WO2017010019A1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote Download PDF

Info

Publication number
WO2017010019A1
WO2017010019A1 PCT/JP2015/074561 JP2015074561W WO2017010019A1 WO 2017010019 A1 WO2017010019 A1 WO 2017010019A1 JP 2015074561 W JP2015074561 W JP 2015074561W WO 2017010019 A1 WO2017010019 A1 WO 2017010019A1
Authority
WO
WIPO (PCT)
Prior art keywords
rod
members
shaped members
unmanned aerial
aerial vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/074561
Other languages
English (en)
Japanese (ja)
Inventor
弓男 守屋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mia Inc
Original Assignee
Mia Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mia Inc filed Critical Mia Inc
Publication of WO2017010019A1 publication Critical patent/WO2017010019A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • the present invention relates to an unmanned aerial vehicle.
  • unmanned aerial vehicles are rapidly spreading due to downsizing and price reduction.
  • unmanned aerial vehicles there are various types of unmanned aerial vehicles, and they can be broadly classified into fixed wing types and spoke types.
  • the fixed wing type include a type having a rotary wing such as a helicopter, a type having a movable wing such as an Osprey, and a type having both a rotary wing and a movable wing.
  • the spoke type include a multicopter type having a plurality of rotary blades (see, for example, Patent Document 1).
  • the multi-copter type is the mainstream from the viewpoints of flight stability and easy control.
  • each rotor blade is supported in the form of a cantilever, so it is weak against bending moment, and the rotor blade is easily damaged and structurally weak by colliding with an obstacle. Hurts surrounding people and may cause injury by touching the rotor blades during operation.
  • This invention makes it a subject to comprise the frame which supports an unmanned aerial vehicle lightly and firmly.
  • the present invention includes a plurality of first rod-like members arranged in a second direction intersecting the first direction with the first direction as a longitudinal direction, and a plurality of first rod-like members arranged in the first direction with the second direction as a longitudinal direction.
  • a first frame formed by connecting a plurality of second rod-shaped members at intersections, and spaced apart to one side in a third direction intersecting the first and second directions from the first frame, and the first direction is elongated
  • a second frame formed by connecting two third rod-shaped members arranged in the second direction and two fourth rod-shaped members arranged in the first direction with the second direction as a longitudinal direction, and a plurality of first and For at least one outer space of the plurality of rectangular spaces defined by the second rod-shaped member, the four intersections of the plurality of first and second rod-shaped members corresponding to the four vertices of the square of the space Each is located on one side in the third direction from near the center of these four intersections And four connecting members that connect the support points on the second frame
  • the four connecting members a plurality of squares corresponding to the four vertices of the square in the outer space of at least one of the plurality of square spaces defined by the plurality of first and second rod-shaped members.
  • Each of the four intersections of the first and second rod-shaped members is connected to a support point on the second frame located on one side in the third direction from the vicinity of the center of the four intersections.
  • the first and second frames are lightly and firmly connected by the connecting member assembled in a three-dimensional truss shape.
  • the unmanned aerial vehicle according to the present invention is attached to a support point on the second frame via a support member extending from the support point to the other side in the third direction, and has a plane parallel to the first and second directions as a rotation surface.
  • a rotating wing is further provided.
  • the unmanned aerial vehicle according to the present invention is characterized in that the third and fourth rod-like members are thicker than the first and second rod-like members and the four connecting members.
  • the 3rd and 4th rod-shaped member which forms the 2nd frame is thicker than the other 1st and 2nd rod-shaped members and a connection member, the 2nd frame is constituted firmly and to the vibration of a rotary wing. On the other hand, high strength is obtained.
  • the unmanned aerial vehicle of the present invention connects four intersections of a plurality of first and second rod-shaped members corresponding to four vertices of a square of at least one outer space by using two connecting members that intersect each other, A rotating blade having a plane of rotation parallel to the first and second directions, which is attached to the intersection of the two connecting members via a support member extending from the intersection to one side in the third direction, is further provided.
  • the four intersections of the plurality of first and second rod-shaped members corresponding to the four vertices of the square of the at least one outer space are connected using the two connecting members intersecting each other, and the two A high strength against vibrations of the rotor blades can be obtained by attaching the rotor blades that generate lift or thrust at the intersections of the connecting members.
