CN113734429A

CN113734429A - Aircraft with a flight control device

Info

Publication number: CN113734429A
Application number: CN202011335807.2A
Authority: CN
Inventors: 大和拓海
Original assignee: Lotte Group Co ltd
Current assignee: Lotte Group Co ltd; Rakuten Group Inc
Priority date: 2020-05-28
Filing date: 2020-11-25
Publication date: 2021-12-03
Also published as: JP2021187247A; JP6934145B1

Abstract

The invention provides an aircraft which can clean a main body part without passing through the human industry and large-scale devices. An aircraft (1) is capable of diving in a liquid, and is provided with: a main body (10); a rotor (30) that generates an air flow for moving the main body (10) by rotating; an angle changing mechanism (40) that changes the angle of the rotor (30) relative to the main body (10) so that a water flow (F) generated by the rotation of the rotor (30) in the liquid flows toward the main body (10); and a control device (60) capable of selecting a flight mode in which the rotor (30) rotates to generate an air flow and the rotor flies in the air, and a cleaning mode in which the angle changing mechanism (40) is controlled in a liquid and a water flow (F) flowing toward the main body (10) is generated by the rotation of the rotor (30).

Description

Aircraft with a flight control device

Technical Field

The present invention relates to an aircraft.

Background

Various techniques for cleaning aircraft are known in the past. Patent document 1 discloses such a technique as described above. Patent document 1 describes the following technique: after the unmanned aerial vehicle runs in the closed container full of harmful substances, the air lock chamber with the cleaning device arranged on the top plate part cleans the machine body.

[ background Art document ]

[ patent document ]

[ patent document 1] International publication No. 2018/101099

Disclosure of Invention

[ problems to be solved by the invention ]

However, in order to perform work in a place where it is difficult for people to enter due to the presence of harmful substances or the like, an aircraft is sometimes used. When hazardous substances are attached to the aircraft after use, it is desirable to clean the aircraft without hand contact. In patent document 1, although the aircraft can be cleaned without manual work, a large-sized device for cleaning is required, and there is room for improvement.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide an aircraft capable of cleaning a main body portion without human work and without requiring a large-sized device.

[ means for solving problems ]

An aircraft according to an aspect of the present invention is an aircraft capable of diving in a liquid, the aircraft including: a main body portion; a rotor that generates an air flow that moves the main body by rotating; an angle changing mechanism that changes an angle of the rotor with respect to the main body so that a liquid flow generated by rotation of the rotor in a liquid flows toward the main body; and a control unit capable of selecting a flight mode in which the rotor rotates to generate an air flow and flies in the air, and a cleaning mode in which the angle changing mechanism is controlled in a liquid and a liquid flow flowing toward the main body is generated by the rotation of the rotor.

[ Effect of the invention ]

According to the present invention, an aircraft capable of cleaning a main body without passing through the human industry and without requiring a large-sized device can be provided.

Drawings

Fig. 1 is a side view showing a washing system of an unmanned aerial vehicle according to embodiment 1 of the present invention.

Fig. 2 is a side view of an aircraft showing a drone wash system of embodiment 1 of the invention.

Fig. 3 is a side view of an aircraft showing a drone wash system of embodiment 1 of the invention.

Fig. 4 is a block diagram showing an electrical configuration of an aircraft control device of the unmanned aerial vehicle cleaning system according to embodiment 1 of the present invention.

Fig. 5(a) to (D) are side views schematically showing a state where the aircraft of the unmanned aerial vehicle washing system according to embodiment 1 of the present invention is washed.

Fig. 6 is a side view of an aircraft showing a modification of the unmanned aerial vehicle washing system according to embodiment 1 of the present invention.

Fig. 7 is a block diagram showing an electrical configuration of an aircraft control device according to a modification of the unmanned aerial vehicle cleaning system according to embodiment 1 of the present invention.

Fig. 8 is a side view of an aircraft showing a modification of the unmanned aerial vehicle washing system according to embodiment 1 of the present invention.

Fig. 9 is a side view showing a washing system of an unmanned aerial vehicle according to embodiment 2 of the present invention.

Detailed Description

Non-limiting exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

An unmanned aerial vehicle washing system 100 according to embodiment 1 of the present invention will be described. Fig. 1 is a side view illustrating a drone wash system 100.

