JP2020083212A - Unmanned flight body - Google Patents

Abstract

To provide an unmanned flight body capable of suppressing pendulum motion of an object that is suspended.SOLUTION: A unmanned flight body 1 comprises: a plurality of rotary wings 13 disposed on a main body 10; a suspending cord 20 for suspending an object M from the main body; and a controller that controls at least one rotation of one of the plurality of rotary wings in such a manner that the extension direction of the suspending cord can be closer to the vertical direction. The unmanned flight body also comprises an inclination detection part that detects a suspending cord inclination angle at which the extension direction of the suspending cord is inclined with respect to the vertical direction. The controller controls at least one rotation of one of the plurality of rotary wings in such a manner that the inclination angle of the suspending cord can be closer to zero.SELECTED DRAWING: Figure 1

Description

The present invention relates to unmanned aerial vehicles. The present invention more specifically relates to an unmanned aerial vehicle capable of suspending objects.

Japanese Unexamined Patent Application Publication No. 2017-87898 discloses an unmanned air vehicle capable of carrying cargo. A wire is hung from the unmanned air vehicle, and a cargo to be transported is attached to the free end of the wire. The unmanned aerial vehicle is provided with a winch for feeding and winding a wire. When carrying a cargo, the cargo is suspended from an unmanned air vehicle.

JP, 2017-87898, A

An object suspended by an unmanned air vehicle has a problem that its posture is not stable. For example, an object may perform a pendulum motion due to the movement of an unmanned air vehicle or the influence of wind.

Since this pendulum motion may cause the attitude of the unmanned air vehicle to become unstable, it is desirable to suppress the pendulum motion of the object suspended from the unmanned air vehicle.

One of the objects of the present invention is to provide an unmanned air vehicle capable of suppressing the pendulum motion of a suspended object. Other objects of the invention will become apparent by reference to the entire specification.

An unmanned aerial vehicle according to an embodiment of the present invention includes a main body, a plurality of rotor blades provided on the main body, a suspension thread for suspending an object from the body, and a stretching direction of the suspension thread in a vertical direction. A controller that controls the rotation of at least one of the plurality of rotary blades so as to approach each other.

An unmanned aerial vehicle according to an embodiment of the present invention further includes a tilt detection unit that detects a hanging thread tilt angle that is a tilt of the hanging thread in a stretching direction with respect to a vertical direction. In the embodiment, the controller controls rotation of at least one of the plurality of rotary blades so that the hanging thread inclination angle approaches zero.

In one embodiment of the present invention, the tilt detection unit includes a first tilt angle indicating a tilt in a stretching direction of the hanging thread with respect to a vertical direction in a first vertical plane, and a direction orthogonal to the first vertical plane. It is configured to detect a second tilt angle that indicates a tilt of the stretching direction of the hanging thread with respect to the vertical direction in the second vertical plane, and the controller is configured such that the first tilt angle and the second tilt angle are equal to each other. The rotation of at least one of the plurality of rotors is controlled so as to approach zero.

In one embodiment of the present invention, the tilt detection unit includes a first movable member that has a first through hole through which the suspending thread passes and that is rotatably provided in the first vertical plane; A second movable member that has a second through hole through which the hanging thread passes and that is rotatably provided in the second vertical plane. In the embodiment, the rotation angle of the first movable member is detected as the first tilt angle, and the rotation angle of the second movable member is detected as the second tilt angle.

An unmanned aerial vehicle according to an exemplary embodiment of the present invention further includes a guide member having a guide hole extending along a vertical direction. In the embodiment, the second movable member is provided so that the second through hole is vertically below the guide hole.

An unmanned aerial vehicle according to an exemplary embodiment of the present invention may further include a winch for winding the hanging thread. In the embodiment, the guide member is provided on the winch, the first movable member is provided on the guide member, and the second movable member is provided on the first movable member.

