JP2021014129A - Wire-tension-type flying object - Google Patents

Abstract

To provide a wire-tension-type flying object capable of enhancing stability of an airframe by utilizing a connected wire.SOLUTION: A wire-tension-type flying object 1 comprises: rotors 10 each generating thrust by rotating around a rotating shaft 14; drive units 30 each for rotating each rotor; a rotor holding member 20 supporting the drive units; a control unit 40 controlling the drive units to adjust rotation speed of each rotor; and a wire connector 60 fixed with respect to the rotor holding member, and connected to a wire 90 at a position separated from the rotating shaft in a direction orthogonal to a rotating shaft direction. In the wire-tension-applied flying object, a main fuselage is defined to be a portion from the wire connector to the rotor holding member, and a posture around a pitch axis and a yaw axis of the main fuselage is stabilized by reception of tension from the wire connected to the wire connector.SELECTED DRAWING: Figure 1

Description

The present invention relates to a wire tension type flying object. In particular, the present invention relates to a wire tension type flying object whose attitude can be easily stabilized by receiving tension from a wire.

Remote-controlled aerial vehicles, so-called drones, are beginning to be used for a variety of purposes. A conventional remote-controlled flying object is provided with four or more rotors, and the rotational forces around the Yaw axis are canceled by rotating adjacent rotors in opposite directions. In addition, the remote-controlled flying object is tilted back and forth by changing the rotation speed of the front and rear rotors to move forward and backward, and the remote-controlled flying object is tilted left and right by changing the rotation speed of the left and right rotors. Then turn left and right. Therefore, usually, four or more rotors are provided, and the rotation speed of each rotor is controlled to move and maintain the posture.

However, in order to control the attitude of the remote-controlled flying object, it is necessary to finely adjust the rotation speed of each rotor with the control device based on the attitude measurement information. Although it has become easier due to advances in control technology, it is desirable to further simplify the control system in order to reduce the size and weight of the remote-controlled aircraft and further generalize it.

In addition, when remote control is performed by wireless communication, communication may be poor due to being in the shadow of an object or flying beyond the communicable range. Therefore, tension wires and ropes that limit the flight range may be provided. There, studies have been made to prevent tension wires and ropes from interfering with flight (see, for example, Patent Document 1 and Patent Document 2).

In addition, one of the uses of the remote-controlled flying object is an overhead wire of a wire. For example, when inspecting a bridge, first, a thin wire crossing in the width direction is overheaded under the bridge, and the cable for the inspection device is overheaded using the thin wire. In addition, even in a thin pipe that an inspector cannot enter or in a dangerous environment, the wire is passed through the remote-controlled flying object first. As described above, there are many uses for connecting a wire to a remote-controlled flying object.

Japanese Unexamined Patent Publication No. 2014-227016 Japanese Patent No. 2694246

Patent Document 1 describes that it is possible to avoid tilting of the airframe by the tension of the cable wire, but the cable wire is extended from the center of the airframe, and a vertical force due to the weight of the cable wire is assumed. Nothing is disclosed about the technical idea of stabilizing the airframe by the tension of the wire.

Further, Patent Document 2 is a remote-controlled helicopter including a main rotor and a tail rotor, which flies along an arc having a wire length as a radius by connecting regulation wires, so that only the up / down and left / right flight positions are controlled. There is a statement that it will be easier to control and that it will be possible to fly stably by applying tension to the regulation wire, but there is nothing about the technical idea of stabilizing the aircraft with the tension of the wire. Not disclosed.

Therefore, an object of the present invention is to provide a wire tension type airframe capable of easily stabilizing an airframe by utilizing the tension from the connected wires.

In order to solve the above problems, the wire tension type flying object according to the first aspect of the present invention includes a rotor 10 that generates thrust by rotating around a rotation axis 14 and a rotor 10 as shown in FIG. 1, for example. A rotor holding member 20 for supporting the rotor 10, a driving device 30 for rotating the rotor 10, a control device 40 for controlling the rotation speed of the rotor 10, and a wire connector 60 fixed with respect to the rotor holding member 20. A wire tension type flying vehicle 1 having a wire connecting tool 60 connected to a wire 90 at a position separated from the rotating shaft 14 and having a wire connecting tool 60 to a rotor holding member 20 as a main body 5. The wire 90 is connected to the connector 60, and the tension around the wire 90 stabilizes the posture of the main body 5 around the pitch axis P and the yaw axis Y.

