JP7065705B2 - Flying object - Google Patents

Description

The present invention relates to techniques for maintaining maneuverability or stability in flight of an air vehicle.

A technique for displaying an image by an afterimage of a light emitting body is known (see, for example, Patent Document 1). Using this technique, for example, a flying body called a drone is provided with an annular rotating body that rotates around the flying body, and the light emitting time of a plurality of light emitting bodies provided in the rotating body is controlled according to the rotation. A mechanism for displaying images is being considered.

However, when such a rotating body is rotated in the flying body, a reaction force that tries to rotate the entire flying body in the direction opposite to the rotation direction is generated. Further, when the rotating shaft of such a rotating body is rotated in a state of being tilted with respect to the vertical direction, a gyro effect is generated in which the rotating shaft is returned to the vertical direction.

It is expected that these reactions and gyro effects will adversely affect the maneuverability and stability of the flying object in flight. Further, such a problem becomes more remarkable especially when the flying object or the rotating body becomes large or heavy, or when the rotating body rotates at a high rotation speed. Further, such a problem is not limited to the rotating body for display purposes, and it is considered that the same problem occurs when any rotating body is mounted on the flying body.

Japanese Unexamined Patent Publication No. 6-214509

Therefore, it is an object of the present invention to suppress the adverse effect on flight exerted by a rotating body that rotates in a flying body for purposes other than flight applications.

In order to achieve the above object, the present invention includes a first rotating body that rotates for applications other than flight applications, and a second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body. The second rotating body is one or more of the plurality of rotating bodies rotating for flight purposes, and the first rotating body among the plurality of rotating bodies rotating for flight purposes. A group of co-rotating bodies that rotate in the same direction as the body's rotation direction and a group of counter-rotating bodies that correspond to the second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body rotate. At least one of the attributes of the number of bodies, the mass of the rotating body, the size of the rotating body, or the shape of the rotating body is different, and the rotation of the second rotating body causes the first rotation. Provided is an air vehicle characterized by suppressing the action exerted on the flight of the air vehicle by the rotation of the body.

In order to achieve the above object, the present invention includes a first rotating body that rotates for applications other than flight applications, and a second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body. The second rotating body is one or more of the plurality of rotating bodies rotating for flight purposes, and the first rotating body among the plurality of rotating bodies rotating for flight purposes. The same-direction rotating body group that rotates in the same direction as the body rotation direction and the reverse-direction rotating body group that corresponds to the second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body, respectively. The control of the rotating body is different, and the rotation of the second rotating body suppresses the action exerted on the flight of the flying body by the rotation of the first rotating body. I will provide a.

According to the present invention, it is possible to suppress adverse flight effects caused by a rotating body that rotates in a flying body for purposes other than flight applications.

The figure which shows the electrical composition of the flying object which concerns on 1st Embodiment Diagram showing the flying object seen from above Figure showing the flying object seen in the arrow A-A Diagram showing an example of the displayed image A diagram showing an example of the relationship between the light emission control of each LED and the time. A diagram showing an example of an image displayed while an aircraft is moving The figure which shows the flying object which concerns on 3rd Embodiment Diagram showing the flying object according to the modified example Diagram showing the flying object according to the modified example

[First Embodiment]
FIG. 1 shows the overall configuration of the flight object 1 according to the embodiment. The flying object 1 is an image display device that displays an image while flying in the air. The flying object 1 is, for example, a multi-rotor type rotary wing aircraft having four rotary wings 11 and rotating each rotary wing 11 to fly, so-called drone, multicopter or quadcopter. Each rotary blade 11 is a rotor having two blades in this embodiment, and the flying object 1 is moved, that is, flies in the air by converting the rotational force generated by the motor described later into a propulsive force.

The flying object 1 includes a flight mechanism 10 having four rotor blades 11, a power supply unit 20, a rotating unit 30, an image display unit 40, and an outer member 80. The flight mechanism 10 is a mechanism that generates lift by the rotation of each rotary wing 11 to move its own device (flying body 1) in the air, that is, a mechanism for flying its own device. For example, the flight mechanism 10 raises and lowers its own device by rotating each rotary blade 11 at the same rotation speed, and changes its rotation speed of each rotary blade 11 to move its own device to the rotary blade 11 side having a low rotation speed. Tilt and move horizontally. In addition to the four rotor blades 11 described above, the flight mechanism 10 includes four motors 12, four ESCs (Electronic Speed Controllers) 13, a flight controller 14, and a receiver 15.

The motor 12 has a rotating shaft and a rotating mechanism for rotating the rotating shaft, and the rotating mechanism has a magnetic field generating member such as a permanent magnet, a coil through which an electric current flows, and a housing for storing them. As the motor 12, for example, a brushless motor is used in which the rotating shaft is rotated by a direct current and the direction of the current flowing through the coil is changed by using a semiconductor switch. The above rotary blades are fixed to the rotary shafts of each motor 12, and the rotary blades rotate when the motor 12 rotates the rotary shafts.

The ESC 13 is electrically connected to the motor 12, amplifies the input current and supplies it to the motor 12, and controls the rotation of the motor 12 by changing the direction of the current and the like. The flight controller 14 is electrically connected to each of the four ESCs 13, and controls the operation of each ESC 13 to control the flight of the flying object 1. Specifically, the flight controller 14 controls the rotation speed of each motor 12 to enable ascending, descending, horizontal movement, hovering, landing, flight of a designated route, and the like of the flying object 1.

The receiver 15 is electrically connected to the flight controller 14 and receives a control signal transmitted from an external remote control controller 14 to supply the flight controller 14. The maneuvering signal is a signal instructing a flight method such as ascending, descending, or horizontal movement of the flying object 1. By controlling the flight according to the instruction represented by the control signal supplied by the flight controller 14, it becomes possible to fly the flight body 1 as intended by the operator who operates the remote control controller. The four motors 12, the four ESCs 13, the flight controller 14, and the receiver 15 function as flight control units 16 that rotate the four rotors 11 to control the flight of the own device.

