow spaces. The moving body is not limited to flying by translational movement, for example, and may also be required to move by rotational movement different from translational movement on the ground, in the air, or in water. It is an important issue in future automated driving that the moving body can move stably in various moving modes including translational movement and rotational movement regardless of the size or type of the space to move.

[0005] An object of the present disclosure is to provide a moving body that can move stably.

[0006] The moving body for solving the above problems includes: a control unit that controls operations including rotation of the moving body; a main body unit; and a plurality of power units attached to the main body unit that generate a force for rotating the main body unit. The control unit acquires the rotational state of the main body unit and selects and controls at least a part of the plurality of power units according to the acquired rotational state.

[0007] According to the present disclosure, it is possible to provide a moving body that can move stably.

[0008] This is an external perspective view showing a mobile body according to one embodiment of the present disclosure. This is an external perspective view showing a part of the configuration of the mobile body in Figure 1. This is a side view showing the side of the hexahedron in Figure 2. This is an external perspective view showing another part of the configuration of the mobile body in Figure 1. This is a schematic diagram showing a cross section along the V-V arrow in Figure 4. This is a block diagram showing an example of the configuration of the mobile body in Figure 1. This is a schematic diagram showing a first example of the rotation state of the main body when the mobile body in Figure 1 rotates while rotating around the pitch axis. This is a schematic diagram showing a second example of the rotation state of the main body when the mobile body in Figure 1 rotates while rotating around the pitch axis. This is a schematic diagram showing a third example of the rotation state of the main body when the mobile body in Figure 1 rotates while rotating around the pitch axis. This is a schematic diagram showing a first example of the rotation state of the main body when the mobile body in Figure 1 rotates while rotating around the roll axis. This is a schematic diagram showing a second example of the rotation state of the main body when the mobile body in Figure 1 rotates while rotating around the roll axis. This is a schematic diagram showing a third example of the rotation state of the main body when the mobile body in Figure 1 rotates while rotating around the roll axis.

[0009] In the following, one embodiment of this disclosure will be mainly described with reference to the attached drawings.

[0010] Figure 1 is an external perspective view showing a mobile body 1 according to one embodiment of the present disclosure. An example of the configuration and function of the mobile body 1 according to one embodiment will be mainly described with reference to Figure 1.

[0011] The mobile body 1 includes, for example, an aircraft. The aircraft includes, for example, a drone and a multicopter. For example, the mobile body 1 may be a drone. The mobile body 1 moves while flying in at least one of the outdoor and indoor areas. The mobile body 1 may fly through the air while moving in translation or rotation. In addition, the mobile body 1 moves on a two-dimensional plane by rotating while in contact with the two-dimensional plane and receiving a frictional force from the two-dimensional plane.

[0012] In this disclosure, “two-dimensional plane” includes, for example, the ground, a floor, a wall surface, and a ceiling surface. “Rotational movement” includes, for example, movement by rotation around a pitch axis, movement by rotation around a roll axis, and movement by rotation around an axis extending in a direction other than the pitch axis and the roll axis.

[0013] Mobile vehicle 1 utilizes wireless communication to control its movement, including its movement route, posture, and speed. Mobile vehicle 1 can move unmanned by cooperating with any control device via wireless communication, rather than being operated by a human being. Mobile vehicle 1 can also move without human operation, even when a human is on board, by cooperating with any control device via wireless communication. In this disclosure, "control device" includes, for example, a controller operated by a human to control the movement of mobile vehicle 1, and a server that is connected to mobile vehicle 1 via a network via wireless communication.

[0014] The mobile body 1 can also move autonomously in conjunction with automated driving, without relying on such a control device. For example, the mobile body 1 may move autonomously by identifying obstacles or other objects present at its destination using ultrasonic sensors or the like, or by measuring the distance from the mobile body 1 to such objects. For example, the mobile body 1 may autonomously orbit around a target object or location in combination with a measurement unit equipped with an acceleration sensor and a gyroscope.

[0015] In addition to the sensor devices described above, the mobile body 1 may further have other sensor devices, including an imaging device, and may acquire arbitrary data or information using such other sensor devices. For example, while flying through a narrow space, the mobile body 1 may use the imaging device to image the inspection target parts, such as the floor, walls, and ceiling, that make up the narrow space, and output the captured images as data to any external device for inspection purposes via wireless communication.

[0016] The mobile unit 1 comprises a main body 10, a plurality of rotor blade modules 20, and a guard 30. The rotor blade modules 20 correspond to the "power unit" described in the claims.

[0017] Each of the power unit 20, i.e., the plurality of rotor blade modules 20, includes a rotor blade 21 and a drive unit 22 that drives the rotor blade 21. The rotor blade modules 20 are attached to the main body 10 based on any mounting structure. The mobile body 1 is movable by the operation of the rotor blade modules 20.

[0018] The guard 30 is attached to the main body 10 based on an arbitrary mounting structure. The guard 30 forms the outer shape of the mobile body 1 so as to surround the main body 10 and the multiple power units 20 from the outside. The guard 30 is fixed to the main body 10. When the guard 30 rotates in conjunction with the rotational movement of the mobile body 1, the main body 10 rotates in accordance with the rotation of the guard 30. Conversely, if the guard 30 maintains a certain posture, the main body 10 will maintain a posture corresponding to that posture of the guard 30. The posture of the main body 10 corresponds one-to-one with the posture of the guard 30.

[0019] Figure 2 is an external perspective view showing a part of the configuration of the mobile body 1 in Figure 1. In Figure 2, the guard 30 in the mobile body 1 is omitted from the illustration, and only the main body 10 and the rotor blade module 20 are shown as an example. The main body 10 has a plurality of frames that constitute the first polyhedron. An example of the configuration and function of the main body 10 will be mainly described with reference to Figure 2.

[0020] The main body 10 is configured, for example, as a first polyhedron. The first polyhedron is, for example, a regular hexahedron. The main body 10 is configured such that its outer shape is that of a regular hexahedron. More specifically, the main body 10 has four frames F11, F12, F13, and F14 that constitute the top surface of the regular hexahedron in Figure 2. The main body 10 has four frames F21, F22, F23, and F24 located on the four sides of the regular hexahedron in Figure 2. The main body 10 has four frames F31, F32, F33, and F34 that constitute the bottom surface of the regular hexahedron in Figure 2. The main body 10 has the outer shape of a regular hexahedron formed by these 12 frames.

[0021] The main body 10 has four vertices located on the upper side of the hexahedron in Figure 2. More specifically, the main body 10 has a first vertex P1, a second vertex P2, a third vertex P3, and a fourth vertex P4. The first vertex P1 is located at the intersection of frames F11, F14, and F21. The second vertex P2 is located at the intersection of frames F12, F11, and F22. The third vertex P3 is located at the intersection of frames F13, F12, and F23. The fourth vertex P4 is located at the intersection of frames F14, F13, and F24.

[0022] The main body 10 has four vertices located on the lower side of the regular hexahedron in Figure 2. More specifically, the main body 10 has a fifth vertex P5, a sixth vertex P6, a seventh vertex P7, and an eighth vertex P8. The fifth vertex P5 is located at the intersection of frames F31, F34, and F21. The sixth vertex P6 is located at the intersection of frames F32, F31, and F22. The seventh vertex P7 is located at the intersection of frames F33, F32, and F23. The eighth vertex P8 is located at the intersection of frames F34, F33, and F24.

[0023] The main body 10 has frames extending into the interior of the main body 10 from each of the four vertices located on the upper side of the regular hexahedron in Figure 2. More specifically, the main body 10 has a frame F41 extending into the interior of the main body 10 from the first vertex P1. The main body 10 has a frame F42 extending into the interior of the main body 10 from the second vertex P2. The main body 10 has a frame F43 extending into the interior of the main body 10 from the third vertex P3. The main body 10 has a frame F44 extending into the interior of the main body 10 from the fourth vertex P4.

[0024] The main body 10 has frames extending into the interior of the main body 10 from each of the four vertices located on the lower side of the cube in Figure 2. More specifically, the main body 10 has a frame F51 extending into the interior of the main body 10 from the fifth vertex P5. The main body 10 has a frame F52 extending into the interior of the main body 10 from the sixth vertex P6. The main body 10 has a frame F53 extending into the interior of the main body 10 from the seventh vertex P7. The main body 10 has a frame F54 extending into the interior of the main body 10 from the eighth vertex P8.

[0025] The main body 10 has a housing box 11 located inside a regular hexahedron formed by 12 frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. The housing box 11 is connected to the end of each of the eight frames F41, F42, F43, F44, F51, F52, F53, and F54 that is located opposite the corresponding vertex of the regular hexahedron.

[0026] The housing box 11 is constructed as a regular hexahedron. The main body 10 is constructed by placing the housing box 11, which is a regular hexahedron, in the center of the regular hexahedron, which is the first polyhedron that constitutes the outer shape. The housing box 11 contains various functional modules, which will be described later, that are necessary for the mobile body 1 to perform various operations.

[0027] Figure 3 is a side view showing the side of the cube in Figure 2. Figure 3 is a side view of the side of the cube in Figure 2 that is composed of frames F14, F24, F34, and F21, as seen from the front. Figure 3 shows the view of the moving body 1 from this side, but since the moving body 1 is constructed symmetrically with respect to the three axes including the X, Y, and Z axes of the Cartesian coordinate system, the view of the moving body 1 from each of the other five faces will be the same as in Figure 3.