  • the unmanned aerial vehicle of the present invention further includes a power source for a rotary wing disposed in at least one inner space among a plurality of rectangular spaces partitioned by a plurality of first and second rod-like members.
  • the rotor blade disposed in at least one outer space can be driven by the power source disposed in at least one inner space among the plurality of square spaces.
  • the unmanned aerial vehicle according to the present invention includes a first auxiliary rotor blade that is mounted between one end of the first frame in the first direction and the second frame, and has a plane parallel to the second and third directions as a rotation surface.
  • a second auxiliary rotor blade attached between one end of the first frame in the second direction and the second frame and having a plane parallel to the first and third directions as a rotation surface;
  • the unmanned aerial vehicle of the present invention further includes legs fixed to one side in the third direction of the second frame.
  • the second frame and the first frame connected to the second frame can be supported on the surface by the leg portion fixed to one side in the third direction of the second frame.
  • the frame that supports the unmanned aircraft can be configured to be light and strong.
  • FIG. 1 is a perspective view showing an overall configuration of an unmanned aerial vehicle.
  • 2A and 2B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle.
  • FIG. 3 is a plan view showing the configuration of the upper frame portion.
  • FIGS. 4A and 4B are a plan view and a side view, respectively, showing the configuration of the lower frame portion and the arrangement of the lower frame portion.
  • 5A and 5B are a plan view and a side view, respectively, showing the configuration of the leg portion.
  • 6A and 6B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle.
  • FIG. 1 is a perspective view showing an unmanned aerial vehicle 1 viewed from a perspective direction
  • FIG. 2A is a top view showing the unmanned aircraft 1 viewed from above
  • FIG. 2B is an unmanned vehicle viewed from a side
  • 1 is a side view showing an aircraft 1.
  • the unmanned aerial vehicle 1 is configured symmetrically with respect to a central axis (not shown) of 45 degrees diagonally to the right in FIG. 2A.
  • the unmanned aerial vehicle 1 includes a frame 2, legs 50, eight rotor blades 40, two auxiliary rotor blades 48, a power source 49, and a loading unit 60.
  • the frame 2 is a structure that supports the entire unmanned aerial vehicle 1, and includes an upper frame portion 10, a lower frame portion 20, and a connecting portion 30.
  • FIG. 3 shows the configuration of the frame unit 10.
  • FIG. 3 is a top view showing the configuration of the upper frame portion 10 as viewed from above.
  • the upper frame portion 10 constitutes an upper portion of the frame 2 and is composed of four rod-like members 11a to 11d and 12a to 12d and two connecting members 11e, 11f, 12e and 12f.
  • these members are pipe-shaped members made of a lightweight metal such as stainless steel. Carbon or the like may be used.
  • the four rod-like members 11a to 11d are arranged in parallel at equal intervals in the horizontal direction of the drawing with the vertical direction of the drawing as the longitudinal direction.
  • the four rod-shaped members 12a to 12d are arranged in parallel in the vertical direction of the drawing so as to overlap the four rod-shaped members 11a to 11d with the left-right direction of the drawing as a longitudinal direction.
  • the rod-like members 11a to 11d and 12a to 12d are integrally connected at their intersections, for example, by welding, and assembled in a lattice shape. In addition, it is good also by bolt joining, adhesion
  • the lower end of the rod-shaped member 11a is curved in the right direction of the drawing, and the left end of the rod-shaped member 12a is curved in the upward direction of the drawing, and these end portions are integrally connected.
  • the upper end portion of the rod-shaped member 11d is curved in the left direction in the drawing, the right end portion of the rod-shaped member 12d is curved in the downward direction in the drawing, and these end portions are integrally connected.
  • the upper end of the rod-shaped member 11a is curved in the right direction in the drawing, the tip is connected to the intersection of the rod-shaped members 11a and 12d by the connecting member 11e, and the intersection of the rod-shaped members 11b and 12d is connected by the connecting member 11f. It is connected.
  • the end of the rod-like member 12a on the right side of the drawing is curved in the upward direction in the drawing, the tip is connected to the intersection of the rod-like members 12a and 11d by the connecting member 12e, and the intersection of the rod-like members 12b and 11d is connected by the connecting member 12f. It is connected to.
  • the overhang portions 14 and 15 are formed in the upper frame portion 10.
  • FIG. 4 shows the configuration of the lower frame portion 20 and its arrangement with respect to the frame 2.
  • FIGS. 4A and 4B are a top view and a side view showing the configuration and arrangement of the lower frame portion 20 as viewed from above and from the sides, respectively.
  • the lower frame portion 20 constitutes the bottom portion of the frame 2 and is composed of two rod-like members 21a, 21b, 22a, and 22b. These members are, for example, pipe-like members made of a lightweight metal such as stainless steel, like the rod-like members 11a to 11d, 12a to 12d and the connecting members 11e, 11f, 12e, and 12f constituting the upper frame portion 10. is there.