The power supply unit 20 is electrically connected to the flight mechanism 10 and the image display unit 40, and supplies electric power to operate each of these units. The power supply unit 20 includes a battery 21, a battery alarm 22, and a BEC (Battery Eliminator Circuit) 23. The battery 21 is a lithium polymer battery, and supplies the stored electric power to the above-mentioned parts. The battery alarm 22 measures the voltage of the battery 21 in order to prevent damage to the battery 21 due to over-discharging, and sounds an alarm when the voltage drops below a set value, for example, to notify the operator. The BEC 23 is a circuit that supplies the electric power stored in the battery 21 to the video display unit 40.

The rotating portion 30 includes a motor driver 31, a motor 32, and a rotating body 33. The motor driver 31 controls the start of rotation, the stop of rotation, the rotation speed, and the like of the rotating body 33 based on the instructions from the single board computer 41 described in detail later. The motor 32 has a rotating shaft and a rotating mechanism for rotating the rotating shaft, and the rotating mechanism has a magnetic field generating member such as a permanent magnet, a coil through which an electric current flows, and a housing for storing them. As the motor 32, for example, a brushless motor is used in which the rotating shaft is rotated by a direct current and the direction of the current flowing through the coil is changed by using a semiconductor switch. A rotating body 33 is fixed to the rotating shaft of each motor 32, and when the rotating shaft of the motor 32 rotates, the rotating body 33 rotates. The rotating body 33 is, for example, a disk-shaped member in the present embodiment, but the shape, size, or material thereof may be any. The rotating body 33 corresponds to an example of the "second rotating body" in the present invention. In the present embodiment, the rotating body 33 is a rotating body that rotates for purposes other than flight applications. On the other hand, the above-mentioned rotary blade 11 is a rotating body that rotates for flight purposes.

The image display unit 40 has a plurality of LEDs (Light Emitting Diodes) that are light emitters, and displays an image by the light emitted by the plurality of LEDs. The image display unit 40 includes a single board computer 41, a motor driver 42, a DC (Direct Current) motor / photoreflector 43, a rotation / communication unit 44, an LED driver 45, a slip ring 46, and a serial LED tape 47. And an annular member 48.

The single board computer 41 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), an SD memory card, and the like, and the CPU uses the RAM as a work area to execute a program stored in the SD memory card. , Controls the operation of the motor driver 42 and the LED driver 45.

The motor driver 42 controls the operation of the DC motor / photoreflector 43. Specifically, the motor driver 42 controls the start of rotation, the stop of rotation, the rotation speed, and the like. The motor driver 42 performs these controls based on instructions from the single board computer 41.

The DC motor / photoreflector 43 includes a motor that generates a driving force by a direct current and a photoreflector that is a sensor that measures a value representing the rotation speed of the motor. The value measured by the photoreflector is supplied to the single board computer 41 via the motor driver 42. The single board computer 41 controls the rotation speed of the motor to be a target value based on the supplied value.

The rotation / communication unit 44 has a rod-shaped shaft that is rotated by a driving force generated by the DC motor / photoreflector 43. An annular member 48, which will be described later, is fixed to this shaft. Further, this shaft has a function as a communication line, and a signal line of a serial LED tape 47 described later is connected to mediate communication between each LED and the LED driver 45.

The LED driver 45 controls the light emission of a plurality of LEDs included in the image display unit 40. Specifically, the LED driver 45 controls the start of light emission, the stop of light emission, the amount of light at the time of light emission, and the like. The LED driver 45 performs these controls based on instructions from the single board computer 41. The slip ring 46 is electrically connected to the LED driver 45 and the rotation / communication unit 44, respectively, and power is supplied from the LED driver 45 to the rotation / communication unit 44 even when the rotation axis of the rotation / communication unit 44 is rotating. And transmit signals.

The serial LED tape 47 includes a signal line, a plurality of LEDs arranged in a row along the signal line and each connected to the signal line, and a tape to which the signal line and the plurality of LEDs are adhered. .. The light emission of the plurality of LEDs is individually controlled by the signal supplied from the signal line. The annular member 48 is a member in which a rod-shaped member is formed in an annular shape, and a serial LED tape 47 is attached to the outer peripheral side thereof. Therefore, the plurality of LEDs included in the serial LED tape 47 are arranged in an annular shape. Since the annular member 48 is fixed to the shaft of the rotation / communication unit 44 as described above, the annular member 48 rotates together with the shaft by the driving force generated by the DC motor / photoreflector 43.

The serial LED tape 47 and the annular member 48 form a frame body 50 in which a plurality of LEDs are arranged side by side. The frame body 50 has an annular shape like the annular member 48. The frame body 50 is provided so as to repeatedly move in a fixed trajectory. The fixed trajectory is a trajectory having a fixed position and orientation with respect to a drive mechanism (in this embodiment, a mechanism having a DC motor / photoreflector 43, a rotation / communication unit 44, etc.) that generates a driving force for moving the frame body 50. It means that.

In this embodiment, the frame body 50 is arranged around the rotation axis and is rotatably supported around the rotation axis, and rotates around the rotation axis. That is, the frame body 50 repeatedly rotates and moves in the same rotation direction with the orbit drawn by itself as the above-mentioned determined orbit by this rotation. The axis of rotation here is not a rod-shaped object such as a shaft, but a virtual straight line that is the center of rotation.