An unmanned aerial vehicle according to an exemplary embodiment of the present invention further includes a camera that is provided in the main body and outputs a captured image including an image of an object supporter that supports the object. In the embodiment, the controller controls the plurality of the plurality of object support devices so that the image of the object support device approaches a reference position indicating a position of the image of the object support device when the hanging thread extends in the vertical direction in the captured image. Control the rotation of at least one of the rotor blades.

In one embodiment of the present invention, the controller controls the rotation of at least one of the plurality of rotary blades so that the image of the object supporter overlaps with the reference position.

According to the embodiments of the present invention, it is possible to provide an unmanned air vehicle capable of suppressing the pendulum motion of a suspended object.

1 is a perspective view schematically showing an unmanned aerial vehicle according to an embodiment of the present invention. It is a front view of the unmanned air vehicle of FIG. 2 is a bottom view of the unmanned aerial vehicle of FIG. 1. FIG. 2 is an exploded perspective view of the bottom of the unmanned aerial vehicle of FIG. 1. FIG. FIG. 2 is a cross-sectional view taken along the YZ plane of the bottom of the unmanned aerial vehicle of FIG. 1. 2 is a cross-sectional view along the ZX plane of the bottom of the unmanned aerial vehicle of FIG. 1. FIG. It is a block diagram for explaining the function of the unmanned air vehicle of FIG. FIG. 6 is a front view schematically showing an unmanned aerial vehicle according to another embodiment of the present invention. It is a figure which shows typically the image imaged in the unmanned air vehicle of FIG. It is a block diagram for explaining the function of the unmanned air vehicle of FIG.

Hereinafter, various embodiments of the present invention will be described with reference to the drawings as appropriate. In addition, the same reference numerals are given to common constituent elements in each drawing. It should be noted that the drawings are not necessarily drawn to scale for convenience of explanation.

An unmanned air vehicle 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a perspective view schematically showing an unmanned aerial vehicle 1 according to an embodiment of the present invention, FIG. 2 is a front view of the unmanned aerial vehicle 1, and FIG. 3 is a bottom view of the unmanned aerial vehicle 1. Is.

As used herein, an “unmanned air vehicle” is an air vehicle that can be remotely operated or autonomously fly without a person boarding and operating the air vehicle. The unmanned aerial vehicle 1 is, for example, a multicopter having a plurality of rotary wings.

As illustrated, an unmanned aerial vehicle 1 according to an embodiment of the present invention is provided with a main body 10, six arms 11 extending outward from the main body 10, and outer ends of each of the six arms. Six support bodies 12 and six rotary vanes 13 provided on each of the support bodies 12 are provided. The rotary blade 13 is provided on the main body 10 via the arm 11 and the support 12. The unmanned aerial vehicle 1 may further include a winch 15, an object support 16, a hanging thread 20, a guide member 31, a connecting ring 32, and an arm 33.

The support 12 rotatably supports the rotary blade 13. The support 12 accommodates a drive source that applies a rotational drive force to the rotary blade 13. This drive source is, for example, a motor 12a described later. The rotary wings 13 are configured and arranged so as to apply thrust to the unmanned aerial vehicle 1 when rotating.

In the illustrated embodiment, the unmanned aerial vehicle 1 suspends the object M with the suspending thread 20. The object M that is suspended from the unmanned aerial vehicle 1 is any object that the unmanned aerial vehicle 1 can suspend. The object M is, for example, a camera, a lighting device, a speaker, a microphone, a sensor, a fire extinguishing device, an object throwing device, a cargo, or an object other than these. In the case where the object M is a camera, a lighting device, a speaker, a microphone, a sensor, a fire extinguisher device, and an object throwing device, the stability of the posture when suspended from the unmanned aerial vehicle 1 is important in view of its use. Is. For example, when an image is captured by a camera suspended from the unmanned aerial vehicle 1, it is important to stabilize the posture of the suspended camera so that the lens of the camera can be stably aimed at the image capturing target. Become. The same applies to the stability of the posture of the lighting device, the speaker, the microphone, the sensor, the fire extinguisher device, and the object throwing device.