  • the rod-shaped members 21a, 21b, 22a, and 22b are thicker than the rod-shaped members 11a to 11d, 12a to 12d, the connecting members 11e, 11f, 12e, and 12f, and connecting members 31a, 31b, 31c, and 31d described later (that is, the diameter). Is large).
  • the lower frame portion 20 of the frame 2 is configured to be particularly strong, and a high strength can be obtained against vibration of the rotor blade 40 described later.
  • the two rod-shaped members 21a and 21b are juxtaposed in the horizontal direction of the drawing with the vertical direction of the drawing as the longitudinal direction. However, the rod-shaped member 21a is longer than the rod-shaped member 21b.
  • the two rod-like members 22a and 22b are juxtaposed in the vertical direction of the drawing with the horizontal direction as the longitudinal direction. However, the rod-shaped member 22a is longer than the rod-shaped member 22b.
  • the lower end of the rod-like member 21a in the drawing is on the left end of the rod-like member 22a, the lower end of the rod-like member 21b in the vicinity of the right end of the rod-like member 22a in the drawing,
  • the end on the left side of the drawing is integrally connected to the vicinity of the end on the upper side of the rod-shaped member 21a, and the end on the upper side of the rod-shaped member 21b is integrally connected to the end on the right side of the rod-shaped member 22b by, for example, welding.
  • the lower frame portion 20 is disposed below the upper frame portion 10 (lower side in FIG. 4B).
  • the connection points of the two rod-shaped members 21a, 21b, 22a, and 22b are the four corners of the nine spaces partitioned in the upper frame portion 10 in plan view. Is located at the center of the spaces S 11 , S 13 , S 31 , S 33 located in
  • the connecting part 30 connects the upper frame part 10 and the lower frame part 20.
  • the connecting portion 30 includes eight connecting member sets each including four connecting members 31a, 31b, 31c, and 31d and two connecting member sets each including three connecting members 32a, 32b, and 32c.
  • each of the four intersections of the rod-shaped members corresponding to the four vertices of the square of each space is set to the center (or near the center) of the four intersections.
  • the support point 21 a 0 on the rod-like member 21 a constituting the lower frame portion 20 is connected.
  • rod-shaped member 11b corresponding to the lower right vertex of the rectangular space S 21, 12b the intersection 13c of using the connecting member 31c are connected to the support point 21a 0 on the rod-like member 21a.
  • rod-shaped member 11b corresponding to the square of the upper right apex of the space S 21, 12c intersections 13d of using a connecting member 31d connected to the supporting point 21a0 on the rod-like member 21a.
  • connecting portion 30 having the above-described configuration, eight solid members are provided by the connecting members 31a, 31b, 31c, 31d included in each connecting member set and the four rod-like members 11a-11d, 12a-12d constituting the upper frame portion 10. Trusses are assembled, and their apexes are connected to the two rod-like members 21a, 21b, 22a, and 22b constituting the lower frame portion 20, respectively. Thereby, the upper frame part 10 and the lower frame part 20 are lightly and firmly connected.
  • One of the two connecting member sets is an end of the rod-shaped member 21a constituting the lower frame portion 20 at each connection point of the rod-shaped members 11a, 12d and the connecting members 11e, 11f (see FIG. 3) in the upper frame portion 10 (see FIG. 4 (A) at the upper end). That is, the connecting member 32a is a connecting point between the rod-like member 11a and the connecting members 11e and 11f, the connecting member 32b is a connecting point between the rod-like members 11a and 12d and the connecting member 11e, and the connecting member 32c is a connecting point between the rod-like member 12d and the connecting member 11f.
  • the connection points are respectively connected to the end portions of the rod-shaped member 21a.
  • the other of the two connecting member sets is the end of the rod-like member 22a constituting the lower frame portion 20 at each connection point of the rod-like members 12a, 11d and the connecting members 12e, 12f (see FIG. 3) in the upper frame portion 10 (see FIG. 4 (A) at the right end). That is, the connecting member 32a is a connecting point between the rod-like member 12a and the connecting members 12e and 12f, the connecting member 32b is a connecting point between the rod-like members 12a and 11d and the connecting member 12e, and the connecting member 32c is the connecting point between the rod-like member 11d and the connecting member 12f.
  • the connection points are respectively connected to the end portions of the rod-shaped member 22a.
  • a triangular pyramid three-dimensional truss is assembled by each of the two connecting member sets, whereby the two overhanging portions 14 and 15 of the upper frame portion 10 are firmly connected to the lower frame portion 20.
  • FIG. 5 shows the configuration of the leg 50.
  • FIGS. 5A and 5B are a top view and a side view, respectively, showing the configuration and arrangement of the leg portion 50 as viewed from above and from the side.
  • the leg portion 50 is fixed to the lower side of the frame 2 and is a portion that supports the unmanned aerial vehicle 1 on a surface such as the ground surface.
  • the leg portions 50 are each provided with two rod-shaped members 51a, 51b, 52a, 52b, eight cushions 53a, 53b, 54a, 54b, and four attachment members 55a, 55b, 55c, 55d.
