JP6661136B1 - Unmanned aerial vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a body of an unmanned aerial vehicle with waterproofness and dustproofness, and to obtain necessary rigidity while suppressing an increase in body weight. A plurality of horizontal rotors (12) and a body (11) forming an airframe are provided, the body (11) being a first body (30) that is a hollow body having a monocoque structure, and a frame. A second body (40) that is a frame of a structure, and at least a part of the second body (40) is arranged outside the first body (30). An unmanned aerial vehicle. [Selection diagram] Fig. 1

Description

  The present invention relates to unmanned aerial vehicle technology.

  Patent Document 1 listed below discloses a multicopter including a duct-shaped rotor guard.

JP 2013-010499A

  In recent years, application of unmanned aerial vehicles to various business fields has been studied. A small multicopter, which is the current mainstream of such unmanned aerial vehicles, has a DC motor and a fixed-pitch propeller mounted on the DC motor, and a flight controller as a control unit controls the rotation of each rotor. The attitude control and steering of the aircraft are performed by adjusting the number. Such a multicopter has many mechanical functions realized by software, and therefore has few mechanical elements, and is excellent in freedom of machine design and maintainability.

  In order to further expand the application range of multicopters, it is required to improve the waterproof and dustproof performance of the fuselage. As one of means for achieving this, there is a method in which the body has a monocoque structure and electronic devices are housed inside. However, in order to obtain rigidity sufficient for flight with a monocoque body, the thickness of the body needs to be sufficiently large, and there is a problem that the body weight increases.

  In view of such a problem, an object to be solved by the present invention is to obtain a necessary rigidity while suppressing an increase in body weight when giving a body of an unmanned aerial vehicle waterproof and dustproof performance.

  In order to solve the above problems, an unmanned aerial vehicle according to the present invention includes a plurality of horizontal rotors and a body constituting an airframe, wherein the body has a first body that is a hollow body having a monocoque structure, and a frame body having a frame structure. A second body that is a frame body, wherein the second body has at least a part thereof disposed outside the first body.

  The frame-structured body can obtain a large rigidity with a simple structure. By providing a second body (hereinafter, also referred to as a "frame body") having a separate frame structure in addition to a first body having a monocoque structure (hereinafter, also referred to as a "monocoque body") providing a waterproof / dustproof function, The rigidity of the entire body can be ensured by the frame body. That is, the thickness of the monocoque body can be minimized. In the present invention, instead of housing the frame body inside the monocoque body and supporting the monocoque body from the inside, at least a part of the frame body can be arranged outside the monocoque body and the monocoque body can be supported from the outside With such a structure, the shape, dimensions, and the like of the internal space of the monocoque body can be specialized for uses other than securing rigidity. As a result, it is possible to obtain waterproof / dustproof performance and rigidity required for flight while effectively suppressing an increase in body weight.

  Further, in the unmanned aerial vehicle according to the present invention, it is preferable that the plurality of horizontal rotors are supported by the second body, and the first body has a rotor guard portion surrounding each of the horizontal rotors in a duct shape. . When flying an unmanned aerial vehicle in a small space such as an indoor space, or when flying an unmanned aerial vehicle at a low altitude, it is necessary to take some measures to prevent the horizontal rotating wing rotating at a high speed from damaging surrounding people and structures. By supporting the horizontal rotor with a highly rigid frame body and using a monocoque body with a high degree of freedom also as a rotor guard, the safety of the unmanned aerial vehicle is enhanced and the application range of the unmanned aerial vehicle is further expanded.

  At this time, it is preferable that the width (thickness) of the rotor guard portion of the first body in the vertical direction is 30 mm or more and less than 100 mm. The rotor guard portion needs to have such a thickness that the horizontal rotating blade does not protrude even when the horizontal rotating blade cones and warps upward. Further, in order to effectively use the space inside the rotor guard portion (the internal space of the monocoque body), the thickness of the rotor guard portion is preferably larger than the thickness of the electronic device or the like. On the other hand, increasing the thickness of the rotor guard increases the weight of the monocoque body and decreases the rotor efficiency. By setting the thickness of the rotor guard portion to 30 mm or more and less than 100 mm, the balance between these advantages and disadvantages can be optimized.