The unmanned aerial vehicle cleaning system 100 is a system for cleaning the aircraft 1 to which attachments such as dirt and harmful substances are attached with liquid. As shown in fig. 1, the unmanned aerial vehicle washing system 100 includes an aircraft 1 and a washing tank 110. The kind of the deposit to be removed is not particularly limited. Examples thereof include sand dust, radioactive substances, and the like.

The cleaning tank 110 is a tank that stores liquid used to clean the aircraft 1. The type of liquid stored in cleaning tank 110 is not particularly limited, and may be appropriately selected according to the adhering matter. In the present embodiment, water is used as the liquid stored in the washing tank 110.

The unmanned aerial vehicle cleaning system 100 of the present embodiment is a three-stage cleaning system using three tanks, i.e., a 1 st cleaning tank 111, a 2 nd cleaning tank 112, and a 3 rd cleaning tank 113 as the cleaning tank 110. The 1 st cleaning tank 111 is a tank into which the aircraft 1 to which the attachments are attached enters first. The 2 nd cleaning tank 112 is a tank into which the aircraft 1 after being cleaned by the water in the 1 st cleaning tank 111 enters. The 3 rd cleaning tank 113 is a tank into which the aircraft 1 after being cleaned by the water in the 2 nd cleaning tank 112 enters.

Next, the aircraft 1 will be explained. The aircraft 1 of the present embodiment is an unmanned aerial vehicle that can fly in an unmanned mode. The term "capable of flying in the unmanned mode" means that the aircraft can fly without a person on board the aircraft, and includes not only a case where the aircraft can fly autonomously but also a case where the aircraft is remotely controlled by a person.

The aircraft 1 includes: a main body portion 10; an arm portion 20 extending from the main body portion 10; a rotor 30 supported by the arm 20; and an angle changing mechanism 40 for changing the angle of the rotor 30. The aircraft 1 also has two modes, a flight mode in which it flies in the air and a cleaning mode in which the main body 10 is cleaned in a liquid. Fig. 2 is a side view of the aircraft 1 in flight mode, and fig. 3 is a side view of the aircraft 1 in washing mode.

The main body 10 is located at the center of the aircraft 1 in a plan view, and includes a sensor-type electronic device (e.g., a computer device having a CPU (Central Processing Unit), a memory, and the like and executing a control program) such as the control device 60 and the camera 74. Further, a foot (not shown) for grounding the aircraft 1 on the landing plane is disposed below the main body 10.

The arm portion 20 is a support portion, one end portion (hereinafter referred to as a base end portion) of which is connected to the main body portion 10, and the rotor 30 is disposed at the other end portion (hereinafter referred to as a tip end portion). In the present embodiment, in a plan view, each of the 4 (a plurality of) arm portions 20 extends radially (in a radial direction) from the main body portion 10. Further, the arm portion 20 extends in a substantially horizontal direction. The intervals between the 4 arm portions 20 are equal in the circumferential direction in plan view. In fig. 2 and 3, the arm 20 located on the back side of the drawing sheet is covered by the arm 20 located on the front side of the drawing sheet.

The rotor 30 generates an air flow for flying the main body 10 of the aircraft 1 by rotating. As shown in fig. 2, the rotor 30 is rotatably attached to a rotor driving unit 32, and the rotor driving unit 32 is disposed at a distal end portion of the arm portion 20. A rotor motor 31 that can rotate the rotor 30 and rotate forward and backward is incorporated in the rotor driving unit 32. In the flight mode, when rotor 30 is rotated by driving of rotor motor 31, an air flow flowing downward is generated.

In the present embodiment, the rotor 30 and the rotor driving unit 32 are supported by 4 arms 20. That is, the aircraft 1 of the present embodiment includes 4 rotors 30 and 4 rotor driving units 32. The intervals between the 4 rotors 30 are equal in the circumferential direction in plan view, as in the arm portion 20. In fig. 2 and 3, 2

rotors

30 and 2 rotor driving units 32 located on the back side of the drawing are covered by rotors 30 and rotor driving units 32 located on the front side of the drawing.

Next, the angle changing mechanism 40 will be explained. The angle changing mechanism 40 is a mechanism including: in the cleaning mode, the angle of the rotor 30 with respect to the main body 10 is changed so that the liquid flow generated by the rotation of the rotor 30 in the liquid flows toward the main body 10. The angle changing mechanism 40 of the present embodiment includes a 1 st angle changing mechanism 41, and the 1 st angle changing mechanism 41 changes the angle of the rotor 30 with respect to the arm 20. The 1 st angle changing mechanism 41 includes a 1 st joint 411 and a 1 st angle changing motor 412.