  • the rod-shaped members 51a, 51b, 52a, 52b and the mounting members 55a, 55b, 55c, 55d are pipe-shaped members made of a lightweight metal such as stainless steel, for example.
  • Each of the two rod-like members 51a, 51b, 52a, 52b constitutes the main body of the leg portion 50.
  • the two rod-shaped members 51a and 51b are juxtaposed in the horizontal direction of the drawing with the vertical direction of the drawing as the longitudinal direction.
  • the two rod-like members 52a and 52b are juxtaposed in the vertical direction of the drawing with the horizontal direction in the drawing as the longitudinal direction.
  • Each of the two rod-shaped members 51a, 51b, 52a, 52b is assembled into a rectangular shape by connecting the end portions thereof by welding, for example.
  • the eight cushions 53a, 53b, 54a, 54b are members that cushion the impact when the unmanned aircraft 1 touches the surface such as when landing on the ground. Further, when landing, buoyancy is generated to stabilize the unmanned aircraft 1.
  • the two cushions 53a are attached to the rod-like member 51a so as to be spaced apart from each other
  • the two cushions 53b are attached to the rod-like member 51b so as to be spaced apart from each other
  • the two cushions 54a are attached to the rod-like member 52a so as to be spaced apart from each other.
  • the two cushions 54b are attached to the bar-shaped member 52b so as to be separated from each other.
  • the four attachment members 55a, 55b, 55c, and 55d attach the rod-like members 51a, 51b, 52a, and 52b assembled in a rectangular shape to the frame 2.
  • the attachment member 55a attaches the connection ends of the rod-like members 51a and 52a to the connection ends of the rod-like members 21a and 22a (see FIG. 4) constituting the lower frame portion 20 of the frame 2.
  • the attachment member 55b attaches the connection ends of the rod-like members 51a and 52b to the connection ends of the rod-like members 21a and 22b (see FIG. 4).
  • the attachment member 55c attaches the connection ends of the rod-like members 51b and 52a to the connection ends of the rod-like members 21b and 22a (see FIG. 4).
  • the attachment member 55d attaches the connection ends of the rod-like members 51b and 52b to the connection ends of the rod-like members 21b and 22b (see FIG. 4).
  • each of the eight rotor blades 40 generate lift or thrust required for the unmanned aircraft 1 to fly by rotating.
  • each of the eight rotor blades 40 has four blades 41 and a motor (not shown).
  • the four blades 41 have their distal ends widened in four directions, and the base ends are fixed to the rotating shaft 42.
  • the motor receives electric power from a power source 49, which will be described later, and rotates the rotating shaft 42 to which the four blades 41 are fixed.
  • the number of blades is four, but it may be arbitrarily designed. For example, two or three may be used.
  • Each of the eight rotor blades 40 is a bar-shaped member that constitutes the lower frame portion 20 to which the eight support points on the lower frame portion 20, that is, the connecting members 31a, 31b, 31c, and 31d included in the eight connecting member sets are connected. It is attached to 8 points on 21a, 21b, 22a, 22b.
  • a rotor blade 40 attached to a support point 21a 0 (see FIG. 2B) on a rod-shaped member 21a is given.
  • the rotating blades 40 are arranged so that the rotational surfaces of the four blades 41 are parallel to the two-dimensional surfaces of the upper, lower, left and right sides in FIG. 2A, and the support member 43 whose longitudinal direction is the longitudinal direction in FIG. attached to the support point 21a 0 on the rod-like member 21a.
  • a high strength against vibration of the rotor blade 40 is obtained.
  • the length of the support member 43 is shorter than the distance between the upper frame portion 10 and the lower frame portion 20.
  • rotary blades 40 as well as disposed in the space S 21 of square shape which is defined by the upper frame portion 10 in a top view, in three-dimensional truss formed by connecting portion 30 and the upper frame portion 10 in a side view Arranged.
  • the rotary blade 40 is protected by being surrounded by the members constituting the frame 2.
  • the two auxiliary rotor blades 48 generate thrust for rotating or changing the direction of the unmanned aircraft 1 by rotating.
  • Their configuration is the same as that of the eight rotor blades 40.
  • the two auxiliary rotor blades 48 are attached to the connecting member 32a via the support members between the two overhanging portions 14 and 15 of the upper frame portion 10 and the lower frame portion 20, respectively. .
  • the rotating surfaces of the four blades of the two auxiliary rotor blades 48 are oriented in the direction of 45 degrees to the right in FIG.
  • the two auxiliary rotor blades 48 generate power by rotating by receiving electric power from a power source 49 described later.
  • the unmanned aerial vehicle 1 can fly in the direction parallel to the paper surface in FIG.
  • the power source 49 supplies power to the eight rotor blades 40 and the two auxiliary rotor blades 48.
  • the power source 49 has a battery (not shown) that outputs electric power and a housing that houses the battery. Housing is disposed inside the space S 22 of the space 9 square shape which is defined by the upper frame portion 10, the rod-shaped member 11b which divides the space S 22, 11c, 12b, fixed to 12c ing. Thereby, electric power is supplied to the eight rotor blades 40 arranged in the outer rectangular spaces S 11 , S 12 , S 13 , S 21 , S 23 , S 31 , S 32 , and S 33 in the top view. Can be driven.