  Further, in the present invention, it is preferable that an outer peripheral shape of the first body when viewed in plan is substantially rectangular. At this time, it is more preferable that the outer peripheral shape when the first body is viewed in a plan view is a substantially rectangular shape having rounded corners with rounded corners. If there are irregularities on the outer periphery of the monocoque body, the irregularities may be caught on peripheral objects or the like, and the attitude of the unmanned aerial vehicle may be suddenly disturbed. By removing irregularities and corners from the outer periphery of the monocoque body as much as possible, it becomes possible to fly in a small space such as indoors more safely.

  Further, in the present invention, the second body includes a plurality of arms, each of which is a rod supporting each of the horizontal rotors, and a hub to which one end of each of the plurality of arms is fixed. The arms extend radially around the hub portion so as to pass through the center of any one of the rotor guard portions when the second body is viewed in a plan view. It is preferably fixed to the outer edge of the body. By fixing the ends of the arms extending radially from the hub to the outer edge of the monocoque body, the rigidity of the entire body can be effectively increased while supporting the horizontal rotor with a simple and robust structure.

  Further, in the present invention, it is preferable that the first body has a housing portion that is a space in which an upper surface, a lower surface, or a side surface is a flat surface in the internal space. Generally, a curved surface is often used for a monocoque body in order to increase the rigidity of the body. When electronic devices and the like are fixed to such a monocoque body, they must be densely arranged on a small number of flat portions, or a member for fixing them must be separately arranged in the monocoque body. In the unmanned aerial vehicle of the present invention, the rigidity of the entire body is ensured by the frame body, so that it is easier to adopt a flat surface than the conventional monocoque body. Accordingly, it is easy to provide the accommodation portion in the monocoque body, and the accommodation ability of the monocoque body is improved.

  At this time, it is preferable that at least a part of the upper surface, the lower surface, or the side surface of the housing portion is formed of a lid that can be detached from the outside. By configuring a part of the storage unit with the lid, the worker can easily access the inside of the storage unit.

  Further, at this time, when the heading direction of the unmanned aerial vehicle is set to the front, the accommodation portion may be provided at any one of front, rear, right, and left ends of the first body. The first body may include a plurality of housing portions, and the plurality of housing portions may be provided at a center of the first body in a plan view and at an end on an outer peripheral side. Good.

  Further, in the present invention, it is preferable that the rigidity of the housing portion is reinforced by a reinforcing member. Although the monocoque body of the present invention is easier to adopt a flat surface than the conventional monocoque body, the rigidity of the flat portion is still weaker than that of the curved portion. By reinforcing the accommodating portion with the reinforcing member, the accommodating portion can be used more safely as a fixing portion for an electronic device or the like.

  As described above, according to the unmanned aerial vehicle of the present invention, it is possible to obtain the required rigidity while suppressing an increase in the body weight, when giving the body of the unmanned aerial vehicle waterproof and dustproof performance.

It is a perspective view showing appearance of a multicopter concerning an embodiment. FIG. 3 is an exploded perspective view showing the appearance of a monocoque body and a frame body. It is a top view of the multicopter concerning an embodiment. It is a side view of the multicopter concerning an embodiment. It is a top view which shows the structure of the accommodation part with which a monocoque body is provided. It is a side view sectional view showing an internal structure of a central storage part, and a connection structure with a frame body. It is a block diagram showing the functional composition of the multicopter concerning an embodiment.