With this configuration, the vertical component of the rotor thrust causes the wire tension type air vehicle to float in the air, and the wire direction component of the rotor thrust causes tension in the wire. Since the wire connector receives tension from the wire at a position away from the rotor holding member that receives thrust from the rotor, the main fuselage tends to be in a position along the extension of the wire, and thus the pitch axis and yaw of the main fuselage. The posture around the axis is stable.

As shown in FIG. 1, for example, the wire tension type flying object according to the second aspect of the present invention includes a rod member 50 having one end fixed to the rotor holding member 20 and the wire connecting tool 60 fixed to the other end. .. With this configuration, the wire connector can be fixed with respect to the rotor holding member at a position separated from the rotation axis by the rod member, so that the wire tension type flying object has a simple structure.

As shown in FIG. 1, for example, the wire tension type flying object according to the third aspect of the present invention includes a pair of rotors 10, and the wire connector 60 is a center between the pair of rotors 10 (a) and (b). The pair of rotors 10 (a) and (b) are arranged on the surface and are arranged symmetrically with respect to the central surface between the pair of rotors 10 (a) and (b). With this configuration, since the pair of plane-symmetrical rotors are provided, it is easy to control the attitude of the wire tension type flying object around the roll axis by adjusting the thrusts of the left and right rotors.

As shown in FIG. 1, for example, the wire tension type flying vehicle according to the fourth aspect of the present invention further includes the attitude measuring device 42, and uses the inclination angle around the roll axis R measured by the attitude measuring device 42. The rotation speeds of the pair of rotors 10 (a) and 10 (b) are changed to stabilize the posture around the roll axis R. With this configuration, it is easy to stabilize the posture around the roll shaft by changing the rotation speed of each of the pair of rotors using the tilt angle around the roll shaft measured by the posture measuring device.

The wire tension type flying object according to the fifth aspect of the present invention includes, for example, one rotor 10 and a pair of ladders 82 that change the flow of air generated by the rotor 10, as shown in FIG. With this configuration, since a pair of ladders that change the flow of air generated by the rotor are provided, it is easy to stabilize the attitude of the wire tension type flying object around the roll axis even with a single rotor.

As shown in FIG. 5, for example, the wire tension type flying vehicle according to the sixth aspect of the present invention further includes an attitude measuring device 42, and uses the inclination angle around the roll axis R measured by the attitude measuring device 42. The inclination angles of the pair of ladders 82 (a) and 82 (b) are changed to stabilize the posture around the roll axis R. With this configuration, the tilt angle around the roll axis measured by the attitude measuring device is used to change the tilt angle of each of the pair of ladders to stabilize the attitude around the roll axis. Therefore, the roll axis of the wire tension type aircraft Easy to control the surrounding posture.

In the wire tension type flying vehicle according to the seventh aspect of the present invention, for example, as shown in FIG. 2, the inclination angle of the main fuselage 5 of the rotor 10 with respect to the roll axis R is variable. With this configuration, the direction in which the wire is stretched can be easily changed from above to below.

According to the wire tension type flying object of the present invention, a rotor that generates thrust by rotating around a rotation axis, a rotor holding member that supports the rotor, a drive device for rotating the rotor, and a rotor rotation speed. It is provided with a control device for controlling the rotor and a wire connector which is a wire connector fixed with respect to the rotor holding member and is connected to the wire at a position separated from the rotation axis, and mainly covers from the wire connector to the rotor holding member. As the fuselage, the wires are connected to the wire connector, and the posture around the pitch axis and yaw axis of the main fuselage is stabilized by receiving tension from the wires, so it is easy to stabilize the aircraft by using the connected wires. Is possible.

It is a figure of the wire tension type flying object as the 1st Embodiment of this invention, (a) is a perspective view, (b) is a front view. It is a figure which conceptually shows the relationship between the direction in which a wire is stretched, and the inclination angle forward of a rotor. It is a figure which conceptually shows the force acting on the wire tension type flying object of FIG. 1, (a) is a side view, (b) is a plan view. It is a figure for demonstrating that it becomes easy to move horizontally by inclining the rotation axes of a pair of rotors so as to spread downward, and (a-1) and (a-2) are the cases where the rotation axes are parallel. b-1) and (b-2) show the case where the rotation axis is tilted so as to spread downward. It is explanatory drawing of the wire tension type flying body as the 2nd Embodiment of this invention, (a) is the perspective view of the wire tension type flying body, (b) is the figure explaining the steering apparatus.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each figure, the same or corresponding devices are designated by the same reference numerals, and duplicate description will be omitted.