The hanging thread 20 has one end attached to the winch 15 and the other end attached to the object support 16. The hanging thread 20 is guided from the winch 15 to the object support 16 via the guide member 31.

The hanging thread 20 may be a single wire or a twisted wire made of a metal material, a synthetic resin material, or a material other than these. The hanging thread 20 is selected as appropriate depending on the weight of the object M to be hung, the usage environment, or other factors. The hanging thread 20 is preferably flexible enough to be drawn from the winch 15 to the object support 16 via the guide member 31.

The winch 15 has a pair of plate-shaped flanges 15a and a body portion 15b provided between the pair of flanges 15a. The hanging thread 20 is wound around the outer peripheral surface of the body portion 15b of the winch 15. The winch 15 is configured to be rotatable around a rotation axis whose body portion 15b extends in the Y-axis direction. When the winch 15 is driven, the body portion 15b is normally or reversely rotated around the rotation axis, whereby the hanging thread 20 is unreeled and wound. The drive power for driving the winch 15 may be supplied from a battery housed in the main body 10. The winching and unwinding of the winch 15 may be performed according to a predetermined algorithm or may be performed based on a command from a remote operator.

The object support 16 is configured to support the object M. In the illustrated embodiment, the object support 16 has a disc shape. A protrusion is provided at the center of the disk-shaped object support 16, and the hanging thread 20 is attached to the protrusion. The shape and structure of the object support 16 are not limited to the illustrated mode. The object support 16 can have any shape suitable for suspending the object M. The object support 16 may have, for example, a hook shape.

The object M is attached to the lower surface of the object supporter 16. The object M may be fastened to the object supporter with a fastening member such as a screw. The object M may be attached to the object support 16 by a support belt. The object M may be rotatably attached to the object support 16 via a shaft member rotatably supported by the object support 16. The manner in which the object M is attached to the object support 16 is not limited to that explicitly described herein. The object M can be attached to the object support 16 in any manner.

Next, the guide member 31, the coupling ring 32, and the arm 33 will be described in more detail with reference to FIGS. 4 to 6. 4 is an exploded perspective view of the bottom of the unmanned aerial vehicle 1, and FIG. 5 is a cross-sectional view of the bottom of the unmanned aerial vehicle 1 taken along the line I-I of FIG. 3 (that is, along the YZ plane). Yes, FIG. 6 is a cross-sectional view of the bottom of the unmanned aerial vehicle 1 taken along line II-II of FIG. 3 (ie, along the ZX plane). In FIG. 4, the hanging thread 20 is not shown for convenience of description.

As illustrated, the guide member 31 includes a support member 31a connecting the lower ends of the pair of flanges 15a, and a tubular member 31b provided at positions equidistant or substantially equidistant from the pair of flanges 15a. .. The support member 31a is formed in a columnar shape, for example. The shape of the support member 31a is not limited to the columnar shape, and may be, for example, a prismatic shape. The tubular member 31b has a through hole 31c. In the illustrated embodiment, the through hole 31c penetrates the tubular member 31b in the vertical direction (Z-axis direction). The through hole 31c has a diameter that allows the hanging thread 20 to pass therethrough. A pair of holes 31d extending along the X-axis direction is provided on the side surface of the tubular member 31b. The hole 31d may be a through hole or a bottomed recess.

A ring-shaped connecting ring 32 is provided on the outer side of the guide member 31 in the radial direction. The connecting ring 32 has a through hole 32c having an inner diameter larger than the outer diameter of the tubular member 31b of the guide member 31. A pair of through holes 32d extending along the X-axis direction and a pair of holes 32e extending along the Y-axis direction are formed on the side surface of the coupling ring 32. The hole 32e may be a through hole or a bottomed recess. The through hole 32d is provided so as to face the hole 31d of the tubular member 31b when the connecting ring 32 is aligned at a predetermined position on the radially outer side of the tubular member 31b of the guide member 31. The connecting ring 32 is connected to the tubular member 31b of the guide member 31 by providing the connecting pin 32b in the through hole 32d of the connecting ring 32 and the hole 31d of the tubular member 31b. The connecting ring 32 is provided on the tubular member 31b of the guide member 31 so as to be rotatable around the connecting pin 32b. Since the connecting pin 32b extends in the X-axis direction, the connecting ring 32 can rotate in the YZ plane. The connecting ring 32 is an example of the first movable member. The YZ plane is an example of the first vertical plane.