[0028] As shown in Figures 2 and 3, each of the multiple rotor blade modules 20 is located at a vertex of the first polyhedron. The rotor blade modules 20 are attached to the main body 10, extending outward from each vertex of the main body 10. In this disclosure, "inside" corresponds, for example, to a direction toward the center of the mobile body 1 or each component constituting the mobile body 1. For example, the inside of the mobile body 1 corresponds to a direction toward the center of the mobile body 1. The inside of each component constituting the mobile body 1 corresponds to a direction toward the center of each component constituting the mobile body 1. However, the inside does not have to be a direction toward the center, but may correspond to a direction toward a position slightly offset from the center. "Outside" is the opposite of inside.

[0029] The rotor blade module 20, which includes a rotor blade 21 and a drive unit 22 that drives the rotor blade 21, is mounted on the main body 10, which has a regular hexahedron shape, and is located at each vertex of the main body 10. The rotor blade module 20 is arranged so that the rotor blade 21 and the drive unit 22 rotate around the corresponding axis of rotation at each of the first vertex P1, second vertex P2, third vertex P3, fourth vertex P4, fifth vertex P5, sixth vertex P6, seventh vertex P7, and eighth vertex P8. The rotor blade 21 and the drive unit 22 of the rotor blade module 20 are rotatable in both clockwise and counterclockwise directions around the corresponding axis of rotation.

[0030] The rotor blades 21 and drive unit 22 included in the rotor blade module 20 are located on the outside of the main body 10. The rotor blades 21 and drive unit 22 rotate on the outside of a regular hexahedron formed by 12 frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. On the other hand, the rotor blades 21 and drive unit 22 included in the rotor blade module 20 are located on the inside of the guard 30. The rotor blades 21 and drive unit 22 rotate on the inside of the guard 30.

[0031] The eight rotor blade modules 20 are arranged symmetrically within the main body 10. The shape and size of each of the eight rotor blade modules 20 may be the same as those of the others. The shape and size of the rotor blades 21 included in the rotor blade modules 20 may be the same as those of the others of the eight rotor blade modules 20. The shape and size of the drive units 22 included in the rotor blade modules 20 may be the same as those of the others of the eight rotor blade modules 20.

[0032] The mobile body 1 achieves a state in which, when one of the six outer surfaces of the main body 10, which is configured as a regular hexahedron, faces vertically upward, it approximates the state in which the other outer surfaces face vertically upward. The mobile body 1 is configured symmetrically such that when one of the six outer surfaces of the main body 10 faces vertically upward, the combination of the four rotor blade modules 20 located on the upper side has the same shape, size, arrangement, and orientation as when the other outer surfaces face vertically upward.

[0033] The multiple rotor blades 21 are arranged so that each has a rotation axis along a straight line passing through a reference point P0 located inside the main body 10, and all of them face in different directions from each other. For example, the rotor blade 21 is located outside the main body 10 and has a rotation axis along a straight line connecting the reference point P0 and the vertex of the main body 10. Similarly, the drive unit 22 is located outside the main body 10 and has a rotation axis along a straight line connecting the reference point P0 and the vertex of the main body 10.

[0034] For example, referring to Figure 3, the rotor blade 21 and drive unit 22 located at the first vertex P1 have a rotation axis along the straight line connecting the reference point P0 and the first vertex P1. The rotor blade 21 and drive unit 22 located at the fourth vertex P4 have a rotation axis along the straight line connecting the reference point P0 and the fourth vertex P4. The rotor blade 21 and drive unit 22 located at the eighth vertex P8 have a rotation axis along the straight line connecting the reference point P0 and the eighth vertex P8. The rotor blade 21 and drive unit 22 located at the fifth vertex P5 have a rotation axis along the straight line connecting the reference point P0 and the fifth vertex P5. The same explanation applies to the rotor blade 21 and drive unit 22 located at the other second vertex P2, third vertex P3, sixth vertex P6, and seventh vertex P7.

[0035] In this disclosure, “reference point P0” is, for example, the centroid of the main body 10. “Centroid” means the center of mass that represents the weighted arithmetic mean of all points of the physical object in question. When the physical object in question has a uniform density and is formed symmetrically in the three axes, the center of mass coincides with the geometric center of the figure. “Geometric center” means the position of the arithmetic mean obtained over all points belonging to the figure.

[0036] For example, the mobile body 1 is configured symmetrically with respect to the three axes. In this case, when the density of the main body 10, including the storage box 11, is not biased at a predetermined location but is uniform at any location, the reference point P0 coincides with the geometric center of the main body 10. The reference point P0 may also be the geometric center of the first polyhedron that constitutes the main body 10.

[0037] In the mobile body 1, the geometric center of the housing box 11 and the geometric center of the first polyhedron coincide with each other at the reference point P0. Eight diagonal frames F41, F42, F43, F44, F51, F52, F53, and F54 connect the first polyhedron, which is a regular hexahedron formed by twelve frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34, to the housing box 11, each of which is positioned on the rotation axis of the corresponding rotor blade 21 and drive unit 22.

[0038] For example, referring to Figure 3, frame F41 is positioned on the axis of rotation of the rotor blade 21 and drive unit 22 located at the first vertex P1. Frame F44 is positioned on the axis of rotation of the rotor blade 21 and drive unit 22 located at the fourth vertex P4. Frame F54 is positioned on the axis of rotation of the rotor blade 21 and drive unit 22 located at the eighth vertex P8. Frame F51 is positioned on the axis of rotation of the rotor blade 21 and drive unit 22 located at the fifth vertex P5. The same explanation applies to the other frames F42, F43, F52, and F53.

[0039] Each rotor blade 21 located at a vertex rotates in a plane perpendicular to the axis of rotation. This plane points towards the reference point P0. For example, referring to Figure 3, the rotor blade 21 located at the first vertex P1 rotates in a plane perpendicular to the axis of rotation, i.e., perpendicular to the frame F41. The rotor blade 21 located at the fourth vertex P4 rotates in a plane perpendicular to the axis of rotation, i.e., perpendicular to the frame F44. The rotor blade 21 located at the eighth vertex P8 rotates in a plane perpendicular to the axis of rotation, i.e., perpendicular to the frame F54. The rotor blade 21 located at the fifth vertex P5 rotates in a plane perpendicular to the axis of rotation, i.e., perpendicular to the frame F51. The same explanation applies to the rotor blades 21 located at the other vertices, the second P2, third P3, sixth P6, and seventh P7.

[0040] Figure 4 is an external perspective view showing another part of the configuration of the mobile body 1 in Figure 1. In Figure 4, the main body 10 and the rotor blade module 20 of the mobile body 1 are omitted from the illustration, and only the guard 30 is shown. Figure 5 is a schematic diagram showing a cross-section along the line V-V in Figure 4. An example of the configuration and function of the guard 30 of the mobile body 1 according to one embodiment will be mainly described with reference to Figures 4 and 5.

[0041] The guard 30 is constructed, for example, as a second polyhedron. The second polyhedron may be a lattice dome. More specifically, the lattice dome may be a geodesic dome. The cross-section of the guard 30, constructed as a geodesic dome, is surrounded by the outer perimeter of, for example, a regular dodecagon, a regular icosahedron, or a truncated icosahedron of a semi-regular polyhedron. The guard 30 is constructed by connecting multiple sets of frames that form the smallest constituent unit, a triangle. The triangular area enclosed by the set of frames is actually hollow. No components are placed in this area. In Figure 4, the frame on the back of the guard 30 is omitted for the sake of simplicity, but in reality, the frame on the back is visible through the triangular area on the front.

[0042] The main body 10, as a first polyhedron, and the guard 30, as a second polyhedron, are connected to each other based on an arbitrary mounting structure. For example, the guard 30 and the main body 10 are connected to each other by at least one arm. One end of the at least one arm is connected to at least one of the 12 frames, for example, frames F11, F12, F13, F14, F21, F22, F23, F24, F31, F32, F33, and F34. When one end of the 12 arms is connected to each of the 12 frames, the connection strength between the guard 30 and the main body 10 is improved. The other end of the at least one arm is connected to any frame of the second polyhedron that constitutes the guard 30.

[0043] The main body part 10 and the guard 30 are connected via an arm in a state of being fixed to each other. At this time, the arm may be connected to the guard 30 and the main body part 10 so as to be detachable with respect to at least one of the guard 30 and the main body part 10. The arm may be configured to be detachable with respect to at least one of the guard 30 and the main body part 10 by any mode such as screwing, fitting, engagement, and locking.

[0044] On the other hand, the arm may be connected to the guard 30 and the main body part 10 so as to be non-detachable with respect to at least one of the guard 30 and the main body part 10. The arm may be configured to be non-detachable with respect to at least one of the guard 30 and the main body part 10 by any mode such as integral molding, joining, and adhesion.

[0045] As also shown in FIG. 1, in the moving body 1, the geometric center of the first polyhedron and the geometric center of the second polyhedron coincide with each other at the reference point P0. The center of gravity and the geometric center of the accommodation box 11 coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire main body part 10 including the accommodation box 11 coincide with each other at the reference point P0. The center of gravity and the geometric center of the entire eight rotary wing modules 20 coincide with each other at the reference point P0. The center of gravity and the geometric center of the guard 30 coincide with each other at the reference point P0. Thereby, the center of gravity and the geometric center of the entire moving body 1 constituted by the main body part 10, the eight rotary wing modules 20, and the guard 30 coincide with each other at the reference point P0.