First, a 2-rotor wire tension type flying object 1 as a first embodiment will be described with reference to FIG. The wire tension type flying object 1 includes a rotor holding member 20 that holds a driving device 30 that drives the rotor 10 and houses a battery 32, a control device 40, and the like. The rotor holding member 20 has a tubular main body 22 and a pair of arms 24 projecting from both sides of the main body 22 ((a) and (b) are attached when distinguishing them. The same applies to the other pair of members such as the rotor. ). The battery 32, the control device 40, and the like are housed in the main body 22. The arm 24 holds the drive device 30 at its tip. The shape of the main body is not limited to a tubular shape, and may be, for example, a U-shaped cross section with an open upper surface, or may be a part of a casing covering the rotor 10, and the shape is arbitrary. Is.

The wire tension type flying object 1 has a pair of rotors 10. The rotors 10 (a) and 10 (b) are held by the drive devices 30 (a) and 30 (b), respectively. The rotor 10 generates thrust by rotating the blade 12 on a rotating shaft 14 that is rotationally driven by the driving device 30. As shown in FIG. 1 (b), the two rotation axes 14 (a) and 14 (b) are arranged symmetrically with respect to their central planes. The rotation axes 14 (a) and 14 (b) may be parallel to each other, or in FIG. 1 (b), they may be tilted so that the lower spacing is wide or narrow. Good. Further, the two rotation axes 14 (a) and 14 (b) are generally inclined in the forward direction (to the right in FIG. 1 (a)) and move forward by thrust. When the rotating shaft 14 is tilted, the drive device 30 is usually tilted and fixed to the arm 24. The angle of inclination in the forward direction varies depending on the application of the wire tension type flying object 1 and the like, and is not particularly limited.

FIG. 2 is a side view conceptually showing the relationship between the direction in which the wire 90 is stretched and the inclination angle in the forward direction of the rotor 10. As shown in b, when the wire 90 is stretched in a horizontal state, when the weight Mg of the wire tension type flying object 1 is large, the inclination angle is reduced and the thrust F of the rotor is largely used to support the weight Mg. When the self-weight Mg of the wire tension type flying object 1 is small, it is used properly to increase the inclination angle to increase the component Ft with respect to the tension of the wire 90 and to increase the forward speed of the wire 90. Further, as shown in a, when the wire tension type flying object 1 is extended upward from the wire fixing end O, the rotor 10 can generate a thrust F corresponding to the resultant force of its own weight bearing force and the required wire tension in the forward direction. The angle of inclination to the wire may be increased. Further, as shown in c, when the wire tension type flying object 1 is extended downward from the wire fixed end O, the angle of inclination in the forward direction may be reversed. In order to realize the posture like c with the wire tension type flying object 1 of one rotor described later, it is desirable that the main fuselage 5 described later is bent and attached like 5'to prevent contact with the rotor. In this way, in order to change the inclination angle of the rotor 10 in the forward direction according to the direction in which the wire 90 is stretched, it is preferable that the inclination angle of the rotor 10 in the forward direction is variable. In order to make the inclination angle of the rotor 10 in the forward direction variable, it is preferable that the arm 24 can rotate around the longitudinal axis. That is, the main body 22 is provided with a mechanism for rotating the arm 24. The mechanism for rotating the arm 24 may be a known one. The inclination angle in the forward direction is an inclination angle of the main body 5 with respect to the roll axis R, and the roll axis R of the main body 5 will be described later.

The wire tension type flying object 1 includes a pair of driving devices 30. The drive device 30 is a motor, and the rotation shaft 14 of the rotor 10 is connected to the output shaft thereof. The output shaft of the drive device 30 may be lengthened to form the rotation shaft 14. The drive device 30 is fixed to the arm 24. That is, the drive device 30 is held by the rotor holding member 20. The wire tension type flying object 1 includes a battery 32 for driving the driving device 30. As another aspect, a long flight can be realized by using a lightweight electric wire capable of supplying electric power and reinforced with Kevlar (registered trademark) as the wire 90.