  Hereinafter, an embodiment of an unmanned aerial vehicle according to the present invention will be described with reference to the drawings. The multicopter 10 described below is an unmanned aerial vehicle that flies with a plurality of rotors 12 that are horizontal rotors. The “horizontal rotor” in the present invention refers to a rotor whose axis of rotation is oriented vertically and whose rotation surface is a horizontal plane. Even if the rotation axis or the rotation surface is slightly inclined, the "horizontal rotor" of the present invention is included in the present invention as long as the thrust is mainly constituted by an upward component.

Further, the "up-down" in the following description, means a direction parallel to the Z axis of the coordinate axes depicted in the figures, "upper" and Z ₁ side, the Z ₂ side and "down". The term "longitudinal" means the direction parallel to the X axis of the coordinate axes, the X ₁ side "front" and "heading direction", the X ₂ side and "rear". Similarly, "right" means the direction parallel to the Y axis in the coordinate axis, the Y ₁ side and "right", the Y ₂ side "left". Further, “horizontal” means an XY plane direction indicated by the same coordinate axis.

<Configuration Overview>
FIG. 1 is a perspective view showing the appearance of the multicopter 10 according to the present embodiment. The multicopter 10 of the present embodiment is a body that measures a distance to surrounding features or structures using two lidars 91 (LIDARs) arranged orthogonally and acquires a point cloud of the surrounding environment. The use of the unmanned aerial vehicle of the present invention is not particularly limited. For example, the unmanned aerial vehicle may be a body for aerial photography, a transport for cargo, or a hobby drone.

  The multicopter 10 of this embodiment is a so-called quadcopter, and controls the attitude and steering of the airframe by individually adjusting the rotation speeds of the four rotors 12. Each rotor 12 includes a motor 121 as a drive source and a fixed pitch propeller 123 directly connected to the motor 121. In addition, the number of horizontal rotors of the unmanned aerial vehicle of the present invention may be two or more, and is not limited to the quadcopter of the present embodiment. For example, a tandem rotor having two rotors, a tricopter (three), a hexacopter (six), an octaceptor (eight), and a rotor having more than eight rotors 12 may be used. Further, a VTOL (Vertical Take-Off and Landing) aircraft taking off and landing with a plurality of horizontal rotors is also included in the unmanned aerial vehicle of the present invention.

  The body of the multicopter 10 is composed of a body 11 formed by connecting a monocoque body 30 (first body), which is a hollow body having a monocoque structure, and a frame body 40 (second body), which is a frame body having a frame structure. ing. The frame body 40 is disposed below the monocoque body 30 and supports the monocoque body 30 from outside.

  The frame body 40 has four arms 42 extending from the center of the fuselage in an X-shape in plan view, and the rotor 12 is fixed to a motor mount 43 provided in the middle of each arm 42.

<Monocoque body>
FIG. 2 is an exploded perspective view showing the appearance of the monocoque body 30 and the frame body 40. FIG. 2 illustrates a state where the monocoque body 30 and the frame body 40 are vertically separated. FIG. 3 is a plan view of the multicopter 10. FIG. 4 is a side view of the multicopter 10.

  The monocoque body 30 is a hollow body made of GFRP (Glass Fiber Reinforced Plastics) or CFRP (Carbon Fiber Reinforced Plastics). Has been granted. It should be noted that the monocoque body 30 alone cannot provide body rigidity that can withstand flight.

  As shown in FIG. 3, when the monocoque body 30 is viewed in plan, the outer peripheral shape is substantially rectangular, and the four corners are provided with rounded corners. When the multicopter 10 is made to fly in a small space such as indoors, for example, if the monocoque body 30 has irregularities on the outer periphery, the portion may be caught by a peripheral object or the like, and the posture of the multicopter 10 may be suddenly disturbed. . The monocoque body 30 of the present embodiment can fly indoors more safely by making the outer peripheral shape smooth without irregularities or corners. However, the shape of the monocoque body of the present invention is not limited to that of the present embodiment, and can be appropriately changed according to its use and flight environment.