[0046] The moving body 1 is configured symmetrically with respect to the three-axis directions for each of the configurations of the main body part 10, the eight rotary wing modules 20, and the guard 30. The moving body 1 is configured symmetrically with respect to the three-axis directions for the entire configuration including the main body part 10, the eight rotary wing modules 20, and the guard 30. Even if the moving body 1 rotates 90° to any one side surface side of the four side surfaces of the main body part 10 from the state of FIG. 1, it returns to the same state as FIG. 1.

[0047] When one of the six outer surfaces of the main body 10, which is configured as a regular hexahedron, faces the vertically upward direction, the other outer surfaces obtain the same state as when they face the vertically upward direction. The moving body 1 is symmetrically configured such that when one of the six outer surfaces of the main body 10 faces the vertically upward direction, the combination of the four rotary wing modules 20 located on the upper surface side has the same shape, size, arrangement, and orientation as when the other outer surfaces face the vertically upward direction.

[0048] From the viewpoint of enhancing impact absorbency while suppressing excessive deformation and suppressing contact between the lattice dome and the rotary wing module 20, each frame constituting the first polyhedron and each frame of the lattice dome constituting the second polyhedron preferably have a flexural modulus of elasticity of 5.0 GPa or more, more preferably 8.0 GPa or more, and preferably 250.0 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, further preferably 250.0 MPa or more, and preferably 30.0 GPa or less. The flexural modulus of elasticity and flexural strength are based on the flexural strength defined in ISO 178.

[0049] To obtain at least one of the flexural modulus and flexural strength, the above-mentioned material may be 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, or polyphenylene sulfide resin; or a thermoplastic resin composition comprising these thermoplastic resins and additives such as olefin-based elastomers, styrene-based elastomers, polyester-based elastomers, silicone-based elastomers, acrylate-based elastomers, or urethane-based elastomers; or a curable resin composition comprising these thermoplastic resins and curable resins such as epoxy resins or phenolic resins; or a fiber-reinforced material made by reinforcing these with fiber materials. As the fiber material, one or more of glass fibers, carbon fibers, or aramid fibers can be used. These resin materials can be molded into specific shapes and used for each frame.

[0050] The materials used are not limited to the resin materials described above. For example, metal materials such as pure titanium, titanium alloys, steel, aluminum alloys, magnesium alloys, maraging steel, stainless steel, and mild steel may be used. These metal materials can be molded into specific shapes and used for each frame. To further enhance the lightness and strength of each frame, each frame may have a hollow structure, a honeycomb structure, or the like.

[0051] From the viewpoint of enhancing the shock absorption of the second polyhedron, it is preferable to use the above-mentioned resin material as the material for each frame constituting the lattice dome. From a similar viewpoint, the above-mentioned resin material may also be used as the material for each frame constituting the first polyhedron. However, from the viewpoint of suppressing excessive deformation, each frame constituting the first polyhedron may have a higher flexural modulus or higher flexural strength than the material of each frame constituting the lattice dome, and in that case, the above-mentioned metal material may also be used.

[0052] Figure 6 is a block diagram showing an example of the configuration of the mobile body 1 in Figure 1. The mobile body 1 includes a rotor module 20 (power unit 20) which includes a rotor blade 21 and a drive unit 22, as well as 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 mobile body 1, the rotor module 20 is located outside the main body 10, while the first control unit 2a, the second control unit 2b, the communication unit 3, the acquisition unit 4, and the storage unit 5 are housed inside the housing box 11. At least one of the first control unit 2a and the second control unit 2b corresponds to the "control unit" described in the claims. The control unit controls the movement of the mobile body 1. In addition, the control unit controls the operation of the mobile body 1, including rotation.

[0053] The rotor blades 21 include blades that provide thrust to the moving body 1 by rotating in a predetermined direction. The rotor blades 21 include, for example, propellers and rotors. For example, the rotor blades 21 may include a reversible propeller. The rotor blades 21 rotate at a predetermined rotational speed around the corresponding rotation axis described above. In this disclosure, the "predetermined rotational speed" can be any value within a range from the highest output value to zero, for example, as the performance of the rotor blade module 20. The eight rotor blades 21 can rotate in the same direction and at the same rotational speed as each other, or they can rotate so that at least one of the direction and rotational speed is different from each other.

[0054] The drive unit 22 includes a mechanism for driving the rotor blade 21. The drive unit 22 includes, for example, a motor. The drive unit 22 rotates the rotor blade 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 rotor blade 21 at a predetermined rotational speed around the corresponding rotation axis. The eight drive units 22 can each rotate the eight rotor blades 21 in the same direction and at the same rotational speed, or they can each rotate the eight rotor blades 21 such that at least one of the direction and rotational speed is different from one another.

[0055] 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 a particular process. The first control unit 2a functions, for example, as a motor output control module such as an ESC (Electric Speed ​​Controller) in a drone for flight. 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 blade modules 20.

[0056] 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 drone for flight. The second control unit 2b is communicably 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 communicably connected to each component constituting the mobile body 1 and executes processing related to the operation of the mobile body 1. The second control unit 2b controls the operation of the entire mobile body 1. For example, the second control unit 2b outputs first control information to the first control unit 2a.

[0057] The communication unit 3 includes a communication module that enables communication between the mobile body 1 and the control device. The communication unit 3 includes an antenna. The communication unit 3 receives signal waves from the control device in wireless communication using the antenna. In this 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 for the mobile body 1 to control its movement, including its movement route, movement posture, and movement speed. In addition, the communication unit 3 is configured to receive any other information used in the operation of the mobile body 1.

[0058] The acquisition unit 4 includes one or more receivers corresponding to any satellite positioning system. For example, the acquisition unit 4 includes a GPS (Global Positioning System) receiver. The acquisition unit 4 acquires measured values ​​of the position of the mobile object 1 as position information. The position information includes address, latitude, longitude, and altitude. The acquisition unit 4 may acquire the position information of the mobile object 1 continuously, or it may acquire it periodically or irregularly.

[0059] The acquisition unit 4 may include, in place of or in addition to one or more receivers corresponding to a satellite positioning system, an external imaging device such as a plurality of cameras used to acquire information such as the attitude and position of the mobile body 1 by motion capture. The cameras include, for example, infrared illuminating cameras. The plurality of cameras are arranged, for example, around the mobile body 1 operating indoors and used to observe the attitude and movement of the mobile body 1. The mobile body 1 may acquire position coordinates calculated based on the information obtained by the external imaging device of the acquisition unit 4 as the position coordinates of the mobile body 1 itself.

[0060] In addition, the acquisition unit 4 may include sensors for detecting the rotation state of the main body 10 of the mobile body 1. For example, the acquisition unit 4 may include one or more 6-axis gyro sensors for detecting the attitude of the mobile body 1. The acquisition unit 4 may include one or more acceleration sensors, or one or more compasses. The acquisition unit 4 may include one or more internal imaging devices such as cameras as sensor devices. The acquisition unit 4 may acquire arbitrary image data using such internal imaging devices. The acquisition unit 4 may detect the rotation state using at least one of these sensors and output information indicating the rotation state of the main body 10 to the control unit.

[0061] The acquisition unit 4 may further include any other sensor devices. The acquisition unit 4 may acquire any data and information using the sensor devices. For example, the acquisition unit 4 may further include any sensor capable of acquiring airflow information. Such sensors include, for example, wind speed sensors and wind direction sensors. The acquisition unit 4 may acquire airflow information based on these sensors.

[0062] The storage unit 5 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited to these. The storage unit 5 functions as a main memory, an auxiliary memory, or a cache memory. The storage unit 5 stores any information used in the operation of the mobile device 1. The storage unit 5 stores system programs, application programs, and various types of information received or transmitted by the communication unit 3. The information stored in the storage unit 5 can be updated with information received via wireless communication through the communication unit 3.

[0063] The control unit of the mobile body 1 achieves a hovering state for the mobile body 1 by, for example, operating all of the multiple rotor blade modules 20. Table 1 is a table summarizing the rotation directions of each of the multiple rotor blades 21 when the mobile body 1 is in a hovering state. However, the conditions listed in Table 1 are merely examples, and the contents of this disclosure are not limited thereto.

[0064]

[0065] When the mobile body 1 is in a hovering state as shown in Figure 2, the control unit of the mobile body 1 controls the rotation speed of the rotor blades 21 located at each of the first vertex P1, second vertex P2, third vertex P3, fourth vertex P4, fifth vertex P5, sixth vertex P6, seventh vertex P7, and eighth vertex P8 to be the same. The control unit controls the rotation direction of the rotor blades 21 located at each of the second vertex P2, fourth vertex P4, fifth vertex P5, and seventh vertex P7 to be the same counterclockwise. The control unit controls the rotation direction of the rotor blades 21 located at each of the first vertex P1, third vertex P3, sixth vertex P6, and eighth vertex P8 to be the same clockwise. In this disclosure, "counterclockwise" and "clockwise" refer to the state when the mobile body 1 is observed from above in the vertical direction.

[0066] The following describes in detail an example of the processing performed by the control unit that controls multiple rotor blade modules 20 when controlling the rotation of the mobile body 1.

[0067] The control unit of the mobile body 1 acquires the rotational state of the main body 10 and selects and controls at least some of the multiple power units 20 according to the acquired rotational state. For example, the control unit acquires the rotational state detected by a sensor included in the acquisition unit 4 from the output of the acquisition unit 4. The control unit may also acquire the rotational state of the main body 10 through internal processing using the sensor of the acquisition unit 4 which is an internal component of the mobile body 1 itself. Through control by the control unit, the multiple power units 20 attached to the main body 10 generate a force that rotates the main body 10.