The wire tension type flying object 1 includes a control device 40 that controls a drive device 30 to adjust the rotation speed of the rotor 10. The control device 40 adjusts the rotation speed of each rotor 10 by receiving a control signal of the wire tension type flying object 1 such as ascending, descending, turning left and right, and hovering by a signal from an operation panel (not shown). The signal from the operation panel may be transmitted wirelessly or by wire. The wire tension type flying object 1 is advanced and retracted by lengthening or shortening the wire 90.

The wire tension type flying object 1 includes an attitude measuring device 42. The attitude measuring device 42 measures the tilt angle, the angular velocity, and the angular acceleration around the three axes. Only the tilt angle, angular velocity or angular acceleration around the rotor shaft R may be measured. The posture measuring device 42 may be a known measuring device. Based on the measured value measured by the attitude measuring device 42, the control device 40 controls the attitude of the wire tension type flying object 1. Specifically, the rotation speeds of the pair of rotors 10 (a) and 10 (b), that is, the rotation speeds of the drive devices 30 (a) and 30 (b) are controlled to control the attitude of the wire tension type flying object 1. To do. The posture measuring device 42 is provided in the rotor holding member 20.

The wire tension type air vehicle 1 may be provided with GPS (not shown) so as to obtain the position information of the wire tension type air vehicle 1. Alternatively, the position of the wire tension type flying object 1 is obtained from the information of the length of the wire 90 and the direction in which the wire 90 is stretched. The GPS is generally provided in the rotor holding member 20, but the position is not limited.

In the wire tension type flying object 1, the rod member 50 is fixed to the end of the rotor holding member 20. Here, the end of the rotor holding member 20 is the end of the tubular rotor holding member 20, and the end opposite to the direction in which the wire tension type flying object 1 travels (right direction in FIG. 1). Point to. The rod member 50 is generally a linear member such as a hollow or solid cylinder, a hollow or solid square cylinder, or a rod having an H-shaped or I-shaped cross section. Further, the rod member 50 may be a part of the casing covering the rotor 10. The rod member 50 is made of a material having high flexural rigidity with respect to the weight per unit length. The material may be aluminum alloy, titanium or titanium alloy, steel, plastic, or the like, and is not particularly limited. Further, the rod member 50 is on the central surface between the pair of rotors 10 and generally extends in the coaxial direction with the rotor holding member 20. The length of the rod member 50 is generally longer than the radius of gyration of the blade 12 of the rotor 10, but the size of the wire tension type flying object 1, the maximum thrust, the required attitude stability, and the rod member 50. It is selected according to the weight of the.

The wire connector 60 is fixed to the tip of the rod member 50, that is, the end opposite to the rotor holding member 20. The wire connector 60 is a member for connecting the wire tension type flying object 1 and the wire 90. The wire connector 60 may be an eyebolt, or may be a joint having other known structures or, if the wire 90 includes an electric wire that transmits power or a signal, an elastic guide that prevents sharp refraction. The wire connector 60 may be provided with a sensor 62 for measuring the tension T acting on the wire 90. The sensor 62 may be a sensor that measures a force in three axial directions in order to detect the inclination of the rod member 50 with respect to the wire 90. In this way, the wire connector 60 is fixed to the rod member 50, and the rod member 50 is fixed to the rotor holding member 20. Therefore, the wire connector 60 is fixed with respect to the rotor holding member 20. In the case of "fixed with respect to the rotor holding member 20", it may be directly fixed to the rotor holding member 20 or indirectly fixed. The wire connecting tool 60 to the rotor holding member 20 are referred to as a main body 5. The main fuselage 5 is a central part that determines the attitude of the wire tension type flying object 1.

Regarding the wire tension type flying vehicle 1, the roll axis R of the main body 5, that is, the rotor holding member 20 and the rod member 50 is in the roll axis R direction in the axial direction and in the central plane of the rotation shaft 14 of the pair of rotors 10. The direction orthogonal to the yaw axis Y is called the yaw axis Y direction, and the direction orthogonal to the roll axis R and the yaw axis Y is called the pitch axis P direction.