Further, the frame body 50 is arranged around each of the flight mechanism 10 and the power supply unit 20 so as to surround the flight mechanism 10 and the power supply unit 20. The frame 50 also rotates around the flight mechanism 10 and the power supply unit 20 by rotating around the rotation axis around the rotation axis. The frame body 50 has a size and arrangement that does not come into contact with the flight mechanism 10 and the power supply unit 20 even when rotated about the rotation axis. That is, the flight mechanism 10 and the power supply unit 20 are accommodated inside the orbit in which the frame body 50 rotates and moves. The frame body 50 is a rotating body that rotates for purposes other than flight applications, and corresponds to an example of the first rotating body in the present invention. The frame body 50 (first rotating body) and the above-mentioned rotating body 33 (second rotating body) can be rotated in opposite directions to each other. When the frame body 50 and the rotating body 33 rotate in opposite directions, the action caused by the rotation of the frame body 50 on the flying object 1 (rotating the entire flying object 1 in the direction opposite to the rotation direction of the frame body 50). The reaction force to cause the frame 50 and the gyro effect to return the rotation axis to the vertical direction when the frame 50 is rotated in a state of being tilted with respect to the vertical direction) are suppressed. In this case, considering the size, shape, mass and rotation speed of the frame body 50 and the size, shape and mass of the rotating body 33, the above-mentioned action caused by the rotation of the frame body 50 on the flying object 1 is exactly performed. The rotating body 33 is rotated at a rotation speed that cancels out. The optimum rotation speed of the rotating body 33 for eliminating such an action is the size of the rotating body 50, the size of the rotating moment based on the size, shape, mass, and the rotating speed of the frame body 50, and the size of the rotating body 33, depending on the single board computer. It is obtained according to a calculation formula such that the magnitudes of the rotational moments based on the shape, mass, and rotational speed are equivalent.

The single board computer 41, the motor driver 42, the DC (Direct Current) motor / photoreflector 43, and the rotation / communication unit 44 function as a rotation control unit 60 that controls the rotation of the frame 50 around the rotation axis described above. ..

The single board computer 41, the LED driver 45, and the slip ring 46 control the emission timing of the plurality of LEDs so that the light emitted by the plurality of LEDs represents an image when the frame body 50 moves in the above-mentioned fixed trajectory. It functions as a light emission control unit 70. In this embodiment, the light emission control unit 70 controls the light emission timing of each LED when the frame body 50 rotates around the rotation axis.

The outer member 80 is a structure that is arranged so as to surround the frame body 50 and prevents contact between the frame body 50 and other parts and other objects. The arrangement and shape of the frame body 50 and the outer member 80 will be described with reference to FIGS. 2 and 3.

FIG. 2 is a plan view showing the flying object 1 as seen from above. FIG. 3 is a cross-sectional view showing the flying object as seen in the arrow AA of FIG. The term "viewed from above" as used herein means to view the aircraft 1 in a vertical ascending or descending posture from vertically above. The flying object 1 includes a housing 2 which is a rectangular parallelepiped box for storing a power supply unit 20 and the like. The upper surface of the housing 2 has a square shape. On the four side surfaces of the housing 2, arm portions 3-1, 3-2, 3-3, 3-4 that support the rotor blades 11-1, 11-2, 11-3, and 11-4, respectively ( When not distinguishing between them, an "arm portion 3") is provided. The housing 2 and the arm portion 3 correspond to a frame constituting the flying object 1.

Each rotary blade 11 is provided at the tip of each arm portion 3 (the end portion away from the housing 2). In the present embodiment, of the four rotors 11, a set of rotors 11-1 and 11-3 that are diagonally (that is, not adjacent to each other) when viewed from above rotates, for example, in a clockwise direction, and the other rotors 11 A set of rotors 11-2 and 11-4 rotate, for example, in a counterclockwise direction. As a result, it is difficult for the entire flying object 1 to generate a rotational moment in the yaw direction.

The frame body 50 rotates, for example, counterclockwise when viewed from above, and the rotating body 33 rotates in the opposite direction, that is, clockwise. As a result, the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is canceled by the action of the rotating body 33 rotating clockwise in the opposite direction. The size, shape, mass, and rotation speed of the rotating body 33, which are optimal for canceling the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50, are the size, shape, and mass of the frame body 50. And according to a calculation formula such that the magnitude of the rotational moment for the entire flying object 1 based on the rotational speed is equal to the magnitude of the rotational moment for the entire flying object 1 based on the size, shape, mass, and rotational speed of the rotating body 33. Desired.

In FIG. 2A, the frame body 50 is represented so as to overlap the arm portions 3-1 and 3-3. When viewed from above as shown in FIG. 2, the frame body 50 is rotatably provided around a rotation axis B1 passing through a center point on the upper surface of the housing 2 as shown in FIG. 2 (b). The outer member 80 includes a plurality of vertical annular members 81, a plurality of lateral annular members 82, and a joint 83 connecting them. These will be described in detail later with reference to FIG.

FIG. 3 shows the flying object 1 as seen in the arrow AA of FIG. 2 (a). The flying object 1 shown in FIG. 3 is in a posture when vertically ascending or descending. In FIG. 3, the vertical and horizontal directions are represented by arrows. Inside the housing 2, a flight controller 14, a receiver 15, a battery 21, a battery alarm 22, a BEC23, a speed sensor unit 30, a single board computer 41, a motor driver 42, an LED driver 45, and a slip ring 46 are provided. There is. A motor 12 and an ESC 13 are provided vertically above the arm portion 3.

The DC motor / photoreflector 43 includes a DC motor 431 and a photoreflector 432, and is fixed to the outside of the housing 2. The rotation / communication unit 44 includes a pulley 441, a shaft 442, and a bearing 443. The pulley 441 is a pulley that transmits the rotational force of the DC motor 431 to the shaft 442. The shaft 442 is a cylindrical shaft arranged with the longitudinal direction directed along the vertical direction, and is rotated by a rotational force transmitted via the pulley 441. Further, the shaft 442 is made of metal, for example, and functions as a communication line as described above. The vertically upper end of the shaft 442 is in contact with the slip ring 46 and receives power and signals from the LED driver 45.