[0068] For example, the control unit of the mobile body 1 rotates the main body 10 based on the horizontal thrust generated by operating the power unit 20. For example, when the mobile body 1 moves on a two-dimensional plane, the guard 30 rotates on the two-dimensional plane while in contact with it. The mobile body 1 rotates on the two-dimensional plane with the main body 10 and the guard 30 acting as a single unit. At this time, in addition to the horizontal thrust generated by operating the power unit 20, the mobile body 1 may also rotate the guard 30 and the main body 10 using the frictional force generated between the guard 30 and the two-dimensional plane.

[0069] Figure 7A is a schematic diagram showing a first example of the rotational state of the main body 10 when the mobile body 1 in Figure 1 rotates while rotating around the pitch axis. Figure 7B is a schematic diagram showing a second example of the rotational state of the main body 10 when the mobile body 1 in Figure 1 rotates while rotating around the pitch axis. Figure 7C is a schematic diagram showing a third example of the rotational state of the main body 10 when the mobile body 1 in Figure 1 rotates while rotating around the pitch axis. Referring to Figures 7A to 7C, a first example of processing by the control unit of the mobile body 1 when the mobile body 1 rotates on the ground G, which is a two-dimensional plane, while in contact with the ground G will be specifically described.

[0070] Figures 7A to 7C each show the rotational state of the moving body 1 at each instant as it rotates on the ground G. In Figures 7A to 7C, the pitch axis is, for example, an axis that intersects the plane of the paper. Corresponding with Figure 2, the X-axis shown in Figure 2 corresponds to the pitch axis. Figures 7A to 7C each show the moving body 1 as viewed from the positive X-axis direction in Figure 2. The moving body 1 rotates around the X-axis, which is the pitch axis, while rotating toward the positive Y-axis direction in Figure 2. As an example, the posture of the moving body 1 shown in Figure 7A is the same as the posture of the moving body 1 shown in Figure 2, and the rotation angle of the moving body 1 at this time is conveniently defined as the first reference angle.

[0071] When the control unit of the mobile body 1 acquires the first rotation state of the main body 10, as shown in Figure 7A, it selects and controls only the power units 20 located at the fifth vertex P5 and the sixth vertex P6 from among the plurality of power units 20 according to the acquired first rotation state. In this disclosure, the "first rotation state" includes, for example, a state in which the main body 10 of the mobile body 1 is tilted at an angle included in the first angular range. The "first angular range" includes, for example, an angular range from the first reference angle to the first angle.

[0072] When the control unit of the mobile body 1 identifies that the main body 10 is in a first rotation state, it activates the drive units 22 of the power units 20 located at the fifth vertex P5 and the sixth vertex P6, respectively. The drive units 22 drive the rotor blades 21 under the control of the control unit. For example, the control unit controls the two power units 20 so that the two rotor blades 21 located at the fifth vertex P5 and the sixth vertex P6 rotate in opposite directions. At this time, the control unit may control the rotation speeds of the two rotor blades 21 located at the fifth vertex P5 and the sixth vertex P6 to be the same.

[0073] The control unit may operate the rotor blade 21 located at the fifth vertex P5 counterclockwise at a first rotational speed, and the rotor blade 21 located at the sixth vertex P6 clockwise at a first rotational speed. Conversely, the control unit may operate the rotor blade 21 located at the fifth vertex P5 clockwise at a first rotational speed, and the rotor blade 21 located at the sixth vertex P6 counterclockwise at a first rotational speed. The control unit does not operate the power units 20 located at each vertex other than the fifth vertex P5 and the sixth vertex P6, and maintains the rotational speed of each rotor blade 21 at zero to keep it stationary.

[0074] When the control unit of the mobile body 1 acquires the second rotation state of the main body 10, as shown in Figure 7B, it selects and controls only the power units 20 located at the seventh vertex P7 and the eighth vertex P8 from among the plurality of power units 20 according to the acquired second rotation state. In this disclosure, the "second rotation state" includes, for example, a state in which the main body 10 of the mobile body 1 is tilted at an angle included in the second angular range. The "second angular range" includes, for example, an angular range from the first angle to the second angle.

[0075] When the control unit of the mobile body 1 identifies that the main body 10 is in the second rotation state, it activates the drive units 22 of the power units 20 located at the seventh vertex P7 and the eighth vertex P8, respectively. The drive units 22 drive the rotor blades 21 under the control of the control unit. For example, the control unit controls the two power units 20 so that the two rotor blades 21 located at the seventh vertex P7 and the eighth vertex P8 rotate in opposite directions. At this time, the control unit may also control the rotation speeds of the two rotor blades 21 located at the seventh vertex P7 and the eighth vertex P8 to be the same.

[0076] The control unit may operate the rotor blade 21 located at the seventh vertex P7 counterclockwise at a second rotation speed, and the rotor blade 21 located at the eighth vertex P8 clockwise at a second rotation speed. Conversely, the control unit may operate the rotor blade 21 located at the seventh vertex P7 clockwise at a second rotation speed, and the rotor blade 21 located at the eighth vertex P8 counterclockwise at a second rotation speed. The second rotation speed may be the same value as the first rotation speed, or it may be a different value. The control unit does not operate the power units 20 located at each vertex other than the seventh vertex P7 and the eighth vertex P8, and maintains the rotation speed of each rotor blade 21 at zero to keep it stationary.

[0077] When the control unit of the mobile body 1 acquires the third rotation state of the main body 10, as shown in Figure 7C, it selects and controls only the power units 20 located at the first vertex P1 and the second vertex P2 from among the plurality of power units 20 according to the acquired third rotation state. In this disclosure, the "third rotation state" includes, for example, a state in which the main body 10 of the mobile body 1 is tilted at an angle included in the third angular range. The "third angular range" includes, for example, an angular range from the second angle to the third angle. The third angle may be, for example, the first reference angle + 360 degrees. The mobile body 1 may complete one rotation by rotating from the first reference angle to the third angle.

[0078] When the control unit of the mobile body 1 identifies that the main body 10 is in the third rotation state, it activates the drive units 22 of the power units 20 located at the first vertex P1 and the second vertex P2, respectively. The drive units 22 drive the rotor blades 21 under the control of the control unit. For example, the control unit controls the two power units 20 so that the two rotor blades 21 located at the first vertex P1 and the second vertex P2 rotate in opposite directions. At this time, the control unit may control the rotation speeds of the two rotor blades 21 located at the first vertex P1 and the second vertex P2 to be the same.

[0079] The control unit may operate the rotor blade 21 located at the first vertex P1 counterclockwise at a third rotation speed, and the rotor blade 21 located at the second vertex P2 clockwise at a third rotation speed. Conversely, the control unit may operate the rotor blade 21 located at the first vertex P1 clockwise at a third rotation speed, and the rotor blade 21 located at the second vertex P2 counterclockwise at a third rotation speed. The third rotation speed may be the same as or different from the first rotation speed. The control unit maintains the rotation speed of each rotor blade 21 at zero and keeps it stationary without operating the power units 20 located at each vertex other than the first vertex P1 and the second vertex P2.

[0080] The moving body 1 receives a thrust F1 through the operation of the multiple power units 20 based on the control of the control unit. The thrust F1 may be the same magnitude in all three rotational states (first, second, and third), or it may be different in at least one of them. The moving body 1 receives a thrust directed in the positive Y-axis direction as a horizontal component of the thrust F1. In addition, the moving body 1 also receives a frictional force F2 directed in the negative Y-axis direction, which occurs as the entire body moves in the positive Y-axis direction in Figures 7A to 7C. In addition to the thrust F1, the moving body 1 receives the frictional force F2 generated between the guard 30 and the ground G, causing the guard 30 and the main body 10 to rotate together.

[0081] Figure 8A is a schematic diagram showing a first example of the rotational state of the main body 10 when the mobile body 1 in Figure 1 rotates while rotating around the roll axis. Figure 8B is a schematic diagram showing a second example of the rotational state of the main body 10 when the mobile body 1 in Figure 1 rotates while rotating around the roll axis. Figure 8C is a schematic diagram showing a third example of the rotational state of the main body 10 when the mobile body 1 in Figure 1 rotates while rotating around the roll axis. Referring to Figures 8A to 8C, a second example of processing by the control unit of the mobile body 1 when the mobile body 1 rotates on the ground G, which is a two-dimensional plane, while in contact with the ground G will be specifically described.

[0082] Figures 8A to 8C each show the rotational state of the moving body 1 at various moments while it is rotating on the ground G. In Figures 8A to 8C, the roll axis is, for example, an axis that intersects the plane of the paper. Corresponding with Figure 2, the Y-axis shown in Figure 2 corresponds to the roll axis. Figures 8A to 8C each show the moving body 1 as viewed from the negative Y-axis direction in Figure 2. The moving body 1 rotates and moves toward the positive X-axis direction in Figure 2 while rotating around the Y-axis, which is the roll axis. As an example, the posture of the moving body 1 shown in Figure 8A is the same as the posture of the moving body 1 shown in Figure 2, and the rotation angle of the moving body 1 at this time is conveniently defined as the second reference angle.