An arm 33 is provided outside the coupling ring 32. The arm 33 has an arm body 33a having a U shape, and a cylindrical member 33d provided at the center or substantially the center in the Y-axis direction. The cylindrical member 33d has a through hole 33c. The through hole 33c has a diameter that allows the hanging thread 20 to pass therethrough. The inner diameter of the through hole 33c is 1.01 to 2 times the outer diameter of the hanging thread 30. The inner diameter of the through hole 33c is, for example, 1.01 times, 1.05 times, 1.1 times, 1.2 times, 1.3 times, 1.4 times, 1. It may be 5 times, 1.6 times, 1.7 times, 1.8 times, 1.9 times, or 1.95 times.

A pair of through holes 33e extending along the Y-axis direction are provided near the upper end of the arm body 33a. The through hole 33e is provided so as to face the hole 32e of the connecting ring 32 when the arm 33 is aligned at a predetermined position on the radially outer side of the connecting ring 32. The arm 33 is connected to the connecting ring 32 by inserting the connecting pin 33b into the through hole 33e of the arm 33 and the hole 32e of the connecting ring. The arm 33 is provided on the connecting ring 32 so as to be rotatable around the connecting pin 33b. Since the connecting pin 33b extends in the Y-axis direction, the arm 33 can rotate in the ZX plane. When the arm 33 is attached to the connecting ring, the through hole 33c of the tubular member 33 of the arm 33 is below the through hole 31c of the tubular member 31b of the guide member 31 in the vertical direction A. The arm 33 is an example of a second movable member. The ZX plane is an example of the second vertical plane.

The object M suspended by the suspension thread 20 may perform a pendulum motion due to the movement of the unmanned aerial vehicle 1 or the influence of the wind. When the object M makes a pendulum motion, as shown by a dotted line in FIG. 5, the extending direction of the hanging thread 20 is within the YZ plane with respect to the vertical direction A by a first tilt angle (for example, a first tilt angle). θ1), and as shown by the dotted line in FIG. 6, the stretching direction of the hanging thread 20 is inclined by a second tilt angle (for example, the second tilt angle θ2) with respect to the vertical direction A in the ZX plane. When referring to the inclination of the extending direction of the hanging thread with respect to the vertical direction A, the extending direction of the hanging thread 20 is from the lower end of the tubular member 31b to the lower end of the tubular member 33d of the arm 33 (or attachment to the object support 16). (Up to the position) means the direction in which the hanging thread 20 extends.

When the hanging thread 20 is tilted by the first tilt angle θ1 with respect to the vertical direction A in the YZ plane, the inner circumferential surface of the cylindrical member 33d of the arm 33 is pushed by the hanging thread 20. The arm 33 is restricted from rotating in the YZ plane, but since the connecting ring 32 is attached to the arm 33 so as to be rotatable in the YZ plane, the hanging thread 20 with respect to the vertical direction A in the YZ plane. When tilted by the first tilt angle θ1, the connecting ring 32 also tilts by the same or substantially the same angle as the first tilt angle θ1. The rotation angle of the connecting ring 32 is detected by an angle sensor 61 described later. 4 to 6, the illustration of the angle sensor 61 is omitted.

When the hanging thread 20 tilts by the second tilt angle θ2 with respect to the vertical direction A in the ZX plane, the arm 33 also tilts by the same or substantially the same angle as the second tilt angle θ2. The rotation angle of the arm 33 is detected by an angle sensor 62 described later. The angle sensor 62 is not shown in FIGS. 4 to 6.