  • the loading unit 60 has a structure for loading cargo on the unmanned aerial vehicle 1, and includes four support members 61a, 61b, 61c, and 61d. As shown in FIG. 5, the four support members 61a, 61b, 61c, and 61d are rod-shaped members whose ends are bent into an L shape, and the longitudinal lengths thereof are the upper frame portion 10 and the lower frame. It is longer than the separation distance from the portion 20 and shorter than the separation distance between the upper frame portion 10 and the rod-shaped members 51a, 51b, 52a, 52b of the leg portion 50.
  • Four support members 61a, 61b, 61c, 61d is, toward the tip in the center of the square-shaped space S 22, the respective proximal rod-like member 11b which divides the space S 22, 11c, 12b, the intersection of 12c Connected by welding or the like.
  • Cargo is stored in a cubic box W, and the box W can be mounted on the tips of the four support members 61a, 61b, 61c, 61d, so that the cargo can be mounted in the space of the leg portion 50.
  • the applicant made a prototype of the unmanned aerial vehicle 1 according to this embodiment.
  • the rod members 21a, 21b, 22a, and 22b that require strength were made of 20 mm diameter pipes, the other rod members were made of 8 mm diameter pipes, and the side length of the rectangular portion of the upper frame portion 10 was 960 mm.
  • the unmanned aerial vehicle 1 with sufficient strength was realized, and the weight of the frame excluding the main body was 644 g and the lifting gravity was 18 kg.
  • FIG. 6 shows a configuration of the unmanned aerial vehicle 1 according to the modified embodiment. It is a figure corresponding to FIG. 2 of the above-mentioned embodiment. The main difference from the above-described embodiment is that a support member 44 that supports the propeller from above is provided instead of the support member 43 that supports the propeller from below.
  • bar members 16a, 16b, 16c, and 16d are additionally provided in the upper frame portion 10.
  • the support member 44 is shorter than the support member 43. That is, the torque that the stress generated on the support member 44 by the vibration of the propeller gives to the upper frame portion 10 is smaller than the torque that the stress generated on the support member 43 by the vibration of the propeller gives to the lower frame portion 20.
  • the unmanned aerial vehicle 1 of the present embodiment includes a plurality of rod-like members 11a to 11d arranged in the second direction intersecting the first direction with the first direction as the longitudinal direction, and the second direction as the longitudinal direction.
  • An upper frame portion 10 formed by connecting a plurality of rod-shaped members 12a to 12d arranged in the first direction so as to overlap the plurality of rod-shaped members 11a to 11d at intersections, and from the upper frame portion 10 in the first and second directions.
  • the lower frame portion 20 formed by connecting the plurality of rod-shaped members 11a to 11d and 12a to 12d, and at least one outer space of the nine rectangular spaces,
  • Four connecting members 31a, 31b, 31c and 31d connected to the points are provided.
  • the upper frame part 10 and the lower frame part 20 are lightly and firmly connected by the connecting members 31a, 31b, 31c, and 31d assembled in a three-dimensional truss shape.
  • the eight rotary blades 40 are attached to the lower frame part 20, but may be attached to the upper frame part 10 instead. (See modified embodiment)
  • rotary blade 40 which is disposed in the space S 21.
  • the four intersections of the rod-like members 11a, 11b, 12b, and 12c corresponding to the four vertices of the square of the space S21 are connected using two connecting members (not shown) that intersect each other.
  • the rotating blades 40 are arranged so that the rotating surfaces of the four blades 41 are parallel to the two-dimensional planes in the up, down, left, and right directions in FIG. It is attached at the intersection of two connecting members. Thereby, a high strength against vibration of the rotor blade 40 is obtained.
  • the length of the support member is shorter than the distance between the upper frame portion 10 and the lower frame portion 20. More specifically, it is substantially equal to the difference between the distance between the upper frame portion 10 and the lower frame portion 20 and the length of the support member 43 described above.
  • rotary blades 40 as well as disposed in the space S 21 of square shape which is defined by the upper frame portion 10 in a top view, in three-dimensional truss formed by connecting portion 30 and the upper frame portion 10 in a side view Arranged.
  • the rotary blade 40 is protected by being surrounded by the members constituting the frame 2.
  • the upper frame portion 10 is composed of four rod-like members 11a to 11d and 12a to 12d, but the number thereof may be any number of four or more. Good.
  • the upper frame portion 10 is assembled from five rod-shaped members, 16 rectangular spaces are defined.
  • the rotor blades 40 may be arranged in each of the 12 outer spaces of the 16 spaces.
  • the power source 49 may be disposed in any one of the four inner spaces, or may be disposed in the entire four spaces.
  • overhanging portion 14 and the auxiliary rotor blade 48 are not necessarily provided.
  • the unmanned aerial vehicle of the present invention is suitable for constructing a lightweight and strong frame that supports the unmanned aircraft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)