[0083] When the control unit of the mobile body 1 acquires the fourth rotation state of the main body 10, as shown in Figure 8A, it selects and controls only the power units 20 located at the sixth vertex P6 and the seventh vertex P7 from among the plurality of power units 20 according to the acquired fourth rotation state. In this disclosure, the "fourth rotation state" includes, for example, a state in which the main body 10 of the mobile body 1 is tilted at an angle included in the fourth angular range. The "fourth angular range" includes, for example, an angular range from the second reference angle to the fourth angle.

[0084] When the control unit of the mobile body 1 identifies that the main body 10 is in the fourth rotation state, it activates the drive units 22 of the power units 20 located at the sixth vertex P6 and the seventh vertex P7, respectively. The drive units 22 drive the rotor blades 21 under the control of the control unit. For example, the control unit controls the two power units 20 so that the two rotor blades 21 located at the sixth vertex P6 and the seventh vertex P7 rotate in opposite directions. At this time, the control unit may also control the rotation speeds of the two rotor blades 21 located at the sixth vertex P6 and the seventh vertex P7 to be the same.

[0085] The control unit may operate the rotor blade 21 located at the sixth vertex P6 counterclockwise at the fourth rotation speed, and the rotor blade 21 located at the seventh vertex P7 clockwise at the fourth rotation speed. Conversely, the control unit may operate the rotor blade 21 located at the sixth vertex P6 clockwise at the fourth rotation speed, and the rotor blade 21 located at the seventh vertex P7 counterclockwise at the fourth rotation speed. The fourth rotation speed may be the same value as the first rotation speed, or it may be a different value. The control unit maintains the rotation speed of each rotor blade 21 at zero and keeps it stationary without operating the power units 20 located at each vertex other than the sixth vertex P6 and the seventh vertex P7.

[0086] When the control unit of the mobile body 1 acquires the fifth rotation state of the main body 10, as shown in Figure 8B, it selects and controls only the power units 20 located at the fifth vertex P5 and the eighth vertex P8 from among the plurality of power units 20 according to the acquired fifth rotation state. In this disclosure, the "fifth rotation state" includes, for example, a state in which the main body 10 of the mobile body 1 is tilted at an angle included in the fifth angular range. The "fifth angular range" includes, for example, an angular range from the fourth angle to the fifth angle.

[0087] When the control unit of the mobile body 1 identifies that the main body 10 is in the fifth rotation state, it activates the drive units 22 of the power units 20 located at the fifth vertex P5 and the eighth vertex P8, respectively. The drive units 22 drive the rotor blades 21 under the control of the control unit. For example, the control unit controls the two power units 20 so that the two rotor blades 21 located at the fifth vertex P5 and the eighth vertex P8 rotate in opposite directions. At this time, the control unit may control the rotation speeds of the two rotor blades 21 located at the fifth vertex P5 and the eighth vertex P8 to be the same.

[0088] The control unit may operate the rotor blade 21 located at the fifth vertex P5 counterclockwise at the fifth rotation speed, and the rotor blade 21 located at the eighth vertex P8 clockwise at the fifth rotation speed. Conversely, the control unit may operate the rotor blade 21 located at the fifth vertex P5 clockwise at the fifth rotation speed, and the rotor blade 21 located at the eighth vertex P8 counterclockwise at the fifth rotation speed. The fifth rotation speed may be the same value as the fourth rotation speed, or it may be a different value. The control unit maintains the rotation speed of each rotor blade 21 at zero and keeps it stationary without operating the power units 20 located at each vertex other than the fifth vertex P5 and the eighth vertex P8.

[0089] When the control unit of the mobile body 1 acquires the sixth rotation state of the main body 10, as shown in Figure 8C, it selects and controls only the power units 20 located at the second vertex P2 and the third vertex P3 from among the plurality of power units 20 according to the acquired sixth rotation state. In this disclosure, the "sixth rotation state" includes, for example, a state in which the main body 10 of the mobile body 1 is tilted at an angle included in the sixth angle range. The "sixth angle range" includes, for example, an angle range from the fifth angle to the sixth angle. The sixth angle may be, for example, the second reference angle + 360 degrees. The mobile body 1 may complete one rotation by rotating from the second reference angle to the sixth angle.

[0090] When the control unit of the mobile body 1 identifies that the main body 10 is in the sixth rotation state, it activates the drive units 22 of the power units 20 located at the second vertex P2 and the third vertex P3, respectively. The drive units 22 drive the rotor blades 21 under the control of the control unit. For example, the control unit controls the two power units 20 so that the two rotor blades 21 located at the second vertex P2 and the third vertex P3 rotate in opposite directions. At this time, the control unit may also control the rotation speeds of the two rotor blades 21 located at the second vertex P2 and the third vertex P3 to be the same.

[0091] The control unit may operate the rotor blade 21 located at the second vertex P2 counterclockwise at the sixth rotation speed, and the rotor blade 21 located at the third vertex P3 clockwise at the sixth rotation speed. Conversely, the control unit may operate the rotor blade 21 located at the second vertex P2 clockwise at the sixth rotation speed, and the rotor blade 21 located at the third vertex P3 counterclockwise at the sixth rotation speed. The sixth rotation speed may be the same value as the fourth rotation speed, or it may be a different value. The control unit maintains the rotation speed of each rotor blade 21 at zero and keeps it stationary without operating the power units 20 located at each vertex other than the second vertex P2 and the third vertex P3.

[0092] The moving body 1 receives a thrust F1 through the operation of the multiple power units 20 based on the control of the control unit. The thrust F1 may be the same magnitude in all of the fourth, fifth, and sixth rotation states, or it may be a different magnitude in at least one of them. The moving body 1 receives a thrust directed in the positive X-axis direction as a horizontal component of the thrust F1. In addition, the moving body 1 also receives a frictional force F2 directed in the negative X-axis direction, which occurs as the entire body moves in the positive X-axis direction in Figures 8A to 8C. In addition to the thrust F1, the moving body 1 receives the frictional force F2 generated between the guard 30 and the ground G, causing the guard 30 and the main body 10 to rotate together.

[0093] In the description relating to Figures 7A to 8C, the first reference angle and the second reference angle may be the same value or different values. The first angle and the fourth angle may be the same value or different values. The second angle and the fifth angle may be the same value or different values. The third angle and the sixth angle may be the same value or different values.

[0094] According to the mobile body 1 of the above embodiment, stable movement is possible. The mobile body 1 has a plurality of power units 20 that generate a force to rotate the main body 10, and a control unit that selects and controls at least a portion of the plurality of power units 20 according to the acquired rotation state of the main body 10. As a result, the mobile body 1 can also perform rotational movement. Therefore, the mobile body 1 can move stably in narrow spaces, for example, when applied for inspection purposes. The mobile body 1 is not limited to flight by translational movement, for example, but can also move on the ground, in the air, or underwater with rotational movement different from translational movement. The mobile body 1 can move stably in various modes of movement, including translational and rotational movement, regardless of the size or type of space being moved.

[0095] The control unit of the mobile body 1 rotates the main body 10 based on the horizontal thrust generated by operating the power unit 20. As a result, unlike conventional technology in which only the guard rotates and the attitude of the main body is maintained by a gimbal structure, the mobile body 1 can move by rotating the main body 10 itself. Compared to conventional technology in which only the guard rotates by rotating the part that fastens the guard and the main body in a gimbal structure, the mobile body 1 can rotate using the thrust obtained from the power unit 20 itself.

[0096] The mobile body 1 is fixed to the main body 10 and further includes a guard 30 that forms the outer shape of the mobile body 1 so as to surround the main body 10 and the multiple power units 20 from the outside. As a result, the mobile body 1 can rotate the guard 30 and the main body 10 as a single unit while the guard 30 and the main body 10 are fixed to each other. Because the guard 30 is fixed to the main body 10, the mobile body 1 can reduce the instability of the posture of the main body 10 relative to the guard 30. If the guard 30 and the main body 10 were attached to each other in a gimbal structure to maintain the main body 10 horizontally, the main body 10 would try to maintain horizontality in response to the rotation of the guard 30, but this would cause the posture of the main body 10 to instability significantly. The mobile body 1 has a mounting structure different from such a gimbal structure, so it can sufficiently reduce such instability of the posture of the main body 10.

[0097] In the mobile body 1, the guard 30 rotates and moves on the two-dimensional plane while in contact with it. As a result, the mobile body 1 is not limited to flight, for example, but can move stably by rotation on a two-dimensional plane such as the ground G. Therefore, the mobile body 1 can also move stably in confined spaces. The mobile body 1 can move stably in various modes of movement, including translational and rotational movement, regardless of the size or type of the space being moved in.

[0098] The mobile body 1 rotates on a two-dimensional plane with the main body 10 and the guard 30 working together as one unit. This allows the mobile body 1 to stably achieve rotational movement on a two-dimensional plane such as the ground G.

[0099] In addition to horizontal thrust, the mobile body 1 rotates the guard 30 and the main body 10 using the frictional force F2 generated between the guard 30 and the two-dimensional plane. This enables the mobile body 1 to stably achieve rotational movement on a two-dimensional plane such as the ground G.

[0100] The control unit of the mobile unit 1 acquires the rotation state of the main body 10 from the output of the acquisition unit 4, which includes a sensor that detects the rotation state of the main body 10. As a result, the mobile unit 1 can complete all of the rotation state detection and acquisition processes, as well as the control processes of the power unit 20, as internal processes of the mobile unit 1. Therefore, the mobile unit 1 can make a significant contribution to future autonomous driving.