(Rotor guard part)
As shown in FIG. 3, the monocoque body 30 of the present embodiment has a rotor guard portion 31 surrounding the four rotors 12 in a duct shape. When the multicopter 10 is made to fly in a small space such as indoors, or when the multicopter 10 is made to fly at a low altitude, the rotor 12 rotating at a high speed may damage nearby people and structures. Since the monocoque body 30 has the rotor guard portion 31, the multicopter 10 can fly safely even in an environment where there are peripheral objects and the like.

  The vertical width (thickness) of the rotor guard portion 31 of this embodiment is designed to be 50 mm. The rotor guard portion 31 needs to have a thickness such that the propeller 123 of the rotor 12 does not protrude outside even when the propeller 123 of the rotor 12 cones and warps upward. Further, in order to effectively use the space inside the rotor guard portion 31 (the internal space of the monocoque body 30), the thickness of the rotor guard portion 31 is larger than the thickness of electronic devices or the like housed in the monocoque body 30. Is good. On the other hand, increasing the thickness of the rotor guard portion 31 increases the weight of the monocoque body 30 and lowers the rotor efficiency. In the multicopter 10 of the present embodiment, the thickness of the rotor guard portion 31 is set to 50 mm, thereby optimizing the balance between these advantages and disadvantages with respect to the thickness of the rotor guard portion 31. Note that the thickness of the rotor guard portion 31 is not limited to 50 mm, and can be changed as appropriate according to the size of the airframe, required safety, flight environment, and the like. When the direction of contact between the propeller 123 and the peripheral object is limited to the horizontal direction, it is considered that the thickness of the rotor guard portion 31 is desirably 30 mm or more and less than 100 mm.

  In the multicopter 10 of the present embodiment, the monocoque body 30 also serves as the rotor guard portion 31 to achieve both efficiency and safety of the body structure. When flying, the rotor guard section 31 can be omitted.

(Container)
FIG. 5 is a plan view showing the structure of the accommodation section provided in the monocoque body 30. The inside of the monocoque body 30 is hollow, and by housing electronic devices, cables, and the like therein, these can be protected from the external environment. The target that the monocoque body 30 can protect is not limited to electronic devices and the like, and may be, for example, luggage to be carried.

  The monocoque body 30 has a central housing portion 32 and an end-side housing portion 33 (hereinafter, collectively referred to as a “housing portion 32”) that are housing portions for electronic devices and the like at a central portion and front, rear, left, and right outer peripheral end portions. , 33 ”). As shown in FIG. 3, the upper surfaces of the housing portions 32 and 33 are provided with a central cover 321 and an end cover 331 which are detachable lids (hereinafter, these are also collectively referred to as “covers 321 and 331”). ), So that the worker can easily access each of the storage portions 32 and 33 from the upper surface of the monocoque body 30. In the present embodiment, the covers 321, 331 substantially cover the entire upper surfaces of the housing portions 32, 33. However, as long as the stored objects can be taken in and out, only a part of the upper surfaces of the housing portions 32, 33 can be covered by the cover 321. , 331. Further, the portions of the storage portions 32 and 33 formed by the covers 321 and 331 are not limited to the upper surfaces of the storage portions 32 and 33. If the workers can access the storage portions 32 and 33, A lower surface or a side surface may be configured.

  Further, in the present embodiment, since the covers 321 and 331 are separate from the monocoque body 30 (formed separately), the degree of freedom of the shapes of the covers 321 and 331 is increased. Thereby, for example, the rider 91 is shaped to be lifted high like the end cover 331 at the front of the fuselage, or the center of the center cover 321 is raised to secure a storage space for the battery 19 (see FIG. 5). Or it is possible.