Abstract

La présente invention vise à configurer le cadre soutenant un véhicule aérien sans pilote de façon à être léger et résistant. À cet effet, l'invention concerne un véhicule aérien sans pilote (1) comprenant : un cadre supérieur (10) qui est formé en reliant, au niveau de points d'intersection, une pluralité de premiers éléments en forme de tige disposés en ligne dans une seconde direction coupant une première direction, avec la première direction servant de direction longitudinale des éléments en forme de tige, et une pluralité de seconds éléments en forme de tige disposés en ligne dans la première direction au-dessus de la pluralité de premiers éléments en forme de tige, avec la seconde direction servant de direction longitudinale des éléments en forme de tige; un cadre inférieur (20) qui est formé en reliant ensemble deux éléments en forme de barres disposés en ligne dans la seconde direction, avec la première direction servant de direction longitudinale des éléments en forme de tige, et deux éléments en forme de tige disposés en ligne dans la première direction avec la seconde direction servant de direction longitudinale des éléments en forme de tige; et des éléments de raccordement (30) qui, dans au moins un des espaces extérieurs parmi neuf espaces carrés délimités par la pluralité de premiers et seconds éléments en forme de tige, relient chacun des quatre points d'intersection de la pluralité de premiers et seconds éléments en forme de tige correspondant aux quatre points supérieurs du carré de l'espace à un point de support sur le cadre inférieur (20).
PCT/JP2015/074561 2015-07-10 2015-08-31 Véhicule aérien sans pilote Ceased WO2017010019A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015139264 2015-07-10
JP2015-139264 2015-07-10