[0101] In the mobile body 1, the power unit 20 includes a rotor module 20 which includes a rotor 21 and a drive unit 22 that drives the rotor 21. As a result, the mobile body 1 can rotate and move using thrust or the like with a power structure commonly used in ordinary drones and the like.

[0102] In the mobile body 1, the multiple rotor blades 21 are arranged so that each rotor blade has a rotation axis passing through a straight line that passes through a reference point P0 located inside the main body 10, and all of them face in different directions from each other. As a result, the mobile body 1 can rotate the main body 10 stably. The mobile body 1 can stably achieve the rotational movement described above, in which the guard 30 and the main body 10 rotate as a single unit.

[0103] The rotor blades 21 are located outside the main body 10, and their axis of rotation is the straight line connecting the reference point P0 and the vertices of the first polyhedron. As a result, even if the orientation of the main body 10, which is configured as the first polyhedron, changes, the mobile body 1 can obtain a state that is similar to the state when one face of the first polyhedron is facing vertically upward, as it would be when the other faces are facing vertically upward. The mobile body 1 can be configured such that when one face of the first polyhedron is facing vertically upward, the number of rotor blade modules 20, which is the same as the number of vertices of the face located on the upper side, is arranged and oriented in a similar manner to the state when the other faces are facing vertically upward.

[0104] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind and collision with an obstacle, and the upper surface of the mobile body 1 changes from one face of the first polyhedron to another face. Even in such a case, the mobile body 1 can continue to move with the same thrust by using a combination of rotor modules 20 having a similar number, arrangement, and orientation between one face and the other face of the first polyhedron. Therefore, even if the mobile body 1 changes its attitude significantly due to rotation or the like, unlike conventional drones, for example, it is possible to suppress falling during flight. The mobile body 1 can continue to fly stably even if its attitude is disturbed and has excellent resistance to gusts of wind.

[0105] The same state can be obtained even if the mobile body 1 is rotated by an angle corresponding to the rotational symmetry of the first polyhedron. For example, when the first polyhedron is n times symmetric with respect to rotational symmetry, the mobile body 1 can be rotated by an angle of 360 / n° from a state where one face of the first polyhedron is the top face, so that another face becomes the top face. The mobile body 1 can be constructed symmetrically with respect to the directions of multiple axes that intersect each other at an angle of 360 / n°.

[0106] The main body 10 has multiple frames that constitute the first polyhedron. This allows the mobile body 1 to improve the robustness of the main body 10. Therefore, the mobile body 1 can more firmly attach the rotor module 20 to the main body 10 and more stably position the rotor module 20 relative to the main body 10. Consequently, the mobile body 1 can reduce the oscillation of the rotor module 20 relative to the main body 10 when the rotor 21 is in operation. As a result, the mobile body 1 can move stably.

[0107] The first polyhedron is a regular hexahedron. This allows the mobile body 1 to further improve its symmetry. More specifically, if each rotor module 20 of the mobile body 1 has the same shape and size as the others, and the reference point P0 coincides with the geometric center of the first polyhedron, then even if the orientation of the main body 10, which is configured as the first polyhedron, changes, when one face of the first polyhedron is facing vertically upward, it is possible to obtain the same state as when the other faces are facing vertically upward. The mobile body 1 can be configured such that when one face of the first polyhedron is facing vertically upward, the combination of the four rotor modules 20 is in the same arrangement and orientation as when the other faces are facing vertically upward.

[0108] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind and collision with an obstacle, and the upper surface of the mobile body 1 changes from one face of the first polyhedron to another face. Even in such a case, the mobile body 1 can continue to move with the same thrust between one face and the other face of the first polyhedron by using a combination of rotor modules 20 having the same number, arrangement, and orientation. Therefore, even if the mobile body 1 changes its attitude significantly due to rotation or the like, unlike conventional drones, for example, it can further suppress falling during flight. The mobile body 1 can continue to fly more stably even if its attitude is disturbed, and it has even better resistance to gusts of wind.

[0109] In this case, since the first polyhedron of the mobile body 1 is four-fold symmetric with respect to rotational symmetry, by rotating the first polyhedron at a 90° angle from a state where one face of the first polyhedron is the top face, the other face can become the top face. The mobile body 1 can be constructed symmetrically with respect to the three axes, the X, Y, and Z axes, which intersect each other at a 90° angle. The mobile body 1 can fly extremely quickly and precisely in all three directions. The mobile body 1 can move stably regardless of the forward, backward, left, right, up, or down directions.

[0110] For example, when one face of the first polyhedron is positioned on the upper vertical side, the mobile body 1 moves and maintains its attitude by operating only the rotor module 20 located at the vertex of that face. For example, when one face of a regular hexahedron is positioned on the upper side, the mobile body 1 can also move and hover by operating only the four rotor modules 20 located at the four vertices of that face. The mobile body 1 can move without operating the remaining four rotor modules 20 located on the lower side. As a result, the mobile body 1 can reduce the energy consumed during movement compared to when all eight rotor modules 20 are operated while maintaining such a stable attitude. The mobile body 1 can achieve energy savings during movement.

[0111] Thus, the mobile body 1 operates, for example, the rotor blade modules 20 located at each vertex of its upper surface to perform movement and attitude maintenance. On the other hand, when the mobile body 1's attitude changes and one face is no longer positioned on the upper surface, it operates the rotor blade modules 20 located at each vertex of the first polyhedron to change its attitude so that one face or another face different from one face is positioned on the upper surface. For example, the mobile body 1 can also change its attitude by operating the eight rotor blade modules 20 located at each of the eight vertices of a regular hexahedron. Therefore, even if the mobile body 1's attitude changes from a stable attitude for movement and attitude maintenance, it can easily return to a similar stable attitude and move stably without depending on external factors such as wind and collisions with obstacles.

[0112] The reference point P0 is the center of gravity of the main body 10. This allows the mobile body 1 to exhibit the aforementioned effects on stable movement more significantly. More specifically, the mobile body 1 can be configured such that when one face of the first polyhedron becomes the upper face, each of the multiple rotor blades 21 positioned at multiple vertices of that face faces the center of gravity. This allows the mobile body 1 to operate the corresponding multiple rotor blade modules 20 in accordance with the center of gravity of the main body 10 during flight, for example, when that face is the upper face, thereby maintaining its attitude more stably.

[0113] The symmetry of the mobile body 1 can be improved because the reference point P0 is the center of gravity of the main body 10 and also the geometric center of the first polyhedron that constitutes the main body 10. More specifically, if each rotor module 20 has the same shape and size as the other, then even if the orientation of the main body 10, which is composed of the first polyhedron, changes, the mobile body 1 can obtain a state in which one face of the first polyhedron faces vertically upwards is more similar to the state in which the other faces face vertically upwards.

[0114] For example, consider a case where the mobile body 1 rotates and changes its attitude due to external factors such as wind and collision with an obstacle, and the upper surface of the mobile body 1 changes from one face of the first polyhedron to another face. Even in such a case, the mobile body 1 can continue to move with the same thrust by using a combination of rotor modules 20 having a more similar number, arrangement, and orientation to each other between one face and the other face of the first polyhedron. Therefore, even if the mobile body 1 changes its attitude significantly due to rotation or the like, unlike conventional drones, for example, it can further suppress falling during flight. The mobile body 1 can continue to fly more stably even if its attitude is disturbed, and it has even better resistance to gusts of wind.

[0115] Even when the center of gravity of the main body 10 and the geometric center of the first polyhedron are different from each other, and the reference point P0 is the geometric center of the first polyhedron, the mobile body 1 can move stably in the same manner as described above by adjusting the rotation speed of each rotor module 20 in accordance with the deviation of the center of gravity from the geometric center.

[0116] The mobile body 1 has a guard 30 that forms its outer shape, and further comprises a guard 30 that is configured as a second polyhedron. As a result, even if the mobile body 1 comes into contact with an obstacle, it can actively rotate according to the shape of the second polyhedron and continue moving. More specifically, when the mobile body 1 collides with an obstacle, the first component that comes into contact with the obstacle is the guard 30. Therefore, the mobile body 1 can continue moving even after colliding with an obstacle by rotating relative to the obstacle in accordance with the shape of the second polyhedron that constitutes the guard 30. At this time, since the guard 30 is fixed to the main body 10, the main body 10 rotates in conjunction with the rotation of the guard 30. For example, the mobile body 1 may rotate and move along the ground, a wall, or a ceiling.

[0117] In the mobile body 1, the second polyhedron is a lattice dome. This improves the symmetry of the guard 30, making it easier for the mobile body 1 to actively rotate according to the shape of the second polyhedron when it comes into contact with an obstacle. Therefore, the mobile body 1 can continue moving more easily even if it collides with an obstacle. As a result, even when the mobile body 1 is used for inspection purposes in confined spaces, for example, it can continue moving without problems even when it approaches and comes into contact with the inspection target in order to image the inspection target. For example, even if the mobile body 1 approaches and comes into contact with the inspection target by flight, it can actively rotate due to the guard 30, thus reducing the possibility of crashing.

[0118] The mobile body 1 can reduce air resistance during movement by improving the symmetry of the guard 30. As a result, the mobile body 1 can move stably without relying on external factors such as wind and collisions with obstacles. In addition, the mobile body 1 can reduce external impacts that occur when it comes into contact with obstacles. Furthermore, the mobile body 1 can lighten the guard 30 with its symmetrical structure. Therefore, the mobile body 1 can reduce the energy consumed during movement in proportion to its weight. The mobile body 1 can achieve energy savings during movement.