  As shown in FIG. 4, the lower surface (bottom surface) of the inner space of each of the center housing portion 32 and the end-side housing portion 33 is configured to be flat. Generally, a monocoque body secures its rigidity by using many curved surfaces. When electronic devices and the like are fixed to such a monocoque body, they must be densely arranged on a small number of flat portions, or a member for fixing the electronic devices and the like must be separately arranged in the monocoque body. In the monocoque body 30 of the present embodiment, since the rigidity of the entire body 11 is ensured by the frame body 40, it is easier to incorporate a flat portion than the conventional monocoque body.

  In a general multicopter using a body having a frame structure, a rotor is arranged at the end of each arm. It is necessary to add a supporting arm separately. In addition, even when a body having a monocoque structure is used, in order to arrange any device at a position distant from the center of the body, the body must be formed thick to obtain rigidity capable of supporting the device. . That is, the body of the conventional multicopter is not suitable for mounting a device other than the rotor at a position away from the center of the body. In the multicopter 10 of the present embodiment, the degree of freedom of the shape of the monocoque body 30 is increased by the frame body 40 bearing the rigidity of the entire body 11, and the shapes of the frame body 40 and the monocoque body 30 are devised. Thus, the rigidity of the end portion (the portion located away from the center) of the monocoque body 30 can be relatively easily increased. Thus, the monocoque body 30 of the present embodiment has a higher degree of freedom regarding the arrangement of the housing portions than the conventional multicopter.

  For example, in the monocoque body 30 of the present embodiment, four rotor guard portions 31 having a circular inner peripheral surface formed of a curved surface are arranged so as to be densely arranged at the center. Since the inner peripheral surface of the rotor guard portion 31 is a curved surface, it has relatively high rigidity. The boundary between the rotor guard portions 31 adjacent to the front, rear, left and right is formed in a substantially cylindrical shape, and the rigidity is further enhanced. The four corners of the monocoque body 30 in plan view are part of the rotor guard portion 31, and these four corners are also formed in a substantially cylindrical shape. The central housing portion 32 and the end side housing portion 33 are located between the rotor guard portions 31 and are formed so as to be continuous from the rotor guard portion 31. That is, the central housing portion 32 and the end-side housing portion 33 of the present embodiment are designed so that rigidity is obtained as much as possible even if they have flat portions. In addition, since the frame body 40 supports the monocoque body 30, the housing portions 32 and 33 are provided with rigidity capable of housing various devices.

  In addition, as shown in FIG. 4, the central reinforcing plate 341 and the end reinforcing plate which are plate-like reinforcing members are formed in the openings of the central housing portion 32 and the end side housing portion 33 so as to border the edges. 342 are joined. Although the monocoque body 30 of the present embodiment is easier to adopt a flat surface than the conventional monocoque body, the rigidity of the flat portion is still inferior to that of the curved portion. By reinforcing the central housing portion 32 and the end-side housing portion 33 with the center reinforcing plate 342 and the end-side reinforcing plate 341, respectively, it is possible to use these housing portions 32 and 33 more safely.

  Note that the positions and numbers of the housing portions 32 and 33 of the monocoque body 30 are not limited to the configuration of the present embodiment. For example, the monocoque body 30 may have a configuration in which only the central storage portion 32 is provided, or a configuration in which only the end-side storage portion 33 is provided. Further, for example, it is also conceivable to adopt a configuration in which the end-side accommodation portion 33 is provided only in the front and rear or only in the left and right of the monocoque body 30. The center reinforcing plate 342 and the end reinforcing plate 341 are not essential. If the housing portions 32 and 33 have sufficient strength, the reinforcing member can be omitted. Conversely, for each end-side accommodation portion 33, it is possible to further reinforce the end-side accommodation portion 33 by joining a reinforcing plate not only to the opening but also to the lower surface. As will be described in detail later, a connection plate 322, which is a kind of reinforcing member, is joined to the lower surface of the central housing portion 32. Note that the form of the reinforcing member is not limited to the plate, and may be a column supporting the upper and lower surfaces of the housing portions 32 and 33.