An annular member 48 included in the frame body 50 is fixed to the shaft 442. The annular member 48 comprises twelve straight metal wires 481 and twelve joints 482 connecting the metal wires 481 to each other, which are assembled in an annular shape (several metal wires 481 and plurality of joints 482). It is formed in the shape of a regular dodecagon. The signal line of the serial LED tape 47 attached to the annular member 48 is in contact with the shaft 442. The shaft 442 mediates communication between each LED and the LED driver 45 via this signal line. The bearing 443 is rotatably attached to the shaft 442 on the vertically lower side than the position where the annular member 48 is fixed, and the outer member 80 is fixed to the bearing 443. As a result, the shaft 442 rotates separately from the outer member 80 while supporting the outer member 80.

A support member 4 is provided vertically above the housing 2. The support member 4 is a cylindrical member arranged so that the longitudinal direction is directed along the rotation axis B1 of the frame body 50. A bearing 5 is rotatably attached to the support member 4, and an annular member 48 is fixed to the bearing 5. As a result, the support member 4 rotates separately from the annular member 48 while supporting the annular member 48. The outer member 80 is fixed vertically above the mounting position of the bearing 5 of the support member 4.

The rotating member 33 is a pulley in which the pulley 341 transmits the rotational force of the motor 32 to the shaft 342. The shaft 342 is a cylindrical shaft arranged with the longitudinal direction directed along the vertical direction, and is rotated by a rotational force transmitted via the pulley 341. A rotating body 33 is fixed to the shaft 342. The shaft 342 rotates separately from the outer member 80 while supporting the rotating body 33. The rotating body 33 rotates with the rotation of the shaft 342.

FIG. 3 shows a plurality of (two in this embodiment) vertical annular members 81, a plurality of (six in this embodiment) lateral annular members 82, and a joint 83 included in the outer shell member 80 described above. Both the vertical annular member 81 and the horizontal annular member 82 are members in which a thin metal wire such as a wire is formed in an annular shape. The vertical annular member 81 is arranged so that the plane surrounded by the ring formed by itself is arranged vertically, and the horizontal annular member 82 is arranged so that the plane surrounded by the ring formed by itself is along the horizontal direction. Have been placed.

Since the annular member included in the outer member 80 is formed of a thin metal wire, even if a plurality of LEDs are viewed through the outer member 80, the image displayed by the plurality of LEDs emitting light can be recognized. There is. In other words, although the outer member 80 is arranged so as to surround the frame body 50, it does not completely hide the image and has a shape that allows the image to be visually recognized through the outer member 80. There is.

With the above configuration, the rotation control unit 60 rotates the frame body 50, and the light emission control unit 70 controls the light emission of a plurality of LEDs, so that an image represented by an afterimage of the light emitted by each LED is displayed. .. FIG. 4 shows an example of the displayed image. FIG. 4 shows an image when the user views the flying object 1 stationary in the air (however, the rotor blade 11 and the frame body 50 are rotating) in the horizontal direction. In FIG. 4, the 48 LEDs provided on the frame body 50 are represented by assigning symbols from the LEDs 03 to the LEDs 48.

The flying object 1 forms the display surface C1 by rotating the frame body 50. The display surface C1 is the surface of a rotating body (rotating body when a regular dodecagon is rotated) created by the frame body 50 rotating about the shaft 442 as an axis. Since the outer shell member 80 is arranged around the frame body 50, a part of the outer shell member 80 appears to overlap with the display surface C1, but in FIG. 4, the outer shell member 80 is shown in order to make the image easier to see. Of these, the portion that appears to overlap the display surface C1 is omitted.

In the example of FIG. 4, the flying object 1 displays the character "E" on the display surface C1. In this case, the light emission control unit 70 causes each LED to emit light during the period of passing through the area represented by the diagonally shaded rectangle (areas D71 and D111 in the case of LED07 and LED11), and sandwiches the upper and lower parts with a two-dot chain line. It is controlled so as not to emit light during the period of passing through the specified area (areas D32, D72, D112 in the case of LEDs 03, 07, 11). For example, the LED 07 always emits light at the current position (that is, one point) even while passing through the region D71, but an afterimage remains for a short time after the LED 07 passes, so that the entire region D71 shines. You can see it.

FIG. 5 shows an example of the relationship between the light emission control of each LED and the time. In FIG. 5, it is assumed that the rotation of the frame body 50 starts at time t0 and the frame body 50 rotates halfway during the period T1 until the time t1. FIG. 5A shows the relationship between the light emission control of the LED 03 and the time. Since the LED 03 does not emit light in the example of FIG. 4, it does not emit light even once in the period T1. As a result, the afterimage of LED03 does not appear in the orbit of LED03. FIG. 5B shows the relationship between the light emission control of LED 07 and the time. LED07 represents the horizontal bar above "E" in the example of FIG. 4, and the light emission is started at the time t11 and the light emission is ended at the time t12. As a result, an afterimage of LED07 appears in the region D71 shown in FIG. 4 in the orbit of LED07.

FIG. 5C shows the relationship between the light emission control of the LED 11 and the time. In the example of FIG. 4, the LED 11 represents a vertical bar of “E”, and the light emission is started at the time t13 and the light emission is ended at the time t14. As a result, an afterimage of the LED 11 appears in the region D111 shown in FIG. 4 in the orbit of the LED 11. The length of the orbit when the frame body 50 makes a half rotation is different between LED07 and LED11. Therefore, the LED 07, which has a short orbit, starts emitting light at a time earlier than that of the LED 11, so that the vertical bars of "E" are aligned straight as shown in FIG. By controlling the light emission of each LED in this way, the light emission control unit 70 makes the entire rectangular area shaded by the diagonal line shown in FIG. 4 appear to shine due to the afterimage of the LED, and the character "E" is displayed. become.