Publications (1)

Publication Number Publication Date
WO2017010019A1 true WO2017010019A1 (fr) 2017-01-19

Family

ID=57757184

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/JP2015/074561 Ceased WO2017010019A1 (fr) 2015-07-10 2015-08-31 Véhicule aérien sans pilote
PCT/JP2016/070351 Ceased WO2017010439A1 (fr) 2015-07-10 2016-07-10 Véhicule aérien sans pilote

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/070351 Ceased WO2017010439A1 (fr) 2015-07-10 2016-07-10 Véhicule aérien sans pilote

Country Status (2)

Country Link
JP (1) JP2017019493A (fr)
WO (2) WO2017010019A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545177A (zh) * 2018-04-16 2018-09-18 宿州云宏建设安装有限公司 一种高速公路路况勘探用无人机

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6950377B2 (ja) * 2017-09-05 2021-10-13 三菱電機株式会社 移動体管制システム
JP7253315B2 (ja) * 2019-01-29 2023-04-06 株式会社Subaru 航空機の飛行支援システム、航空機の飛行支援プログラム及び航空機
JP7144897B1 (ja) * 2022-07-26 2022-09-30 株式会社エムアイエー 機体フレーム
US12252277B2 (en) * 2022-09-28 2025-03-18 Lifting Drones, LLC Unmanned aerial vehicle with hollow interior portion in truss

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011046355A (ja) * 2009-08-28 2011-03-10 Kitakyushu Foundation For The Advancement Of Industry Science & Technology 飛行体
US20150012154A1 (en) * 2012-02-22 2015-01-08 E-Volo Gmbh Aircraft

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011046355A (ja) * 2009-08-28 2011-03-10 Kitakyushu Foundation For The Advancement Of Industry Science & Technology 飛行体
US20150012154A1 (en) * 2012-02-22 2015-01-08 E-Volo Gmbh Aircraft

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545177A (zh) * 2018-04-16 2018-09-18 宿州云宏建设安装有限公司 一种高速公路路况勘探用无人机

Also Published As

Publication number Publication date
JP2017019493A (ja) 2017-01-26
WO2017010439A1 (fr) 2017-01-19

Similar Documents

Publication Publication Date Title
WO2017010019A1 (fr) Véhicule aérien sans pilote
EP2941765B1 (fr) Ensemble simulateur de mouvement à six degrés de liberté
CN102470923B (zh) 振翅飞翔机器人
JP2011046355A (ja) 飛行体
JP6597040B2 (ja) 飛翔機のフレーム構造体、飛翔機、飛翔機の使用方法
US20190127063A1 (en) Three dimensional scalable and modular aircraft
CN207403934U (zh) 多旋翼无人机
CN101977812A (zh) 旋翼飞行器
JP6375366B2 (ja) 方向付け可能なロケットエンジン・システム
KR101984536B1 (ko) 주행과 비행이 가능한 하이브리드 무게 집중형 무인항공기
KR20160023551A (ko) 형상의 재구성이 가능한 드론
JP5494230B2 (ja) 車体構造
CN104925263B (zh) 一种具有多台驱动装置的飞行器
CN106005362B (zh) 多功能无人机机架套件
JP7270324B2 (ja) 無人航空機
KR101984540B1 (ko) 현가기능의 주행과 비행이 가능한 하이브리드 무인항공기
JP6993948B2 (ja) 飛翔装置
JP6746137B2 (ja) 無人航空機
JP2018058562A (ja) ジョイント部材、ガード部材及びドローン装置
JP2008254714A (ja) 羽ばたき飛行機
CN205034348U (zh) 一种具有多台驱动装置的飞行器
CN107953326A (zh) 一种基于绳索驱动的球形机器人弹性展开结构
ES2671321T3 (es) Unidad de equilibrado
JP7784615B2 (ja) 飛行装置
RU204412U1 (ru) Беспилотный летательный аппарат

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15898331

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 23.04.2018)

122 Ep: pct application non-entry in european phase

Ref document number: 15898331

Country of ref document: EP

Kind code of ref document: A1