  FIG. 6 is a cross-sectional side view showing the internal structure of the central housing portion 32 and the connection structure with the frame body 40. In FIG. 6, for convenience of explanation, electronic devices and the like in the central housing portion 32 are omitted.

  The central cover 321 covered by the central accommodating portion 32 has a space provided therein by its central portion being raised in a cylindrical shape, and the battery 19 is disposed in the space (FIG. 5). More specifically, the battery 19 of the central reinforcing plate 341 is fixed, and the central cover 321 is covered thereon. A connection plate 322, which is a kind of reinforcing member, is also joined to the lower surface of the central housing portion 32, and the center reinforcement plate 341 and the connection plate 322 are connected by a support 323. Further, a support 413 constituting a center hub 41 of the frame body 40, which will be described later, is fixed to the connection plate 322 by screws.

<Frame body>
The frame body 40 is a frame having a simple structure mainly composed of a CFRP pipe member and a flat plate member, and imparts sufficient rigidity to the body 11 to withstand flight. The body 11 of the multicopter 10 only needs to have sufficient rigidity when the monocoque body 30 and the frame body 40 are combined, and the frame body 40 alone has sufficient rigidity to withstand flight. You don't need to be.

  As shown in FIGS. 2 and 4, the frame body 40 of the present embodiment includes four arms 42, which are cylindrical pipe members that support the rotor 12, and a hub to which one end of the arm 42 is fixed. A center hub 41.

  The center hub 41 has a center plate 412, which is two flat plate members arranged in parallel up and down with the plate surface facing up and down. Inside the two center plates 412, a plurality of columns 413 and an arm holder 412 to which one end of the arm 42 is joined are fixed.

  A motor mount 43, which is a pedestal portion of the rotor 12, is mounted in the middle of each arm 42, and the rotor 12 is fixed to the motor mount 43. In the vicinity of the motor mount 43, a stand 44, which is a leg extending downward from the arm 42, is attached. A connecting member 45 is attached to the tip of each arm 42, and the tip of the arm 42 is fixed to the monocoque body 30 by the connecting member 45.

  As shown in FIG. 3, the arms 42 extend radially around the center hub 41 so as to pass through the center of any one of the rotor guard portions 31 when the frame body 40 is viewed in plan. The distal ends of the arms 42 are fixed to the four corners of the monocoque body 30 via connecting members 45. The four corners of the monocoque body 30 are part of a rotor guard portion 31, which are formed in a substantially cylindrical shape. That is, the four corners of the monocoque body 30 are relatively rigid portions in the monocoque body 30. By fixing the tips of the arms 42 to the four corners, the rigidity of the entire body 11 is effectively increased. Although the four corners of the monocoque body 30 of the present embodiment are formed in an arc shape in plan view, planes may be partially provided in the four corners so that the connecting member 45 is easily screwed.

  Generally, a frame-structured body can have a large rigidity with a simple structure. The multicopter 10 of the present embodiment includes the monocoque body 30 having the waterproof and dustproof functions and the frame body 40 separately, so that the rigidity of the entire body 11 is ensured by the frame body 40. Thereby, the thickness of the monocoque body 30 can be minimized.

  In the multicopter 10 of the present embodiment, the frame body 40 is arranged outside the monocoque body 30 instead of housing the frame body 40 inside the monocoque body 30 and supporting the monocoque body 30 from the inside. By having a structure that supports the outside 30, the shape, dimensions, and the like of the internal space of the monocoque body 30 can be specialized for applications other than securing rigidity. In the present embodiment, the entire frame body 40 is disposed outside the monocoque body 30. However, the frame body 40 may be configured as described above if at least a part thereof can support the monocoque body 30 from outside. The effect can be obtained temporarily.

  As described above, the multicopter 10 of the present embodiment has the body 11 composed of the monocoque body 30 and the frame body 40, so that it is necessary for the waterproof / dustproof performance and flight while effectively suppressing an increase in body weight. It is possible to obtain high rigidity.