The 1 st joint 411 is disposed between the arm 20 and the rotor drive unit 32. Specifically, the 1 st joint 411 is held at the distal end portion of the arm portion 20 and is rotatable about the movable axis B as a fulcrum. The movable axis B is an axis extending in a direction orthogonal to the extending direction of the arm portion 20 in a plan view. Rotor drive unit 32 is attached to joint unit 1 411.

The 1 st angle changing motor 412 is built in the distal end portion of the arm portion 20. By driving the 1 st angle changing motor 412, the 1 st joint portion 411 rotates about the movable axis B as a fulcrum, and the rotor driving portion 32 and the rotor 30 attached to the rotor driving portion 32 also rotate about the movable axis B as a fulcrum. As a result, as shown in fig. 2 and 3, the angle of the rotation axis a of the rotor 30 with respect to the arm portion 20 is changed by the 1 st angle changing mechanism 41. As shown in fig. 3, the first joint 411 is rotated in the liquid to a position where the rotation axis a is parallel to the arm portion 20, and the rotor motor 31 is driven to rotate the rotor 30, thereby generating a flow F which is a liquid flow flowing toward the main body portion 10.

Next, the control device 60 will be explained. Fig. 4 is a block diagram showing an electrical configuration related to the control device 60 of the aircraft 1. In fig. 4, the rotor 30, the rotor motor 31, and the 1 st angle changing motor 412 are described by giving letters in the order of the clockwise direction, and the rotors 30a to 30d, the rotor motors 31a to 31d, and the 1 st angle changing motors 412a to 412d are described separately.

The control device 60 is a computer having a CPU, a memory, and the like, for example, and executes a control program, and executes various control processes such as flight of the aircraft 1 in the air and creeping in a liquid. The control device 60 is electrically connected to various electronic devices such as a power supply device (not shown) such as a battery, a detection unit such as a camera 74, a communication device 75 that transmits and receives signals to and from an external device such as an operation controller or a Global Positioning System (GPS), a gyro sensor 71, an acceleration sensor 72, and a height sensor 73.

As shown in fig. 4, the control device 60 includes a mode selection unit 61, a flight control unit 62, and a purge control unit 63. The mode selection unit 61, the flight control unit 62, and the purge control unit 63 include a part of the program stored in the control device 60.

The mode selector 61 can select a flight mode in which the aircraft 1 flies in the air by generating an air flow by the rotation of the rotor 30, and a cleaning mode in which the angle changing mechanism 40 is controlled in the liquid and a liquid flow toward the main body 10 is generated by the rotation of the rotor 30.

The mode selection unit 61 selects the flight mode and the cleaning mode based on an autonomous control program stored in advance in the control device 60. Specifically, the mode selector 61 may be configured as follows: when the aircraft 1 flying along the preset route reaches the designated place, the flight mode is switched to the wash mode. The mode selector 61 may be configured as follows: after a predetermined time has elapsed, the submerged aircraft 1 is switched from the cleaning mode to the flying mode, and is floated from the liquid into the air.

Further, the mode selection portion 61 may select the flight mode and the wash mode based on information received via the communication device 75 or the like. For example, the mode selection part 61 may select the flight mode and the wash mode based on information input to an external operation controller and received by the communication device 75. Further, for example, the flight mode and the cleaning mode may be selected based on information on the distance between the aircraft 1 and the cleaning tank 110 acquired from the communication device 75 and the camera 74 that acquire position information such as GPS.

When the flight mode is selected, the operation of the aircraft 1 is controlled by the flight control unit 62, and when the wash mode is selected, the operation of the aircraft 1 is controlled by the wash control unit 63.

In the flight mode, the flight control unit 62 controls the flight of the aircraft 1 based on various information from the gyro sensor 71, the acceleration sensor 72, the altitude sensor 73, the camera 74, the communication device 75, and the like, or a predetermined autonomous control program. Flight control unit 62 controls the driving of rotor motors 31a to 31d to adjust the number of rotations of rotors 30a to 30 d.

In the cleaning mode, the cleaning control unit 63 controls the operation of the aircraft 1 in the liquid based on various information from the gyro sensor 71, the acceleration sensor 72, the altitude sensor 73, the camera 74, the communication device 75, and the like, and a predetermined autonomous control program.