In the example of FIG. 4, the flying object 1 is in a stationary state, that is, in a non-moving state, but the flying object 1 may display an image while moving (during flight). An image displayed by the flying object 1x, which performs the same rotation control and display control as when the own device is moving and is stationary, will be described with reference to FIG.

FIG. 6 shows an example of an image displayed while the flying object 1x is moving. FIG. 6A shows the positions of the frame body 50 of the flying object 1x moving in the moving direction L1 indicated by the arrow in the figure, LED07, and LED11 at each time shown in FIG. When the flying object moves in the horizontal direction, it tilts its own device with respect to the vertical direction and flies, but here, it is assumed that the inclination is negligible.

The rotation of the frame body 50 is started at time t0, the light emission of LED07 is started at time t11, and the light emission of LED11 is started at time t13. In the example of FIG. 4, the light emission start position of LED07 and the light emission start position of LED11 are vertically aligned, but in this example, since the flying object 1x is moving, the light emission start position of LED07 that starts light emission later is used. Is shifted in the moving direction L1. After that, the light emission of the LED 11 ends at the time t14, and the light emission of the LED 07 ends at the time t12.

In the region D71a where the afterimage of LED07 appears during the light emission period of LED07 (the period from time t11 to t12), since the flying object 1x is also moving during this light emission period, the movement direction is larger than that of the similar region D71 shown in FIG. It is long to L1. Similarly, the region D111a in which the afterimage of the LED 11 appears is longer in the moving direction L1 than the region D111 shown in FIG. In FIG. 6B, the character “E” displayed while the flying object 1x is moving is represented. The letter "E" is longer in the moving direction L1 than that shown in FIG. 4, and becomes longer in the moving direction L1 as it approaches the end of the frame in the rotation axis direction L2.

According to the first embodiment described above, the frame body 50 rotates, for example, counterclockwise when viewed from above, and the rotating body 33 rotates in the opposite direction, that is, clockwise. As a result, the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is canceled by the action of the rotating body 33 rotating clockwise in the opposite direction. Therefore, it is possible to suppress the action exerted on the flight of the flying object 1 by the rotation of the frame body 50.

[Second Embodiment]
In the first embodiment, the rotating body 33, which rotates for purposes other than flight, rotates in the direction opposite to that of the frame 50, thereby suppressing the action of the rotation of the frame 50 on the flight of the flying body 1. rice field. In the second embodiment, a rotating body that rotates for flight purposes is used instead of the rotating body 33 that rotates for purposes other than flight applications.

For example, in FIG. 2, when the frame body 50 rotates counterclockwise when viewed from above, three rotor blades 11-1, 11-2, and 11-3 of the four rotor blades 11 are clocks. It rotates in the clockwise direction, and the rotor 11-4 rotates in the counterclockwise direction. The three rotary blades 11-1, 11-2 and 11-3 rotate in the clockwise direction, and the rotary blades 11-4 rotate in the counterclockwise direction, whereby the rotational moment of the entire flying object 1 is counterclockwise. This causes the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 to be canceled.

The rotational speed of each of the rotary blades 11-1, 11-2, 11-3, and 11-4, which is optimal for eliminating such an action, is determined by the size of the frame 50 by a single board computer. Flight based on the magnitude of the rotational moment for the entire flying object 1 based on shape, mass and rotational speed, and the size, shape, mass and rotational speed of each rotary blade 11-1, 11-2, 11-3, 11-4 It is obtained according to a calculation formula such that the magnitudes of the rotational moments with respect to the entire body 1 are equal. In this case, the second rotating body in the present invention is three rotating blades 11-1, 11-2 and 11-3 among the plurality of rotating blades 11 (rotating bodies).

When a plurality of rotating bodies (rotating blades 11) rotating for flight use rotate at the same rotation speed when ascending or the like, a group of rotating bodies in the same direction rotating in the same direction as the rotation direction of the frame body 50 and a frame body 50. It suffices if the number of rotating bodies is different from that of the group of rotating bodies in the opposite direction that rotate in the direction opposite to the direction of rotation. For example, when the flying object 1 includes five rotor blades, three, four, or five of them rotate in the direction opposite to the frame body 50, and the remaining rotary blades rotate in the same direction as the frame body 50. Further, for example, when the flying object 1 includes six rotor blades, four, five, or six of them rotate in the direction opposite to the frame body 50, and the remaining rotary blades rotate in the same direction as the frame body 50. do. That is, when there are a plurality of rotary blades (rotating bodies), a majority or more of the rotating bodies may rotate in the direction opposite to the frame body 50. That is, the number of the same-direction rotating body groups that rotate in the same direction as the rotation direction of the frame body 50 <the number of the reverse-direction rotating body groups that rotate in the direction opposite to the rotation direction of the frame body 50.

Further, among a plurality of rotating bodies (rotating blades 11) that rotate for flight purposes, a group of rotating bodies in the same direction that rotate in the same direction as the rotation direction of the frame body 50 and a group of rotating bodies in the same direction that rotate in the direction opposite to the rotation direction of the frame body 50. The mass of the rotating body may be different from that of the reverse rotating body group. For example, in FIG. 2, when the frame body 50 rotates counterclockwise when viewed from above, for example, two rotors 11-1 and 11-3 of the four rotors 11 rotate clockwise. , Rotors 11-2 and 11-4 rotate counterclockwise. In this case, the masses of the rotors 11-1 and 11-3 rotating in a direction that cancels the action exerted on the flight of the flight body 1 by the counterclockwise rotation of the frame 50 are applied to the rotors 11-2 and 11-3. Make it larger than the mass of 11-4. As a result, the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is canceled out. The optimum mass of the rotary blades 11-1, 11-2, 11-3, 11-4 for eliminating such an action is the flying object 1 based on the size, shape, mass, and rotation speed of the frame 50. The magnitude of the rotational moment with respect to the whole is equivalent to the magnitude of the rotational moment with respect to the entire flying object 1 based on the size, shape, mass and rotation speed of each rotary blade 11-1, 11-2, 11-3, 11-4. It is calculated according to the formula that becomes.