(Functional configuration)
FIG. 7 is a block diagram illustrating a functional configuration of the multicopter 10. The multicopter 10 of the present embodiment includes a flight controller FC, which is a control unit, a rotor 12, and a communication device 13 that communicates with a pilot (operator terminal 14). The multicopter 10 of the present embodiment has a rider 91 and an FPV camera 92 as its unique equipment. The rider 91 acquires the point cloud of the surrounding environment and transfers it to the operator terminal 14. The FPV camera 92 transfers an image in front of the fuselage to the operator terminal 14 so that the multicopter 10 can be steered from a first-person viewpoint. The FPV camera 92 of the present embodiment can be tilted by the servo 921.

  The flight controller FC has a control device 20 as its main configuration. The control device 20 has a CPU 21 as a central processing unit, and a memory 22 including a storage device such as a RAM, a ROM, and a flash memory.

  The flight controller FC further has a flight control sensor group S including an IMU 25 (Inertial Measurement Unit: inertial measurement device), a GPS receiver 26, a barometric pressure sensor 27, an electronic compass 28, and a laser ranging sensor 29. Is connected to the control device 20.

  The IMU 25 is a sensor that detects the tilt of the multicopter 10, and is mainly composed of a three-axis acceleration sensor and a three-axis angular velocity sensor. The GPS receiver 26 is, more precisely, a receiver of a navigation satellite system (NSS). The GPS receiver 26 acquires the current longitude and latitude values from a Global Navigation Satellite System (GNSS) or a Regional Navigational Satellite System (RNSS). The atmospheric pressure sensor 27 is an altitude sensor that specifies the altitude (altitude) above the sea level of the multicopter 10 from the detected atmospheric pressure altitude. The electronic compass 28 uses a three-axis geomagnetic sensor, and the electronic compass 28 detects the azimuth of the nose of the multicopter 10. Further, the multicopter 10 of the present embodiment has a laser ranging sensor 29 which is directed up and down of the aircraft, and thereby can acquire the altitude from the ground or the floor and the distance from the ceiling. it can.

  The flight control sensor group S enables the flight controller sensor S to acquire its own aircraft position information including the longitude and latitude, altitude, and azimuth of the nose, in addition to the tilt and rotation of the aircraft. Have been.

  Note that the flight control sensor group S of the present embodiment is an example, and the sensors constituting the flight controller FC are not limited to the combination of the present embodiment. For example, a configuration in which the barometric pressure sensor 27 is omitted, or a configuration in which the laser distance measurement sensor 29 is a distance measurement sensor of another type such as parallax, infrared rays, or ultrasonic waves can be considered. In a place where the GPS receiver 26 cannot receive radio waves, it is conceivable to detect the horizontal movement of the airframe by an optical flow sensor, image recognition, or the like. In addition, it is also possible to add a laser distance measuring sensor 29 to measure the distance to peripheral objects in the vertical, front, rear, left, and right directions, and to specify the spatial position of the multicopter 10 from the distance.

  The control device 20 has a flight control program FS that is a program for controlling the attitude and basic flight operation of the multicopter 10 during flight. The flight control program FS controls the number of rotations of each rotor 12 based on the information acquired from the flight control sensor group S, and causes the multicopter 10 to fly while correcting the disturbance of the attitude and position of the aircraft. Although the rotor 12 having a fixed pitch propeller is employed in the multicopter 10 of the present embodiment, for example, a rotor having a variable pitch propeller may be employed, and the pitch operation may be individually controlled to control the flight operation. . Further, the drive source of the rotor 12 is not limited to the motor 121, but it is also conceivable that the engine is fixed to the frame body 40 and the driving force is branched to each rotor 12 by a power transmission mechanism.