When the aircraft 1 is submerged in the liquid, the cleaning control unit 63 controls the rotational speed of the rotors 30a to 30d, thereby controlling the posture of the main body 10 in the liquid. Specifically, the cleaning control unit 63 controls the rotation speed of the rotary wings 30a to 30d by controlling the driving of the rotary wing motors 31a to 31d, adjusts the intensity of the water flow F generated by the rotation of each of the rotary wings 30a to 30d, and controls the posture of the main body 10.

The cleaning control unit 63 controls the driving of the 1 st angle changing motors 412a to 412d of the 1 st angle changing mechanism 41 to adjust the direction of the water flow F generated by the rotation of the rotors 30a to 30 d. Specifically, the cleaning control unit 63 controls the driving of the 1 st angle changing motors 412a to 412d to change the angles of the rotary shafts a of the rotors 30a to 30d with respect to the arm 20. For example, as shown in fig. 3, the cleaning control unit 63 adjusts the rotation axis a of the rotor 30 so as to be parallel to the arm 20, and then rotates the rotor 30 to generate a water flow F flowing toward the side of the main body 10. This generates a water flow F that flows toward the side of the body 10, and this water flow F strikes the side of the body 10, thereby removing the attached matter from the body 10. Therefore, the attached matter on the surface of main body 10 can be removed by the rotation of rotor 30 that generates an air flow without using an additional device.

In the present embodiment, the intervals between the 4 rotors 30 are equal in the circumferential direction in plan view. Therefore, for example, by adjusting the cleaning control unit 63 so that the rotation axes a of the rotors 30a to 30d are parallel to the arm unit 20, the rotation speeds of the rotors 30a to 30d are substantially equalized, and the water flow F having substantially the same strength can be caused to impinge on the side portion of the main body 10 from four directions. This enables the main body 10 to be cleaned while maintaining a stable posture in the liquid.

Next, an example of the cleaning of the aircraft 1 by the unmanned aerial vehicle cleaning system 100 will be described. Fig. 5 is a side view schematically showing a situation where the aircraft 1 is washed. Fig. 5(a) is a diagram showing a state where the aircraft 1 is switched from the flight mode to the cleaning mode and is submerged in the first cleaning tank 111 of the cleaning tank 110, fig. 5(B) is a diagram showing a state where the main body portion 10 of the aircraft 1 is being cleaned in the first cleaning tank 111, fig. 5(C) is a diagram showing a state where the main body portion 10 of the aircraft 1 is being cleaned in the second cleaning tank 112, and fig. 5(D) is a diagram showing a state where the main body portion 10 of the aircraft 1 is being cleaned in the third cleaning tank 113. Fig. 5 illustrates an example of a system for removing harmful substances such as radioactive substances attached to the aircraft 1 that is operated in a place where it is difficult for a person to enter.

When the aircraft 1, which has completed work in a place where harmful substances such as radioactive substances are present, reaches the upper part of the cleaning tank 110 by the flight control of the flight control unit 62, the mode selection unit 61 switches from the flight mode to the cleaning mode. When the cleaning mode is switched, as shown in fig. 5(a), the drive of rotary motor 31 is controlled by cleaning control unit 63, and aircraft 1 is immersed in the liquid in first cleaning tank 1.

When aircraft 1 is immersed in the liquid in first cleaning tank 1 111, cleaning control unit 63 controls driving of 1 st angle change motor 412 to rotate 1 st joint 411 so that rotation axis a of rotor 30 is parallel to arm 20. Then, as shown in fig. 5(B), the cleaning control unit 63 drives the rotor motor 31 to rotate the rotor 30, so that a water flow F flowing toward the main body 10 is generated, and this water flow F strikes the side portion of the main body 10 to remove the attached matter attached to the main body 10.

After a predetermined time has elapsed, cleaning control unit 63 drives 1 st angle changing motor 412 of 1 st angle changing mechanism 41 to change the angle of rotor 30 so that rotation axis a is orthogonal to arm 20 in the side view. Then, the mode selector 61 switches the cleaning mode to the flight mode. When the flight mode is switched, the flight control unit 62 drives the rotor motor 31 to rotate the rotor 30, thereby floating the aircraft 1 from the liquid and moving the aircraft to the 2 nd cleaning tank 112.

When the aircraft 1 moves to the 2 nd wash tank 112, the mode selection part 61 switches from the flight mode to the wash mode. When the cleaning mode is switched, the drive of the rotary-wing motor 31 is controlled by the cleaning control unit 63, and the aircraft 1 is immersed in the liquid in the second cleaning tank 112. Then, as shown in fig. 5(C), the operation performed in the liquid in the 1 st cleaning tank 111 is repeatedly executed by the cleaning control section 63.