Further, among a plurality of rotating bodies (rotating blades 11) that rotate for flight purposes, a group of rotating bodies in the same direction that rotate in the same direction as the rotation direction of the frame body 50 and a group of rotating bodies in the same direction that rotate in the direction opposite to the rotation direction of the frame body 50. The size of the rotating body may be different from that of the reverse rotating body group. For example, in FIG. 2, when the frame body 50 rotates counterclockwise when viewed from above, for example, two rotors 11-1 and 11-3 of the four rotors 11 rotate clockwise. , Rotors 11-2 and 11-4 rotate counterclockwise. In this case, the size of the rotary blades 11-1 and 11-3 rotating in a direction that cancels the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is set to the rotary blade 11-2. And make it larger than the size of 11-4. As a result, the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is canceled out. The optimum size of the rotary blades 11-1, 11-2, 11-3, 11-4 for eliminating such an action is a flying object based on the size, shape, mass, and rotation speed of the frame 50. The magnitude of the rotational moment with respect to the entire 1 and the magnitude of the rotational moment with respect to the entire flying object 1 based on the size, shape, mass and rotation speed of each rotary blade 11-1, 11-2, 11-3, 11-4. It is calculated according to a formula that makes them equivalent.

Further, among a plurality of rotating bodies (rotating blades 11) that rotate for flight purposes, a group of rotating bodies in the same direction that rotates in the same direction as the rotation direction of the frame body 50 and a group of rotating bodies in the same direction that rotate in the opposite direction to the rotation direction of the frame body 50. The shape of the rotating body may be different from that of the reverse rotating body group. For example, in FIG. 2, when the frame body 50 rotates counterclockwise when viewed from above, for example, two rotors 11-1 and 11-3 of the four rotors 11 rotate clockwise. , Rotors 11-2 and 11-4 rotate counterclockwise. In this case, the angle of angle of the rotary blades 11-1 and 11-3 rotating in a direction that cancels the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is set to the rotary blade 11-2. And make it larger than the angle of elevation of 11-4. As a result, the action exerted on the flight of the flying object 1 by the counterclockwise rotation of the frame body 50 is canceled out. The optimum angle of angle of the rotary blades 11-1, 11-2, 11-3, and 11-4 for eliminating such an effect is the size, shape (angle of angle), mass, and rotation speed of the frame 50. Based on the magnitude of the rotational moment for the entire flying object 1 and the size, shape (intersection angle), mass, and rotational speed of each rotary blade 11-1, 11-2, 11-3, 11-4. It is obtained according to a formula that makes the magnitudes of the rotational moments equal to the whole.

As described above, among the plurality of rotating bodies rotating for flight purposes, the group of rotating bodies of the same direction rotating in the same direction as the rotation direction of the first rotating body and the rotating body group in the opposite direction to the rotation direction of the first rotating body. At least one of the number of rotating bodies, the mass of the rotating body, the size of the rotating body, and the shape of the rotating body is different from the group of reverse rotating bodies corresponding to the second rotating body. Just do it.

In addition to using rotating bodies having different attributes, the rotation speed of each rotating body may be controlled. That is, among a plurality of rotating bodies that rotate for flight purposes, a group of same-direction rotating bodies that rotate in the same direction as the rotation direction of the first rotating body and a second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body. The control of each rotating body may be different from that of the group of rotating bodies in the opposite direction corresponding to the two rotating bodies.

According to the second embodiment described above, it is possible to suppress the action exerted on the flight of the flying object 1 by the rotation of the frame body 50.

[Third Embodiment]
As shown in FIG. 7, the flying object 1c according to the third embodiment includes a first rotating body (frame body 50) that rotates for purposes other than flight applications, and a frame (arm portion 3) constituting the flying object 1. A plate-shaped member 131 provided in the above, which is composed of a frame (arm portion 3) in response to a flow of air generated by the rotation of a second rotating body (rotary blade 11) that rotates for flight purposes. It is provided with a plate-shaped member 131 that generates a moment for rotating 1 in the direction opposite to the rotation direction of the first rotating body (frame body 50). When the rotary blade 11 rotates, an air flow (wind) is generated downward along the rotation axis thereof. Each plate-shaped member 131 provided on each of the four arm portions 3 is tilted with respect to the rotation axis of the rotary blade 11, and the tilt direction thereof is the flying object 1 when the wind from the rotation of the rotary blade 11 is received. It is a direction that generates a moment that causes the whole frame to rotate in the direction opposite to the direction of rotation of the frame.