  The control device 20 further has an autonomous flight program AP that is a program for causing the multicopter 10 to fly autonomously. In the memory 22 of the control device 20, a flight plan FP, which is a parameter designating coordinates of the destination and the transit point of the multicopter 10, such as longitude and latitude, altitude and speed during flight, and the like, is registered. The autonomous flight program AP causes the multicopter 10 to fly autonomously according to the flight plan FP, using an instruction from the operator terminal 14, a predetermined time, or the like as a start condition.

  Thus, the multicopter 10 of the present embodiment is an unmanned aerial vehicle having an advanced flight control function. However, the unmanned aerial vehicle of the present invention is not limited to the form of the multicopter 10, for example, an airframe in which some sensors are omitted from the flight control sensor group S, or can fly only by manual operation without an autonomous flight function. An airframe can also be used.

  As described above, the embodiments of the present invention have been described, but the scope of the present invention is not limited thereto, and various changes can be made without departing from the gist of the invention.

10: Multicopter (unmanned aerial vehicle), 11: body, 12: rotor, 121: motor, 123: propeller (horizontal rotor), 13: communication device, 14: operator terminal, 19: battery, FC: flight controller, 20 : Control device, S: flight control sensor group, 25: IMU, 26: GPS receiver, 27: barometric pressure sensor, 28: electronic compass, 29: laser ranging sensor, 30: monocoque body, 31: duct part, 32: Central accommodation part (accommodation part), 321: Central cover (lid part), 322: Connection plate (reinforcement member), 323: Post (reinforcement member), 33: End accommodation part (accommodation part), 331: End cover (Lid), 341: central reinforcing plate (reinforcing member), 342: end reinforcing plate (reinforcing member), 40: frame body, 41: center hub (hub portion) , 411: center plate, 412: arm holder, 413: support post, 42: arm, 43: motor mount, 44: Stand, 45: connecting member, 91: rider, 92: FPV Camera

Claims (9)

A plurality of horizontal rotors,
An unmanned aerial vehicle having a body constituting an airframe,
The body is
A first body which is a hollow body having a monocoque structure, and protects the contents from an external environment;
A second body that is a frame body having a frame structure,
At least a part of the second body is disposed outside the first body, and supports the first body from outside ;
The first body has an accommodation portion that is a space in which an upper surface, a lower surface, or a side surface is a flat surface in an internal space thereof,
When the heading direction of the unmanned aerial vehicle is set to the front, the accommodating portion is provided at least at one of the front, rear, right, and left ends of the first body. . The plurality of horizontal rotors are supported by the second body,
The unmanned aerial vehicle according to claim 1, wherein the first body has a rotor guard section surrounding each of the horizontal rotors in a duct shape.   The unmanned aerial vehicle according to claim 2, wherein a vertical width of the rotor guard portion of the first body is not less than 30 mm and less than 100 mm.   4. The unmanned aerial vehicle according to claim 2, wherein an outer peripheral shape of the first body when viewed in plan is substantially rectangular. 5.   The unmanned aerial vehicle according to claim 4, wherein an outer peripheral shape when the first body is viewed in a plan view is a substantially rectangular shape with rounded corners having rounded corners. The second body is
A plurality of arms that are rods supporting each of the horizontal rotors,
A hub portion to which one ends of the plurality of arms are fixed,
The plurality of arms extend radially around the hub portion when passing through the center of one of the rotor guard portions when the second body is viewed in plan,
The unmanned aerial vehicle according to any one of claims 2 to 5, wherein a tip of each of the arms is fixed to an outer edge of the first body. An upper surface of the housing part, the lower surface or side, is claimed in any one of claims 1 to 6, characterized in that at least part of its surface is composed of a detachable lid from the outside Unmanned aerial vehicle. The first body has a plurality of the housing portions,
8. The apparatus according to claim 1, wherein the plurality of housing sections are provided at any one of a front, rear, right, or left end of the first body and a center. 9. An unmanned aerial vehicle according to any one of the preceding claims. The unmanned aerial vehicle according to any one of claims 1 to 8, wherein a rigidity of the housing portion is reinforced by a reinforcing member.

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