After a predetermined time has elapsed, the cleaning mode is switched to the flight mode, and the aircraft 1 is floated from the liquid, moved to the 3 rd cleaning tank 113, and submerged in the liquid. When submerged in the liquid, as shown in fig. 5(D), the operations performed in the liquid in the 1 st cleaning tank 111 and the 2 nd cleaning tank 112 are repeatedly performed.

In the present embodiment, in cleaning tank 1, water flow F generated by the rotation of rotor 30 is caused to impinge on the surface of main body 10, thereby removing the adhering matter. Further, since the aircraft 1 cleaned in the first cleaning tank 111 is moved to the second cleaning tank 112 and then cleaned again, the deposits on the main body 10 of the aircraft 1 can be more reliably removed. Further, the amount of deposits mixed into the liquid in the 2 nd cleaning tank 112 can be reduced. Further, since the liquid in the 3 rd cleaning tank 113 is used for cleaning the aircraft 1 that has passed through the 1 st cleaning tank 111 and the 2 nd cleaning tank, even when the aircraft 1 to which the deposits to be removed have adhered are cleaned a plurality of times, the state in which the contamination of the liquid in the 3 rd cleaning tank 113 is suppressed can be maintained.

Next, a modified example of the unmanned aerial vehicle cleaning system 100 according to embodiment 1 of the present invention will be described. The unmanned aerial vehicle cleaning system 100 according to the modification of embodiment 1 includes an aircraft 1A and a cleaning tank 110. In the described embodiment and in this variant, the aircraft is of a different construction. The same reference numerals are given to the same components of the aircraft 1A as those of the aircraft 1, and the description thereof may be omitted.

Fig. 6 is a side view of the aircraft 1A. As shown in fig. 6, the aircraft 1A includes: a main body portion 10; an arm portion 20 extending from the main body portion 10; a rotor 30 supported by the arm 20; and an angle changing mechanism 40A for changing the angle of the rotor 30. The main difference between the aircraft 1A and the aircraft 1 is the structure of the angle changing mechanism 40A.

The angle changing mechanism 40A is a mechanism as follows: in the cleaning mode, the angle of the rotor 30 with respect to the main body 10 is changed so that a liquid flow generated by the rotation of the rotor 30 in the liquid flows toward the main body 10. The angle changing mechanism 40A includes a 2 nd angle changing mechanism 42 that changes the angle of the arm portion 20 with respect to the main body portion 10, in addition to a 1 st angle changing mechanism 41 that changes the angle of the rotor 30 with respect to the arm portion 20. The 2 nd angle changing mechanism 42 includes a 2 nd joint 421 and a 2 nd angle changing motor 422.

The 2 nd joint 421 is disposed between the main body 10 and the arm 20. Specifically, the 2 nd joint 421 is attached to the base end of the arm 20 and is rotatably held by the main body 10 about the movable axis C as a fulcrum. The movable axis C is an axis extending in a direction orthogonal to the extending direction of the arm portion 20 in a plan view.

The 2 nd angle changing motor 422 is incorporated in the main body 10. By driving the 2 nd angle changing motor 422, the 2 nd joint 421 rotates about the movable axis C as a fulcrum, and the arm portion 20 attached to the 2 nd joint 421 also rotates about the movable axis C as a fulcrum.

Next, the movable region of the arm portion 20 controlled by the 2 nd angle changing mechanism 42 will be described. Fig. 6 shows an example of the arm 20 and the rotor 30, etc., which are moved by the angle changing mechanism 40A in the cleaning mode, by a two-dot chain line. As shown in fig. 6, the 2 nd angle changing mechanism 42 can change the state in which the arm portion 20 extends in the radial direction (the left-right direction in fig. 6) from the main body portion 10 to the state in which it extends in the downward direction or the state in which it extends in the upward direction. Since the angle of the arm portion 20 supporting the rotor 30 with respect to the main body portion 10 changes, the angle of the rotor 30 with respect to the main body portion 10 also changes. Further, the angle of rotor 30 can be adjusted to a position where rotation axis a is parallel to arm 20 by first angle changing mechanism 41.

Next, the control device 60A will be explained. Fig. 7 is a block diagram showing an electrical configuration related to the control device 60A of the aircraft 1A. In fig. 7, rotor 30,

rotor motor

31, 1 st

angle changing motor

412, and 2 nd angle changing motor 422 are described with reference to the clockwise direction in order of letters, and rotor 30a to 30d, rotor motors 31a to 31d, 1 st angle changing motors 412a to 412d, and 2 nd angle changing motors 422a to 422d are described separately.