[0119] It will be apparent to those skilled in the art that this disclosure can be implemented in other predetermined forms besides the embodiments described above without deviating from its spirit or essential features. Therefore, the prior description is illustrative and not limiting. The scope of the disclosure is defined not by the prior description but by the added claims. Any modifications within their equivalent scope are included therein.

[0120] For example, the shape, pattern, size, arrangement, orientation, type, and number of each component described above 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 they can realize their function. Each component of the illustrated mobile body 1 is a functional concept, and the specific form of each component is not limited to those shown.

[0121] In the above embodiment, the control unit of the mobile body 1 was described as rotating the main body 10 based on the horizontal thrust generated by operating the power unit 20, but it is not limited to this. The control unit may rotate the main body 10 based on the reaction torque generated by operating the power unit 20, instead of or in addition to the horizontal thrust.

[0122] In the above embodiment, the guard 30 was described as being fixed to the main body 10, but this is not limited to that. The guard 30 may be attached to the main body 10 by any rotating structure, such as a gimbal structure, so that it can rotate relative to the main body 10. This makes it possible for the mobile body 1 to maintain the main body 10 horizontally even if the guard 30 rotates, or to rotate the main body 10 independently of the rotation of the guard 30. For example, even if the guard 30 comes into contact with an obstacle and actively rotates according to the shape of the second polyhedron, the mobile body 1 can maintain a horizontal posture without the main body 10 rotating in conjunction with the rotation of the guard 30. In such a case as well, the above description regarding the connection between the guard 30 and the main body 10 by an arm still applies.

[0123] In the above embodiment, the guard 30 was described as rotating and moving on a two-dimensional plane while in contact with the two-dimensional plane, but it is not limited to this. The mobile body 1 may rotate its main body 10 while flying through the air or moving underwater without contacting the two-dimensional plane. The mobile body 1 may rotate and move in the air or underwater without contacting the two-dimensional plane. In this case, the control unit of the mobile body 1 may generate both a force to rotate the main body 10 and a force to move the mobile body 1 in a predetermined direction by selecting and controlling at least a portion of the plurality of power units 20 according to the acquired rotation state. Alternatively, the mobile body 1 may rotate its main body 10 while hovering in the air or maintaining a predetermined position underwater. The mobile body 1 may achieve only rotation of the main body 10 without moving in the air or underwater.

[0124] In the above embodiment, the mobile body 1 was described as rotating the guard 30 and the main body 10 with horizontal thrust and frictional force F2 generated between the guard 30 and the two-dimensional plane, but it is not limited to this. The mobile body 1 may rotate the guard 30 and the main body 10 with any other force in place of, or in addition to, at least one of the horizontal thrust and frictional force F2.

[0125] In the embodiments described above, the two-dimensional plane includes, but is not limited to, the ground, floor, wall surface, or ceiling surface. The two-dimensional plane may also include, for example, the bottom of water, such as the seabed, riverbed, and lakebed.

[0126] In the above embodiment, the acquisition unit 4 of the mobile body 1 was described as including a sensor for detecting the rotation state of the main body 10, but it is not limited to this. The acquisition unit 4 does not have to include such a sensor. In this case, the control unit may acquire the rotation state of the main body 10 from outside the mobile body 1 by any method. For example, the control unit may acquire an image including the main body 10, captured by an imaging device located outside the mobile body 1, by any method, and acquire the rotation state of the main body 10 based on the image.

[0127] In the above embodiment, the power unit 20 was described as including a rotor module 20 that includes a rotor blade 21 and a drive unit 22 for driving the rotor blade 21, but it is not limited to this. The power unit 20 may include other configurations as long as it is capable of being attached to the main body 10 and generating a force to rotate the main body 10. For example, the power unit 20 may include a jet engine.

[0128] In the above embodiment, the multiple rotor blades 21 are described as being arranged such that each has a rotation axis passing through a straight line passing through a reference point P0 located inside the main body 10, and all are facing in different directions from each other. However, the embodiment is not limited to this. The multiple rotor blades 21 may be configured in any other arrangement or orientation that allows the main body 10 to rotate.

[0129] In the above embodiment, the shape and size of the rotor blades 21 included in the rotor blade module 20 were described as being the same for all eight rotor blade modules 20, but this is not limited to that. At least one of the shape and size of the rotor blades 21 may differ from one another in all eight rotor blade modules 20. Similarly, the shape and size of the drive unit 22 included in the rotor blade module 20 were described as being the same for all eight rotor blade modules 20, but this is not limited to that. At least one of the shape and size of the drive unit 22 may differ from one another in all eight rotor blade modules 20.

[0130] In the above embodiment, the main body 10 was described as being configured as a first polyhedron, but it is not limited to this. The main body 10 does not have to be configured as a first polyhedron. For example, the main body 10 may be configured as a sphere. In the above embodiment, each of the multiple rotor blade modules 20 was described as being located at a vertex of the first polyhedron, but it is not limited to this. Each of the multiple rotor blade modules 20 may be located at a position other than a vertex in the first polyhedron. In this case, the rotor blade 21 does not have to use the line connecting the reference point P0 and the vertex of the first polyhedron as its axis of rotation, and may use another line passing through the reference point P0 as its axis of rotation.

[0131] In the above embodiment, the main body 10 was described as having a plurality of frames constituting the first polyhedron, but it is not limited to this. The main body 10 does not have to have a plurality of frames in the configuration of the first polyhedron. For example, the main body 10 may be composed of a first polyhedron formed by imaginary lines, rather than a first polyhedron as a physical object made up of a plurality of frames.

[0132] In the above embodiment, the first polyhedron was described as a regular hexahedron, but it is not limited to this. The first polyhedron may be any solid enclosed by four or more planes. When the first polyhedron is a regular hexahedron, it was described that the moving body 1 is configured symmetrically with respect to three axes including the X, Y, and Z axes of the Cartesian coordinate system, but it is not limited to this. The moving body 1 may be configured symmetrically with respect to the directions of multiple axes that intersect each other at an angle of 360 / n° when the first polyhedron is n times symmetric with respect to rotational symmetry.

[0133] In the above embodiment, the reference point P0 is described as being both the centroid of the main body 10 and the geometric center of the first polyhedron, but it is not limited to this. The reference point P0 may be any other point located inside the main body 10 that does not coincide with either the centroid of the main body 10 or the geometric center of the first polyhedron.

[0134] In the above embodiment, it was explained that the centroid of the main body 10 and the geometric center of the first polyhedron coincide with each other, but this is not limited to this. The centroid of the main body 10 and the geometric center of the first polyhedron may be different from each other. The reference point P0 may be either the centroid of the main body 10 or the geometric center of the first polyhedron, or it may be any other point located inside the main body 10 that does not coincide with either of them.

[0135] In the above embodiment, it was explained that in the mobile body 1, the geometric center of the storage box 11 and the geometric center of the first polyhedron coincide with each other at the reference point P0, but this is not limited to this. The geometric center of the storage box 11 and the geometric center of the first polyhedron may be different from each other. The reference point P0 may be either the geometric center of the storage box 11 or the geometric center of the first polyhedron, or it may be any other point located inside the main body 10 that does not coincide with either of them.

[0136] In the above embodiment, it was explained that in the moving body 1, the geometric centers of the first polyhedron and the second polyhedron coincide with each other at the reference point P0, but this is not limited to this. The geometric centers of the first polyhedron and the second polyhedron may be different from each other. The reference point P0 may be either the geometric center of the first polyhedron or the geometric center of the second polyhedron, or it may be any other point located inside the main body 10 that does not coincide with either of them.

[0137] In the above embodiment, it was explained that the centroid and geometric center of the storage box 11 coincide at the reference point P0, but this is not limited to this. The centroid and geometric center of the storage box 11 may be different from each other. The reference point P0 may be either the centroid or the geometric center of the storage box 11, or it may be any other point located inside the main body 10 that does not coincide with either.

[0138] In the above embodiment, it was explained that the centroid and geometric center of the entire main body 10, including the storage box 11, coincide with each other at the reference point P0, but this is not limited to this. The centroid and geometric center of the entire main body 10 may be different from each other. The reference point P0 may be either the centroid and the geometric center of the entire main body 10, or it may be any other point located inside the main body 10 that does not coincide with either.

[0139] In the above embodiment, it was explained that the center of gravity and geometric center of the eight rotor blade modules 20 as a whole coincide with each other at the reference point P0, but this is not limited to this. The center of gravity and geometric center of the eight rotor blade modules 20 as a whole may be different from each other. The reference point P0 may be either the center of gravity and the geometric center of the eight rotor blade modules 20 as a whole, or it may be any other point located inside the main body 10 that does not coincide with either.

[0140] In the above embodiment, it was explained that the centroid and geometric center of the guard 30 coincide with each other at the reference point P0, but this is not limited to this. The centroid and geometric center of the guard 30 may be different from each other. The reference point P0 may be either the centroid or the geometric center of the guard 30, or it may be any other point located inside the main body 10 that does not coincide with either.

[0141] In the above embodiment, it was explained that the center of gravity and geometric center of the entire mobile body 1, which is composed of the main body 10, the eight rotor blade modules 20, and the guard 30, coincide with each other at the reference point P0, but this is not limited to this. The center of gravity and geometric center of the entire mobile 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 mobile body 1, or it may be any other point located inside the main body 10 that does not coincide with either.