Further, a posture changing mechanism capable of changing the tilting direction (that is, the posture) of the plate-shaped member 131 is provided, and the plate-shaped member is formed according to the magnitude of the action due to the rotation of the frame body 50 and the wind force changing according to the rotation speed of the rotary blade 11. The tilting direction (that is, the posture) of the member 131 may be changed. That is, if the magnitude of the action due to the rotation of the frame body 50 is constant, the magnitude of the moment that causes the flying object 1 to rotate in the direction opposite to the rotation direction of the first rotating body (frame body 50) is also constant. Therefore, if the wind force increases according to the rotation speed of the rotary wing 11, the inclination of the plate-shaped member 131 is reduced (the plate-shaped member 131 and the rotation axis of the rotary wing 11 are brought close to each other in parallel), and the rotary wing 11 When the wind force becomes smaller according to the rotation speed, the inclination of the plate-shaped member 131 is increased (the plate-shaped member 131 and the rotation axis of the rotary blade 11 are brought closer to each other vertically). The optimum tilting direction of the plate-shaped member 131 for eliminating the action of the rotation of the frame 50 is determined by a single board computer based on the size, shape, mass, and rotation speed of the frame 50 as a whole. It is obtained according to a calculation formula such that the magnitude of the rotational moment with respect to the above is equal to the magnitude of the rotational moment with respect to the entire flying object 1 based on the rotational speed of the rotary blade 11 and the area of the plate-shaped member. The posture changing mechanism includes, for example, a motor and a gear that connects the rotation shaft of the motor and the rotation shaft of the plate-shaped member 131.

According to the third embodiment described above, it is possible to suppress the action exerted on the flight of the flying object 1 by the rotation of the frame body 50.

[Modification example]
The above-mentioned embodiment is merely an example of the embodiment of the present invention, and may be modified as follows. Further, the examples and the modifications shown below may be combined and carried out as necessary.

[Modification 1]
In the first and second embodiments, the first rotating body is provided with a plurality of light emitting bodies, and the emission timing of the light emitted by the plurality of light emitting bodies when rotating around the flying body is controlled. Although it was a frame for displaying an image, the second rotating body is also provided with a plurality of light emitting bodies, and the emission timing of the light emitted by the plurality of light emitting bodies when rotating around the flying body is controlled. It may be a frame for displaying an image. For example, as shown in FIG. 8, in the flying object 1d, the frame body 50i is provided with a plurality of light emitting bodies, and the emission timing of the light emitted by the plurality of light emitting bodies when rotating around the flying body is controlled. And display the image. The frame body 50i rotates clockwise when viewed from above. On the other hand, the frame body 50j is provided with a plurality of light emitting bodies, and the emission timing of the light emitted by the plurality of light emitting bodies when rotating around the flying body is controlled to display an image. The frame body 50j rotates clockwise when viewed from above. In this way, the frame body 50j corresponding to the second rotating body rotates in the direction opposite to the frame body 50i corresponding to the first rotating body, so that the rotation of the frame body 50i affects the flight of the flying body 1. It is possible to suppress the action.

Further, for example, as shown in FIG. 9, in the flying object 1e, a large-diameter frame body 50m may be provided outside the small-diameter frame body 50l. The axial direction of the rotation axes of the frame body 50l and the frame body 50m is the horizontal direction. The small-diameter frame body 50l is provided with a plurality of light emitting bodies, and when rotating around the flying body, the light emission timing of the light emitted by the plurality of light emitting bodies is controlled to display an image. The frame 50i rotates clockwise when viewed from a certain horizontal direction. On the other hand, the large-diameter frame body 50j is provided with a plurality of light emitting bodies, and when rotating around the flying body, the light emission timing of the light emitted by the plurality of light emitting bodies is controlled to display an image. The frame body 50j rotates clockwise when viewed from the above-mentioned certain direction. In this way, the frame body 50j corresponding to the second rotating body rotates in the direction opposite to the frame body 50i corresponding to the first rotating body, so that the rotation of the frame body 50i affects the flight of the flying body 1. It is possible to suppress the action.

[Modification 2]
The motors for rotating each rotating body may be provided with the same number of motors corresponding to each rotating body, or may be shared by a plurality of rotating bodies.

[Modification 3]
The frame is not limited to the one described in the above-mentioned examples and modifications. The frame may not be a perfect ring but may have a shape in which the ring is interrupted in the middle. Further, the frame body is not limited to an annular shape, and may have an arbitrary shape such as a quadrangle or a triangle. Further, the light emitting body is not limited to the LED. Other objects such as incandescent light bulbs and organic EL (Electroluminescence) that emit light and can control the emission timing may be used as the light emitting body. In FIG. 3 and the like, the LEDs, which are an example of the light emitting body, are arranged symmetrically with respect to the rotation axis of the frame body, and when the frame body rotates, the LEDs arranged on the target draw the same trajectory. Not exclusively. For example, the LEDs may be staggered so as not to draw the same locus when the frame is rotated. As a result, it is possible to increase the density of the scanning lines of the image in the direction along the rotation axis of the frame as compared with the case where the above-mentioned LEDs draw the same locus.

[Modification 4]
The air vehicle is not limited to the above-mentioned rotary wing aircraft. For example, the flying object of the embodiment is a multi-rotor type rotary wing machine having four rotary wings, but it may be a multi-rotor type rotary wing machine having three or more rotary wings, or a single rotor type. Alternatively, it may be a twin-rotor type rotary wing machine. Further, it may be a rotary wing aircraft including three or more rotors that rotate coaxially.

[Other variants]
The block diagram used in the description of the above embodiment shows a block of functional units. These functional blocks (components) are realized by any combination of hardware and / or software. Further, the means for realizing each functional block is not particularly limited. That is, each functional block may be realized by one physically and / or logically coupled device, or directly and / or indirectly by two or more physically and / or logically separated devices. (For example, wired and / or wireless) may be connected and realized by these plurality of devices.

Each aspect / embodiment described herein includes LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G, 5G, FRA (Future Radio Access), W-CDMA. (Registered Trademarks), GSM (Registered Trademarks), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, UWB (Ultra-WideBand), It may be applied to Bluetooth®, other systems that utilize suitable systems and / or next-generation systems that are extended based on them.