Next, with reference to FIG. 3, the flight and attitude stability of the wire tension type air vehicle 1 will be described. Here, it is assumed that the wire 90 pulls the wire tension type flying object 1 in the horizontal direction. As shown in FIG. 3A, the rotation of the rotor 10 generates a thrust F in the direction of the rotation axis 14. If the rotation speed is increased, a large thrust F is generated, and if the rotation speed is decreased, the thrust F becomes smaller. Although it is a two-rotor, here, for the sake of simplification, the resultant force of thrusts generated by the two rotors is F. Here, the rotation shaft 14 of the rotor 10 is inclined in the forward direction (to the right in FIG. 3A). Since the rotating shaft 14 is inclined in the traveling direction, the thrust F is also inclined from the vertical direction to the forward direction. Therefore, the thrust F can be decomposed into a vertical force Fv and a horizontal force Fh. The vertical force Fv is balanced with the gravity Mg acting on the wire tension type flying object 1, or rises if it is larger than the gravity Mg, and falls if it is smaller than the gravity Mg. The horizontal force Fh generates a force that pulls the wire 90, and keeps the wire tension type flying object 1 in the air with the wire 90 stretched. Then, if the wire is lengthened, the wire tension type flying object 1 moves forward, and if the wire is shortened, the wire tension type flying object 1 moves backward. The relationship between the change in attitude of the wire tension type flying object 1 and the tension T will be described later.

As shown in FIG. 3B, the wire tension type flying object 1 has two rotors. The rotor 10 (a) and the rotor 10 (b) are rotated in opposite directions so that the torques generated by the two rotors 10 cancel each other out. However, this effect alone cannot completely suppress the rotation around the yaw axis Y. For example, when the wire tension type flying object 1 is moved left and right (horizontally), the rotation speeds of the rotor 10 (a) and the rotor 10 (b) are changed, and the rotor 10 (a) or (b) having the faster rotation speed is used. The vertical force of the one is increased to raise that side, and the wire tension type flying object 1 is tilted around the roll axis R. The wire tension type flying object 1 is moved left and right (horizontally) by inclining around the roll axis R, but the rotation balance of the rotor 10 (a) and the rotor 10 (b) is lost in order to perform this operation. Therefore, a rotational moment around the yaw axis Y is generated. In addition, a rotational moment around the yaw axis Y may be generated due to the influence of wind. However, the rotational moment around the yaw axis Y generated in this way can be easily canceled by being pulled from the wire 90 at a position where the wire 90 is separated from the main body 5 or the rotary axis 14 of the rotor 10. Can be done. That is, when the rod member 50 is tilted with respect to the wire 90, the horizontal tension Th of the wire 90 moves the wire tension type flying object 1 through the rod member 50, and the wire 90 and the rod member 50 or the main body 5 are always in a straight line. Trying to keep the shape.

FIG. 4 shows a wire tension type when the rotation axes 14 of the pair of rotors 10 are parallel (a-1, a-2) and when the rotation axes 14 of the pair of rotors 10 are tilted so as to spread downward (b-1, b-2). It is a figure for demonstrating the horizontal movement of the flying object 1. In FIG. 4, the upper view (a-1, b-1) is a view of the pair of rotors 10 seen from the wire fixing end O, and the lower view (a-2, b-2) is a wire. It is a figure which shows the horizontal movement of the wire tension type flying object 1 around a fixed end O. Since the rotation speeds of the left and right rotors 10 are changed, the rotation speed of the left rotor 10 is increased and the rotation speed of the right rotor 10 is decreased in FIG. 4, so that the thrust of the left rotor 10 is increased by Fd. It shall be. As a result, the wire tension type flying object 1 is shown to move to the right around the fixed end O of the wire 90. When the pair of rotating shafts 14 shown in FIGS. 4 (a-1, a-2) are parallel, the wire tension type flying object 1 is tilted around the roll axis R due to the difference in thrust Fd, whereby two It moves to the right by the horizontal force in the right direction obtained from the thrust F of the rotor 10. On the other hand, when tilted so that the lower part shown in FIG. 4 (b-1, b-2) expands, the wire tension is caused by the difference in thrust Fd as in the case of FIG. 4 (a-1, a-2). In addition to the flight body 1 tilting around the roll axis R to obtain a horizontal force in the right direction from the thrusts F of the two rotors 10, the difference Fd of the thrusts directly generates a horizontal force Fdh, so that the flight body 1 moves in the horizontal direction. It becomes easier to do. That is, by tilting the rotation shafts 14 of the pair of rotors 10 so as to spread downward, the lift that lifts the wire tension type flying object 1 is reduced, but the motility is improved.