Next, the function of the unmanned aerial vehicle 1 will be described in more detail with reference to FIG. 7. As illustrated, the unmanned aerial vehicle 1 includes a controller 50 and a tilt detection unit 54. The controller 50 is electrically connected to the tilt detection unit 54, the motor 12a, and the winch 15.

The controller 50 has a computer processor 51, a memory 52, and a storage 53. The computer processor 51 is an arithmetic unit that loads a flight control program that defines a flight control algorithm from the storage 53 or another storage into the memory 52 and executes the instructions included in the loaded flight control program. The computer processor 51 can execute various programs related to the realization of the functions of the unmanned aerial vehicle 1 other than the flight control program. The controller 50 may be configured to control the rotation speed of the motor 12a by outputting a PWM signal to the motor 12a.

The unmanned aerial vehicle 1 may include a communication device, a battery, sensors other than the angle sensors 61 and 62, and devices necessary for operating the unmanned aerial vehicle 1 other than the illustrated components. The sensors other than the angle sensors 61 and 62 included in the unmanned aerial vehicle 1 are, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, an atmospheric pressure sensor, and various sensors other than these. These components are connected to the controller 50 as needed.

The controller 50 controls the attitude and position of the unmanned aerial vehicle 1 by controlling the number of revolutions of the rotary wings 13 according to a flight control algorithm based on the detection information of various sensors included in the unmanned aerial vehicle 1. It may be configured. The controller 50, sensors other than the angle sensors 61 and 62, the communication device, and the battery may be housed in the main body 10.

The tilt detecting unit 54 includes a connecting ring 32, an arm 33, an angle sensor 61 that detects a rotation angle of the connecting ring 32 on the YZ plane, and an angle sensor 62 that detects a rotation angle of the arm 33 on the ZX plane. Equipped with. The angle sensor 61 is an arbitrary angle sensor capable of detecting the rotation angle of the connecting ring 32 around the connecting pin 32b. The angle sensor 62 is an arbitrary angle sensor capable of detecting the rotation angle of the arm 33 around the connecting pin 33b. The angle sensor 61 and the angle sensor 62 may be, for example, a volume resistor, an optical encoder, a magnetic encoder, a resolver, or an angle sensor other than these.

The rotation angle of the connecting ring 32 on the YZ plane detected by the angle sensor 61 indicates the inclination of the connecting ring 32 from the vertical direction A on the YZ plane. The inclination of the connecting ring 32 from the vertical direction A on the YZ plane is equal to the first inclination angle θ1 which is the inclination angle of the hanging thread 20 from the vertical direction A on the YZ plane. The angle sensor 61 outputs the detected rotation angle of the connecting ring 32 in the YZ plane to the controller 50.

The rotation angle of the arm 33 on the ZX plane detected by the angle sensor 62 indicates the inclination of the arm 33 from the vertical direction A on the ZX plane. The inclination of the arm 33 from the vertical direction A on the ZX plane is equal to the second inclination angle θ2 which is the inclination angle of the hanging thread 20 from the vertical direction A on the ZX plane. The angle sensor 62 outputs the detected rotation angle of the arm 33 on the ZX plane to the controller 50.

The tilt detection unit 54 may include only one of the angle sensor 61 and the angle sensor 62. In this case, the tilt detection unit 54 can detect the tilt angle of the hanging thread 20 on one of the YZ plane and the ZX plane and output the detected tilt angle to the controller 50.

The inclination detection unit 54 may be configured to detect the inclination angle of the hanging thread 20 from the vertical direction A and output the detected inclination angle to the controller 50 in a mode other than the above. The tilt detection unit 54 may detect a tilt angle in each of two vertical planes (for example, the YZ plane and the ZX plane) orthogonal to each other, or may detect only one of them.