The processing procedures, sequences, flowcharts, and the like of each aspect / embodiment described in the present specification may be rearranged in order as long as there is no contradiction. For example, the methods described herein present elements of various steps in an exemplary order and are not limited to the particular order presented.
Each aspect / embodiment described in the present specification may be used alone, in combination, or may be switched and used according to the execution. Further, the notification of predetermined information (for example, the notification of "being X") is not limited to the explicit one, but is performed implicitly (for example, the notification of the predetermined information is not performed). May be good.

The terms "system" and "network" used herein are used interchangeably.

The information or parameters described herein may be represented by an absolute value, a relative value from a predetermined value, or another corresponding information. For example, the radio resource may be indexed.

The names used for the parameters mentioned above are not limited in any way. Further, mathematical formulas and the like using these parameters may differ from those expressly disclosed herein.

As used herein, the terms "determining" and "determining" may include a wide variety of actions. “Judgment” and “decision” are, for example, judgment, calculation, computing, processing, deriving, investigating, and looking up (for example, a table). , Searching in a database or another data structure), ascertaining can be regarded as "judgment" or "decision". Further, "judgment" and "decision" are receiving (for example, receiving information), transmitting (for example, transmitting information), input (input), output (output), and access. (Accessing) (for example, accessing data in a memory) may be regarded as "determination" or "decision". In addition, "judgment" and "decision" are considered to be "judgment" and "decision" when they are resolved, selected, selected, established, and compared. Can include. That is, the "judgment" and "decision" may include the fact that some operation is regarded as "judgment" and "decision".

The present invention may be provided as a flight control method or an information processing method including steps of processing performed in the flying object 1. Further, the present invention may be provided as a program executed in the flying object 1. Such a program may be provided in the form of being recorded on a recording medium such as an optical disk, or may be provided in the form of being downloaded to a computer via a network such as the Internet and installed and made available. It is possible.

Software, instructions, etc. may be transmitted and received via a transmission medium. For example, the software may use wired technology such as coaxial cable, fiber optic cable, twist pair and digital subscriber line (DSL) and / or wireless technology such as infrared, wireless and microwave to website, server, or other. When transmitted from a remote source, these wired and / or wireless technologies are included within the definition of transmission medium.

The information, signals, etc. described herein may be represented using any of a variety of different techniques. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description are voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these. It may be represented by a combination of.

The terms described herein and / or the terms necessary for understanding the present specification may be replaced with terms having the same or similar meanings. For example, the channel and / or symbol may be a signal. Also, the signal may be a message. Further, the component carrier (CC) may be referred to as a carrier frequency, a cell, or the like.

Any reference to elements using designations such as "first", "second", etc. as used herein does not generally limit the quantity or order of those elements. These designations can be used herein as a convenient way to distinguish between two or more elements. Thus, references to the first and second elements do not mean that only two elements can be adopted there, or that the first element must somehow precede the second element.

The "means" in the configuration of each of the above devices may be replaced with a "part", a "circuit", a "device" and the like.

As long as "inclusion", "comprising", and variations thereof are used herein or within the scope of the claims, these terms are as comprehensive as the term "comprising". Intended to be targeted. Furthermore, the term "or" as used herein or in the claims is intended to be non-exclusive.

Throughout this disclosure, if articles are added by translation, for example, a, an, and the in English, these articles are not explicitly indicated by the context to be otherwise. It shall include more than one.

Although the present invention has been described in detail above, it is clear to those skilled in the art that the present invention is not limited to the embodiments described in the present specification. The present invention can be implemented as modifications and modifications without departing from the spirit and scope of the present invention as determined by the description of the scope of claims. Therefore, the description of the present specification is for the purpose of illustration and does not have any limiting meaning to the present invention.

1 ... flying object, 10 ... flight mechanism, 11 ... rotary wing, 12 ... motor, 13 ... ESC, 14 ... flight controller, 15 ... receiver, 20 ... power supply unit, 21 ... battery, 22 ... battery alarm, 23 ... BEC , 30 ... Rotating part, 31 ... Motor driver, 32 ... Motor, 33 ... Rotating body, 40 ... Video display unit, 41 ... Single board computer, 42 ... Motor driver, 43 ... DC motor / photoreflector, 44 ... Rotation / communication Unit, 45 ... LED driver, 46 ... slip ring, 47 ... serial LED tape, 48 ... annular member, 50 ... frame, 60 ... rotation control unit, 70 ... light emission control unit, 80 ... outer member, 131 ... plate-shaped member ..

Claims (2)

A first rotating body that rotates for purposes other than flight,
A second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body is provided.
The second rotating body is any one or more rotating bodies among a plurality of rotating bodies that rotate for flight purposes.
Among the plurality of rotating bodies that rotate for flight purposes, a group of co-rotating bodies that rotate in the same direction as the rotation direction of the first rotating body and a group of rotating bodies in the same direction that rotate in the opposite direction of the rotation direction of the first rotating body. At least one of the number of rotating bodies, the mass of the rotating body, the size of the rotating body, and the shape of the rotating body is different from the group of reverse rotating bodies corresponding to the second rotating body. ,
A flying object characterized in that, by rotating the second rotating body, the action exerted on the flight of the flying object by the rotation of the first rotating body is suppressed. A first rotating body that rotates for purposes other than flight,
With a second rotating body that rotates in the direction opposite to the rotation direction of the first rotating body
Equipped with
The second rotating body is any one or more rotating bodies among a plurality of rotating bodies that rotate for flight purposes.
Among the plurality of rotating bodies that rotate for flight purposes, a group of co-rotating bodies that rotate in the same direction as the rotation direction of the first rotating body and a group of rotating bodies in the same direction that rotate in the direction opposite to the rotation direction of the first rotating body. The control of each rotating body is different from that of the reverse rotating body group corresponding to the second rotating body.
A flying object characterized in that the rotation of the second rotating body suppresses the action exerted on the flight of the flying object by the rotation of the first rotating body.

Images