Refer to the side view of FIG. 3A again. The thrust of the rotor 10 and the horizontal tension Th from the wire 90 connected to the wire connecting portion 60 act on the wire tension type flying object 1. Further, the self-weight Mg of the wire tension type flying object 1 also acts. In reality, wind power also has an effect, but it is omitted here. When these forces are balanced, the attitudes of the wire tension type flying object 1 around the pitch axis P and around the yaw axis Y are stable. In the conventional 4-rotor remote-controlled aircraft, the attitude around the pitch axis P is stabilized by adjusting the rotation speeds of the front and rear rotors. In the wire tension type flying object 1, the vertical component Fv of the total thrust F of the wire tension type flying object 1 is balanced with its own weight Mg and floats in the air, and the horizontal component Fh of the thrust F generates the wire tension Th. When the main fuselage 5 takes an angle rather than on the extension line of the wire 90, the horizontal component Fh of the thrust F of the rotor 10 generated near the tip of the main fuselage 5 (specifically, the position of the roller 10) and the main fuselage 5 The wire tension Th generated at the trailing end acts to make the angle zero. Therefore, the attitude of the main fuselage 5, that is, the attitude of the wire tension type air vehicle 1 around the pitch axis P and the attitude around the yaw axis Y can be stabilized. However, the attitude of the wire tension type flying object 1 around the roll axis R cannot be stabilized by this method. Therefore, adjustment is performed by control using the posture information measured by the posture measuring device 42.

The attitude of the wire tension type flying object 1 around the roll axis R is changed by adjusting the rotation speeds of the two rotors 10 (a) and 10 (b). This control is similar to that of a conventional remote-controlled aircraft. However, if the attitude around the roll axis R is not changed and only a constant attitude is maintained, the attitude around the roll axis R can be changed by making the center of gravity of the wire tension type flying object 1 sufficiently lower than the rotor 10. It can also be stabilized. In this case, the movement in the left-right direction can be realized by tilting the rollers 10 to the left and right by tilting so that the bottom of the pair of rollers 10 expands as shown in FIGS. 4 (b-1, b-2). Is.

As described above, in the wire tension type flying object 1, the tension T acts on the wire connecting portion 60 from the wire 90, so that the tension T and the thrust F generated from the rotor 10 cause the posture around the pitch axis P and the yaw axis Y. Since it can be stabilized, control for stabilizing the posture becomes easy.

Therefore, in the wire tension type flying object 1, in addition to measuring the inclination angle, the angular velocity or the angular acceleration around the roll axis R of the wire tension type flying object 1 by the attitude measuring device 42, the tension acting on the wire connecting portion 60 By measuring the magnitude and direction of T, transmitting it to the control device 40, and controlling the T, more reliable control can be performed.

The wire 90 is generally wound on a reel (not shown) on the ground and its length is appropriately adjusted by the operator. Therefore, when the wire tension type flying object 1 is advanced, the wire 90 may be unwound from the reel, and when it is retracted, the wire 90 may be wound on the reel. If the length of the wire 90 is kept constant, the wire tension type flying object 1 will fly on a spherical surface equidistant from the reel. In the wire tension type flying object 1, the wire 90 is generated by generating an inclination around the roll axis R to generate a lateral movement around the fixed end O of the wire 90, and adjusting the thrust F of the rotor 10. By generating a vertical movement around the fixed end O of the wire 90 and adjusting the length of the wire 90, a movement in the length direction from the fixed end O of the wire 90 is generated. Therefore, it is possible to move it to an arbitrary position in the space.

Next, a one-rotor wire tension type flying object 2 as a second embodiment will be described with reference to FIG. The wire tension type air vehicle 2 is significantly different from the wire tension type air vehicle 1 in that it has only one rotor 10 and has a pair of ladders 82 that change the flow of the wind generated by the rotor 10. Further, the wire connector 60 is largely different in that it is fixed to the rotor holding member 21 via the flying object casing 70 surrounding the rotor 10. Here, "surrounding the rotor 10" refers to a state having a structure that protects the wire tension type flying object 2 so that an external force does not reach the rotor 10 when it collides with an object. Therefore, the flying object casing 70 may be a mesh-like member including the rotor 10, the rotor holding member 21, and the control device 40 as shown in FIG. Alternatively, an annular member such as a bumper may be arranged around the rotor 10, as long as it can mechanically protect the inside and at the same time reduce the influence of blocking the flow of air entering and exiting the rotor 10. The structure may be. In the wire tension type flying object 2, the wire connecting tool 60, the flying object casing 70, and the rotor holding member 21 form the main fuselage 5. The material of the air vehicle casing 70 may be aluminum alloy, titanium or titanium alloy, steel, plastic, or the like, and is not particularly limited.