The controller 50 controls the position of the unmanned aerial vehicle 1 by controlling the rotation of at least one of the six rotary wings 13 based on the tilt angle of the hanging thread 20 acquired from the tilt detection unit 54. In one embodiment, the controller 50 causes the hanging thread 20 to extend in the vertical direction based on the first tilt angle θ1, the second tilt angle θ2 from the tilt detection unit 54, and, if necessary, other detection information. The unmanned aerial vehicle 1 is moved by controlling the rotation of at least one of the rotary wings 13 so as to approach A. For example, as shown in FIG. 5, when the hanging thread 20 is tilted from the vertical direction A by an angle θ1 on the YZ plane, the controller 50 causes the first tilt angle θ1 acquired from the tilt detection unit 54 to be zero. The rotation of at least one of the rotary wings 13 is controlled so as to move the unmanned aerial vehicle 1 in the negative direction of the Y-axis so as to approach. Further, as shown in FIG. 6, when the hanging thread 20 is tilted from the vertical direction A by the angle θ2 in the ZX plane, the controller 50 causes the second tilt angle θ2 acquired from the tilt detection unit 54 to be zero. The rotation of at least one of the rotor blades 13 is controlled so as to move the unmanned aerial vehicle 1 in the negative direction of the X-axis so as to approach. When the stretching direction of the hanging thread 20 is tilted with respect to the vertical direction A both in the YZ plane and in the ZX plane, the controller 50 causes each of the first tilt angle θ1 and the second tilt angle θ2 to approach zero. The rotation of at least one of the rotor blades 13 is controlled to move the unmanned aerial vehicle 1.

Subsequently, an unmanned aerial vehicle 101 according to another embodiment of the present invention will be described with reference to FIGS. 8 to 10. An unmanned aerial vehicle 101 according to another embodiment of the present invention differs from the unmanned aerial vehicle 1 in that it includes a camera 63. Among the constituent elements of the unmanned aerial vehicle 101, those which are the same as or similar to the constituent elements of the unmanned aerial vehicle 1 are designated by the same reference numerals as in FIGS. 1 to 7, and these same or similar constituent elements are detailed. The description is omitted.

In the illustrated embodiment, the camera 63 is provided on the lower surface of the main body 10. The camera 63 can acquire an image in which the object support 16 suspended by the suspension thread 20 falls within the angle of view. In other words, the camera 63 is constructed and arranged so that the object support 16 is within the angle of view. More specifically, in the camera 63, at least when the hanging thread 20 extends in the vertical direction A between the object support 16 and the winch 15, all or part of the object support 16 is within the angle of view. Configured to enter. The camera 63 may be provided on the main body 10 so as to be rotatable about a predetermined rotation axis so that the imaging direction can be changed. This rotation axis may extend in the same direction as the rotation axis of the winch 15. When the hanging thread 20 is fed from the winch 15, the object support 16 descends, and conversely, when the hanging thread 20 is wound around the winch 15, the object support 16 rises. The camera 63 may be provided in the main body 10 so that the posture thereof can be adjusted so that the object support 16 can be placed within the angle of view even when the object support 16 is lowered or raised as described above. For example, the unmanned aerial vehicle 1 may be provided with an attitude control mechanism that controls the attitude of the camera 63 by rotating the rotation axis of the camera 63 in conjunction with the feeding and winding operations of the winch 15.

The camera 63 outputs image data indicating the captured image to the controller 50. The controller 50 controls the position of the unmanned aerial vehicle 1 by controlling the rotation of at least one of the rotary wings 13 based on the image data acquired from the camera 63. In one embodiment, the position of the object support 16 in the captured image when the extending direction of the hanging thread 20 is along the vertical direction A is set as the reference position. The storage 53 can store reference position specifying data for specifying a reference position. The reference position may change depending on the amount of extension of the hanging thread 20 (that is, the position of the object support 16 in the vertical direction A). In this case, the storage 53 may store the reference position specifying data in association with the feeding amount of the hanging thread 20 (or in association with the position of the object support 16 in the vertical direction A).

FIG. 9 schematically shows an example of a captured image including the image of the object support 16 captured by the camera 63. The captured image includes an image (on the upper surface) of the object support 16 and an image of the hanging thread 20 that suspends the object support 16. Further, in the captured image, the reference position P indicating the position of the image of the object support 16 when the hanging thread 20 extends in the vertical direction A is shown. The controller 50 analyzes the captured image and moves the unmanned aerial vehicle 1 so that the image of the object support 16 approaches the reference position P. The movement of the unmanned aerial vehicle 1 is controlled by controlling the rotation of at least one of the rotary wings 13, as described above.