[0142] In the above embodiment, the mobile body 1 was described as having a guard 30 that forms the outer shape of the mobile body 1 so as to surround the main body portion 10 and the rotor blade module 20 from the outside, but it is not limited to this. The mobile body 1 does not have to have a guard 30.

[0143] In the above embodiment, the second polyhedron constituting the guard 30 was described as a lattice dome, but it is not limited to this. The second polyhedron may be any solid enclosed by four or more planes. The guard 30 is not limited to a second polyhedron and may be constructed as a sphere.

[0144] In the above embodiment, the first control unit 2a was described as being housed inside the housing box 11, but this is not limited to that. The first control unit 2a may be located outside the housing box 11. For example, the first control unit 2a may be included in each of the eight rotor module 20 and arranged to be integrated with the rotor 21 and drive unit 22.

[0145] In the above embodiment, the mobile body 1 was described as being movable by operating only the four rotor blade modules 20 located at the four vertices of a face of a regular hexahedron when that face is positioned as the top face, but it is not limited to this. The mobile body 1 may also be movable by operating only the pair of rotor blade modules 20 located on the longest diagonal of the regular hexahedron, for example, in Figure 2.

[0146] For example, the mobile body 1 may move in an orientation such that the diagonal connecting the third vertex P3 and the fifth vertex P5 in Figure 2 is parallel to the vertical direction. In this case, the mobile body 1 may move and hover by operating only the two rotor wing modules 20 such that the rotation directions of the rotor wings 21 are opposite to each other, with the rotor wing module 20 located at the third vertex P3 positioned vertically upward and the rotor wing module 20 located at the fifth vertex P5 positioned vertically downward. In this way, the mobile body 1 may move and maintain its orientation by operating only the two rotor wing modules 20 such that the rotation directions of the two rotor wings 21 are opposite to each other, with the rotor wing module 20 located at one vertex of the first polyhedron positioned vertically upward and the rotor wing module 20 located at the other vertex on the opposite side positioned vertically downward.

[0147] As a result, the mobile unit 1 can further reduce the energy consumed during movement compared to the case where the four rotor blade modules 20 are operated to maintain such a stable attitude. The mobile unit 1 can achieve energy savings during movement.

[0148] As described above, the mobile body 1 may operate only the rotor blade modules 20 located at two opposing vertices in order to move and maintain its attitude. Alternatively, the mobile body 1 may change its attitude by operating the rotor blade modules 20 located at each vertex of the first polyhedron, while its attitude has changed and the positions of one opposing vertex and the other vertex are misaligned, so that the same or different pairs of rotor blades are positioned vertically up and down for two opposing vertices. For example, the mobile body 1 can also change its attitude by operating the eight rotor blade modules 20 located at the eight vertices of a regular hexahedron. As a result, even if the mobile body 1 changes its attitude from a stable attitude for moving and maintaining its attitude, it can easily return to a similar stable attitude and move stably without relying on external factors such as wind and collisions with obstacles.

[0149] In the above embodiment, the mobile body 1 was described as a drone for flight, but it is not limited to this. The mobile body 1 may include any vehicle, vehicle, and submarine. The mobile body 1 may include, for example, a submarine such as a drone for underwater movement. The mobile body 1 may include, for example, a vehicle such as a hovercraft that can move on at least one of water and land.

[0150] In the above embodiment, the acquisition unit 4 was 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 in such a way that it maintains a horizontal position by a gimbal structure, for example, if 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 in such a way that the guard 30 is attached to the main body 10 in such a way that it maintains a horizontal position with respect to the rotation of the guard 30.

[0151] Some embodiments of the present disclosure are illustrated below. However, it should be noted that embodiments of the present disclosure are not limited to these. [Note 1] A mobile body comprising: a control unit that controls the operation of the mobile body including rotation; a main body; and a plurality of power units attached to the main body that generate a force to rotate the main body, wherein the control unit acquires the rotational state of the main body and selects and controls at least a portion of the plurality of power units according to the acquired rotational state. [Note 2] The mobile body according to Note 1, wherein the control unit rotates the main body based on the horizontal thrust generated by operating the power units. [Note 3] The mobile body according to Note 2, further comprising a guard fixed to the main body and constituting the outer shape of the mobile body so as to surround the main body and the plurality of power units from the outside. [Note 4] The mobile body according to Note 3, wherein the guard rotates on the two-dimensional plane while in contact with the two-dimensional plane. [Note 5] A mobile body as described in Note 4, wherein the main body and the guard rotate and move together as a single unit on the two-dimensional plane. [Note 6] A mobile body as described in Note 4 or 5, wherein, in addition to the thrust, the guard and the main body are rotated by the frictional force generated between the guard and the two-dimensional plane. [Note 7] A mobile body as described in any one of Notes 4 to 6, wherein the two-dimensional plane includes the ground, floor, wall surface, or ceiling surface. [Note 8] A mobile body as described in any one of Notes 1 to 7, wherein the control unit rotates the main body based on the reaction torque generated by operating the power unit. [Note 9] A mobile body as described in any one of Notes 1 to 8, further comprising an acquisition unit including a sensor for detecting the rotation state, wherein the control unit acquires the rotation state by output from the acquisition unit. [Note 10] A mobile body according to any one of Notes 1 to 9, wherein the power unit includes a rotor module that includes a rotor blade and a drive unit for driving the rotor blade.[Note 11] A mobile body as described in Note 10, wherein each of the multiple rotor blades has a straight line passing through a reference point located inside the main body as its axis of rotation, and all of them are arranged to face in different directions from each other. [Note 12] A mobile body as described in Note 11, wherein the main body is configured as a polyhedron, each of the multiple rotor blade modules is located at a vertex of the polyhedron, and the rotor blades are located outside the main body, with the straight line connecting the reference point and the vertex as their axis of rotation. [Note 13] A mobile body as described in Note 12, wherein the main body has a plurality of frames constituting the polyhedron. [Note 14] A mobile body as described in Note 12 or 13, wherein the polyhedron is a regular hexahedron. [Note 15] A mobile body as described in any one of Notes 12 to 14, wherein the reference point is the geometric center of the polyhedron. [Note 16] A mobile body as described in any one of Notes 11 to 15, wherein the reference point is the center of gravity of the main body. [Note 17] A mobile body as described in any one of Notes 1 to 16, wherein the mobile body is a drone for flight.

[0152] 1 Mobile unit 2a First control unit 2b Second control unit 3 Communication unit 4 Acquisition unit 5 Memory unit 10 Main body 11 Storage box 20 Rotary wing module (power unit) 21 Rotary wing 22 Drive unit 30 Guard F1 Thrust F2 Friction F11 Frame F12 Frame F13 Frame F14 Frame F21 Frame F22 Frame F23 Frame F24 Frame F31 Frame F32 Frame F33 Frame F34 Frame F41 Frame F42 Frame F43 Frame F44 Frame F51 Frame F52 Frame F53 Frame F54 Frame G Ground P0 Reference point P1 First vertex P2 Second vertex P3 Third vertex P4 Fourth vertex P5 Fifth vertex P6 Vertex 6 P7 Vertex 7 P8 Vertex 8

Claims

1. A mobile body comprising: a control unit that controls the movement of the mobile body including rotation; a main body; and a plurality of power units attached to the main body that generate a force to rotate the main body, wherein the control unit acquires the rotational state of the main body and selects and controls at least a portion of the plurality of power units according to the acquired rotational state.

2. A mobile body according to claim 1, wherein the control unit rotates the main body based on the horizontal thrust generated by operating the power unit.

3. A mobile body according to claim 2, further comprising a guard fixed to the main body and forming the outer shape of the mobile body so as to surround the main body and the plurality of power units from the outside.

4. A mobile body according to claim 3, wherein the guard rotates and moves on the two-dimensional plane while in contact with the two-dimensional plane.

5. A mobile body according to claim 4, wherein the main body and the guard rotate and move together as a single unit on the two-dimensional plane.

6. A mobile body according to claim 4 or 5, wherein, in addition to the thrust, the guard and the main body are rotated by the frictional force generated between the guard and the two-dimensional plane.

7. A mobile body according to claim 4 or 5, wherein the two-dimensional plane includes the ground, a floor, a wall surface, or a ceiling surface.

8. A mobile body according to any one of claims 1 to 5, wherein the control unit rotates the main body based on the reaction torque generated by operating the power unit.

9. A mobile body according to any one of claims 1 to 5, further comprising an acquisition unit including a sensor for detecting the rotation state, wherein the control unit acquires the rotation state by means of the output from the acquisition unit.

10. A mobile body according to any one of claims 1 to 5, wherein the power unit includes a rotor module that includes a rotor and a drive unit for driving the rotor.

11. A mobile body according to claim 10, wherein the plurality of rotor blades are arranged such that each rotor blade has a rotation axis passing through a straight line located inside the main body and all rotor blades face in different directions from each other.

12. A mobile body according to claim 11, wherein the main body is configured as a polyhedron, each of the plurality of rotor blade modules is located at a vertex of the polyhedron, the rotor blades are located outside the main body, and the straight line connecting the reference point and the vertex is the axis of rotation.

13. A mobile body according to claim 12, wherein the main body portion has a plurality of frames constituting the polyhedron.

14. A mobile body according to claim 12, wherein the polyhedron is a regular hexahedron.

15. A moving body according to claim 12, wherein the reference point is the geometric center of the polyhedron.

16. A mobile body according to claim 11, wherein the reference point is the center of gravity of the main body.

17. A mobile body according to any one of claims 1 to 5, wherein the mobile body is a drone for flight.

Images