In the wire tension type flying object 2, the drive device 30 is housed inside the rotor holding member 21. The rotor holding member 21 is fixed to, for example, an elliptical ring 26 along the flying object casing 70 in a predetermined cross section via a beam (not shown). The rotor holding member 21 is fixed to the flying object casing 70 by fixing the ring 26 to the flying object casing 70. In the wire tension type flying object 2, the battery 32, the control device 40, the attitude measuring device 42, and the like are fixed to the beam extending from the rotor holding member 21 or to the flying object casing 70. For example, as shown in FIG. 5A, in the wire tension type flying object 2, the battery 32, the control device 40, and the like are fixed to the front side of the flying object casing 70.

In the wire tension type flying object 2, since there is only one rotor 10, the rotor holding member 21 tends to rotate in the direction opposite to the rotation of the rotor 10. That is, it tries to rotate around the yaw axis Y. However, since the tension T acts from the wire 90 on the wire connector 60 at a position separated from the rotating shaft 14 of the rotor 10, the posture of the flying object casing 70 and the rotor holding member 21 around the yaw axis Y is stable, and the yaw axis is stable. It does not rotate around Y. Further, as in the case of the wire tension type flying object 1, the posture around the pitch axis is stabilized by the thrust generated by the rotor 10 and the tension acting on the wire connecting portion 60.

Here, the steering device 80 including the rudder 82 will be described with reference to FIG. 5 (b). The steering device 80 includes a pair of rudders 82, a servomotor 84 that drives the rudder 82, an output shaft 86 of the servomotor 84, and a bevel gear group 88 that converts the rotation around the axis of the output shaft 86 into an angle change of the rudder 82. And. The servomotor 84 is provided with a speed reducer. By activating the servomotor, the output shaft 86 is rotated, and the bevel gear group 88 converts the rotation around the output shaft 86 into a movement that changes the inclination angle of the rudder 82. In FIG. 5B, in the bevel gear group 88, the bevel gears fixed to the pair of ladders 82 (a) and 82 (b) are engaged with each other on both sides of one bevel gear fixed to the tip of the output shaft 86. The ladders 82 (a) and 82 (b) are inclined in opposite directions. The steering device 80 may have other known configurations such as driving the left and right ladders 82 individually. Further, the servomotor 84 and the bevel gear group 88 of the steering device 80 are housed inside the rotor holding member 21. The tip of the shaft 81 that supports the rudder 82 may be rotatably supported by the flying object casing 70 or the ring 26. The steering device 80 may be held by the flying object casing 70.

By changing the flow of the wind generated by the rotor 10 by the pair of ladders 82, the attitude of the wire tension type flying object 2 around the roll axis R can be changed. The ladder 82 is typically located below the blades of the rotor 10. The tilt angle of the rudder 82 is adjusted based on the tilt angle, angular velocity, or angular acceleration of the wire tension type flying object 2, specifically the rotor holding member 21 and the flying object casing 70 around the roll axis R measured by the attitude measuring device 42. Then, the posture around the roll axis of the wire tension type flying object 2 is stabilized.

As described above, in the wire tension type flying object 2, the attitude around the roll axis R can be controlled by providing the ladder 82 even though it is one rotor, so that the pitch axis can be mechanically stabilized. Together with the P circumference and the yaw axis Y circumference, the overall posture (3 axis circumference) can be stabilized. That is, the control for stabilizing the posture becomes easy.

Since the wire tension type air vehicle 2 includes the air vehicle casing 70, it is possible to prevent the rotor 10 from being damaged when the wire tension type air vehicle 2 falls or collides with an object. In addition, the rotating blade can prevent injuries to people and damage to objects. Therefore, for example, it is possible to carry out an inspection by entering the inside of a narrow structure such as a bridge.

As described above, according to the wire tension type air vehicle 1 and 2 of the present invention, the attitude can be easily controlled, so that the control device can be made smaller and lighter or less costly, and the remote control type air vehicle can be realized. Can increase the versatility of.