In one embodiment, the controller 50 compares the coordinates of the reference position P on the XY plane with the coordinates of the center of the object support 16 on the XY plane, and from this comparison result, the image of the object support 16 is changed to the reference position P. It is also possible to calculate the moving direction and the moving distance of the unmanned aerial vehicle 1 for overlapping and to perform control for moving the unmanned aerial vehicle 1 by the calculated moving distance in the calculated moving direction.

Next, the function and effect of the above embodiment will be described. In the above-described embodiment, the rotation of at least one of the rotary wings 13 is controlled so that the stretching direction of the hanging thread 20 approaches the vertical direction A. When the object M suspended by the suspending thread starts the pendulum motion, the extending direction of the suspending thread 20 deviates from the vertical direction A. Therefore, the pendulum motion of the object M can be suppressed by controlling the rotation of the rotary blade 13 so that the stretching direction of the hanging thread 20 approaches the vertical direction A.

In the above-described embodiment, the hanging thread tilt angle, which is the tilt of the hanging thread 20 in the extending direction with respect to the vertical direction A, is detected by the tilt detecting unit 54, and the rotary blade 13 of the rotary blade 13 is adjusted so that the hanging thread tilt angle approaches zero. The rotation of at least one of them is controlled. Thus, by detecting the inclination of the hanging thread 20 in the extending direction, the pendulum motion of the suspended object M can be suppressed without detecting the motion of the suspended object M itself.

In the above-described embodiment, the first tilt angle θ1 indicating the tilt of the hanging thread 20 in the extending direction with respect to the vertical direction A in the first vertical plane, and the second vertical angle orthogonal to the first vertical plane. A second tilt angle θ2 indicating the tilt of the hanging thread 20 in the drawing direction with respect to the vertical direction A in the plane is detected, and among the rotor blades 13, the first tilt angle θ1 and the second tilt angle θ2 approach zero. At least one rotation of is controlled. Accordingly, it is possible to suppress the pendulum motion of the object M that is suspended on the two vertical planes that are orthogonal to each other.

In the above-described embodiment, the rotation angle of the connecting ring 32 rotatably provided in the YZ plane is detected as the first tilt angle θ1, and the through-hole 33c through which the hanging thread 20 passes is provided. The rotation angle of the rotatably provided arm 33 is detected as the second tilt angle θ2. Thus, the first tilt angle θ1 and the second tilt angle θ2 can be detected by a simple angle detection mechanism that combines the connecting ring 32 and the arm 33.

The unmanned aerial vehicle 1 in the above-described embodiment includes the winch 15 for winding the hanging thread 20 and the guide member 31 having the guide hole 31c extending along the vertical direction A. In one embodiment, the guide member 31 is provided on the winch 15, the connecting ring 32 is provided on the guide member 31, and the arm 33 is provided on the connecting ring 32. Thereby, the first tilt angle θ1 and the second tilt angle θ2 for controlling the movement of the unmanned aerial vehicle 1 can be detected by the connecting ring 32 and the arm 33 attached to the winch 15. The winch 15 is electrically connected to the controller 50 for controlling its winding and unwinding. By attaching the connecting ring 32 and the arm 33 to the winch 15, it becomes easy to input the rotation angle of the connecting ring 32 and the arm 33 into the controller 50.

When a sensor such as an acceleration sensor is attached to the suspended object M and an attempt is made to suppress the pendulum motion of the object M based on the detection information of this sensor, a communication cable or a communication cable for inputting the detection information of the sensor to the controller 50. It is necessary to have a wireless communication mechanism. As described above, communication for connecting the object M and the controller 50 by detecting the rotation angles of the connecting ring 32 and the arm 33 attached to the winch 15 to obtain the first tilt angle θ1 and the second tilt angle θ2. No cable or wireless communication mechanism is required.

The unmanned aerial vehicle 1 in the above-described embodiment includes the camera 63 that outputs a captured image including the image of the object support 16. The camera 63 may be provided in the main body 10. In this embodiment, the rotor blade is arranged so that the image of the object support 16 approaches the reference position P indicating the position of the image of the object support 16 when the hanging thread 20 extends in the vertical direction in the image captured by the camera 63. The rotation of at least one of the 13 is controlled. Accordingly, the pendulum motion of the object M can be suppressed without providing the sensor for detecting the motion of the object M.

The dimensions, materials, and arrangements of each of the components described herein are not limited to those explicitly described in the embodiments, and each of the components can be included in the scope of the present invention. Can be modified to have different dimensions, materials, and configurations. In addition, components that are not explicitly described in this specification may be added to the described embodiments, or some of the components described in each embodiment may be omitted. For example, in the embodiment shown in FIGS. 8 to 10, the sensor 61 and the sensor 62 can be omitted. In the embodiment shown in FIGS. 8-10, the connecting ring 32 and the arm 33 can be further omitted.

The above embodiments may be combined as appropriate. An aspect realized by combining a plurality of embodiments can also be an embodiment of the present invention.

DESCRIPTION OF SYMBOLS 1 Unmanned aerial vehicle 10 Main body 11 Arm 12 Support body 13 Rotor wing 15 Winch 16 Object support tool 20 Hanging thread 31 Guide member 32 Connecting ring 33 Arm 50 Controller 54 Tilt detection part 61, 62 Angle sensor 63 Camera M Object

Claims (8)

Body,
A plurality of rotor blades provided on the main body,
A hanging thread for hanging an object from the body,
A controller that controls the rotation of at least one of the plurality of rotary blades so that the stretching direction of the hanging thread approaches the vertical direction,
Unmanned aerial vehicle equipped with. Further comprising a tilt detection unit that detects a hanging thread tilt angle that is a tilt in the drawing direction of the hanging thread with respect to the vertical direction,
The controller controls the rotation of at least one of the plurality of rotor blades so that the hanging thread inclination angle approaches zero.
The unmanned aerial vehicle according to claim 1. The tilt detection unit includes a first tilt angle indicating a tilt of the suspension thread in a stretching direction with respect to a vertical direction in a first vertical plane, and a second vertical plane orthogonal to the first vertical plane. Is configured to detect a second tilt angle indicating the tilt of the hanging thread in the drawing direction with respect to the vertical direction of
The controller controls rotation of at least one of the plurality of rotor blades so that the first tilt angle and the second tilt angle approach zero.
The unmanned aerial vehicle according to claim 2. The tilt detection unit,
A first movable member having a first through hole through which the hanging thread passes and rotatably provided in the first vertical plane;
A second movable member that has a second through hole through which the hanging thread passes and is rotatably provided in the second vertical plane;
Have
A rotation angle of the first movable member is detected as the first tilt angle, and a rotation angle of the second movable member is detected as the second tilt angle.
The unmanned aerial vehicle according to claim 3. Further comprising a guide member having a guide hole extending along the vertical direction,
The second movable member is provided such that the second through hole is vertically below the guide hole.
The unmanned aerial vehicle according to claim 4. A winch for winding the hanging thread is provided,
The guide member is provided on the winch,
The first movable member is provided on the guide member,
The second movable member is provided on the first movable member,
The unmanned aerial vehicle according to claim 5. Further comprising a camera provided in the main body, which outputs a captured image including an image of an object support tool that supports the object,
Of the plurality of rotor blades, the controller is configured so that the image of the object supporter approaches a reference position indicating the position of the image of the object supporter when the hanging thread extends in the vertical direction in the captured image. Control at least one rotation,
The unmanned air vehicle according to any one of claims 1 to 6. The controller controls the rotation of at least one of the plurality of rotary blades so that the image of the object support is overlapped with the reference position.
The unmanned aerial vehicle according to claim 7.

Images