Since the wire tension type flying objects 1 and 2 are premised on flying under the tension T from the wire 90, the movable distance is limited, but they are suitable for applications such as safe access to a three-dimensional structure. For example, the overhead wire of a cable to a steel tower, the towing of ropes for carrying in inspection equipment and materials to routes that cannot be passed by people, such as the lower part of a bridge or the inside of an underdrain. Further, since the wires 90 are connected, it is possible to prevent a disorderly flight when the radio control becomes impossible. Further, the flight range can be limited by limiting the length of the wire 90. Therefore, it is also suitable for playground equipment, for example, a kite that can be raised without wind, or a miniaturized drone that can be used for selfies. Further, in the large wire tension type flying objects 1 and 2, it is possible for a worker to ride on the large wire tension type flying objects 1 and 2 and use them as a kind of boom engaged in civil engineering / construction work. Further, the wire tension type flying objects 1 and 2 are particularly suitable for use in extending in the horizontal direction, but by changing the inclination angle of the main fuselage 5 of the rotor 10 with respect to the roll axis R, the wire 90 is fixed from below the fixed end O to above. Since it can be extended to, it can also be used for applications such as inspection of the outer wall of a building and consultation work from the ground or an adjacent building. Furthermore, it can also be used as an advertising medium for writing characters in the air and for stably floating signs in the air with multiple units.

In the above description, the wire tension type aircraft 1 is described as 2 rotors, and the wire tension type vehicle 2 is described as 1 rotor, but the number of rotors can be changed arbitrarily. However, in the case of one rotor, a ladder is provided to control the posture around the roll axis.

The structures described for the wire tension type air vehicle 1 and the wire tension type air vehicle 2 can be interchanged with each other. For example, in the wire tension type flying object 2, the flying object casing 70 may not be provided, the rod member 50 may be provided, and the wire connector 60 may be fixed to the rear end of the rod member 50.

1, 2 Wire tension type flying object 5 Main body 10 Rotor 12 Blade 14 Rotating shaft 20, 21 Rotor holding member 22 Main body 24 Arm 26 Ring 30 (Rotor) Drive device 32 Battery 40 Control device 42 Attitude measuring device 50 Rod member 60 Wire Coupling 70 Air vehicle casing 80 Steering device 81 Shaft supporting the rudder 82 Ladder 84 Servo motor 86 Output shaft 88 Bevel gear group 90 Thrust Fh Thrust generated by the rotor Ft Horizontal force generated by the rotor Ft Tension of the wire generated by the rotor Force Fv Vertical force generated by rotor T Tension from wire Th Horizontal component of tension Mg own weight

Claims (7)

A rotor that generates thrust by rotating around a rotating shaft,
A rotor holding member that supports the rotor and
A drive device for rotating the rotor and
A control device that controls the rotation speed of the rotor and
A wire that is fixed with respect to the rotor holding member, includes a wire connecting tool that is connected to the wire at a position separated from the rotating shaft, and has a main body from the wire connecting member to the rotor holding member. It is a tension type air vehicle
A wire is connected to the wire connector, and tension is applied from the wire to stabilize the posture around the pitch axis and the yaw axis of the main body.
Wire tension type flying object. A rod member having one end fixed to the rotor holding member and a wire connector fixed to the other end is provided.
The wire tension type flying object according to claim 1. With a pair of the rotors
The wire connector is arranged on the central surface between the pair of rotors.
The pair of rotors are arranged plane-symmetrically with respect to the central plane between the pair of rotors.
The wire tension type flying object according to claim 1 or 2. Equipped with a posture measuring device
Using the tilt angle around the roll axis measured by the posture measuring device, the rotation speed of each of the pair of rotors is changed to stabilize the posture around the roll axis.
The wire tension type flying object according to claim 3. Equipped with one of the rotors
A pair of ladders that alter the flow of air produced by the rotor.
The wire tension type flying object according to claim 1 or 2. Equipped with a posture measuring device
Using the tilt angle around the roll axis measured by the posture measuring device, the tilt angle of each of the pair of ladders is changed to stabilize the posture around the roll axis.
The wire tension type flying object according to claim 5. The tilt angle of the rotor with respect to the roll axis of the main fuselage is variable.
The wire tension type flying object according to any one of claims 1 to 6.