As shown in fig. 7, the control device 60A includes a mode selection unit 61, a flight control unit 62, and a purge control unit 63A. The mode selection unit 61, the flight control unit 62, and the purge control unit 63A include a part of the program stored in the control device 60A.

In the cleaning mode, the cleaning control unit 63A controls the operation of the aircraft 1 submerged in the liquid from the air and the operation in the liquid based on various information from the gyro sensor 71, the acceleration sensor 72, the height sensor 73, the camera 74, the communication device 75, and the like, or a preset autonomous control program.

When the aircraft 1A is submerged in a liquid, the rotational speed of the rotors 30a to 30d is controlled, thereby controlling the posture of the main body 10 in the liquid. Specifically, the cleaning control unit 63 controls the rotation speed of the rotary wings 30a to 30d by controlling the driving of the rotary wing motors 31a to 31d, adjusts the intensity of the water flow F generated by the rotation of each of the rotary wings 30a to 30d, and controls the posture of the main body 10.

Further, the cleaning control unit 63A controls the driving of the 1 st angle changing motors 412a to 412d of the 1 st angle changing mechanism 41, so that the water flow F generated by the rotation of the rotors 30a to 30d strikes the side portion of the main body 10. Specifically, the cleaning control unit 63A controls the driving of the 1 st angle changing motors 412a to 412d to change the angles of the rotation axes a of the rotors 30a to 30d with respect to the arm portion 20. For example, the water flow F can be caused to impinge on the side portion of the main body 10 by adjusting the rotation axes a of the rotors 30a to 30d so as to be parallel to the arm portion 20 and then rotating the rotors 30a to 30 d. This enables the adhered matter on the side of the body 10 to be removed more reliably.

Further, the washing control unit 63A controls the driving of the 2 nd angle changing motors 422a to 422d of the 2 nd angle changing mechanism 42, so that the water flow F generated by the rotation of the rotary wings 30a to 30d strikes the upper and lower portions of the main body 10. Specifically, the cleaning control unit 63A controls the driving of the 2 nd angle changing motors 422a to 422d to change the angle of the arm portion 20 with respect to the main body portion 10. For example, the cleaning control unit 63A controls the driving of the 2 nd

angle changing motors

422a and 422c to adjust the angle of the arm 20 so that the arm 20 supporting the rotor 30a and the rotor 30c extends downward from the main body 10. The cleaning control unit 63A controls the driving of the 2 nd angle changing motors 422b and 422d to adjust the angle of the arm 20 so that the arm 20 supporting the rotor 30b and the rotor 30d extends upward from the main body 10. By rotating the rotary wings 30a to 30d, the water flow F can be made to strike the upper and lower portions of the main body 10. This enables the deposits on the upper and lower portions of the main body 10 to be removed more reliably.

Next, an example of the state of the aircraft 1A when the upper and lower portions of the main body 10 are cleaned in the cleaning mode will be described with reference to fig. 8. In fig. 8, the arm 20, the rotor 30, and the rotor motor 31 are described with reference to letters in the order of clockwise in plan view, and the arm 20a to 20d, the rotor 30a to 30d, and the rotor motor 31a to 31d are described separately.

First, the 1 st angle changing mechanism 41 changes the angles of the rotors 30a to 30d so that the respective rotation axes a are parallel to the arm portion 20. Then, as shown in fig. 8, the angle of the arm portions 20a to 20d with respect to the main body 10 is changed by the 2 nd angle changing mechanism 42 so that the

arm portions

20a and 20c extend downward from the main body 10 and the

arm portions

20b and 20d extend upward from the main body 10. As a result, the

rotors

30a and 30c are located below the main body 10, and the

rotors

30b and 30d are located above the main body 10.

In the present embodiment, the rotors 30a to 30d of the aircraft 1A are equally spaced in the circumferential direction in plan view. In addition, in a plan view, rotor 30a is disposed at a position facing rotor 30c with respect to body 10, and rotor 30b is disposed at a position facing rotor 30d with respect to body 10. Therefore, when the rotors 30a to 30d are rotated at substantially the same rotational speed in a state where the

rotors

30a and 30c are positioned below the main body 10 and the

rotors

30b and 30d are positioned above the main body 10, the water flow F having substantially the same strength can be uniformly impacted on the main body 10 from the vertical direction. This enables the upper and lower portions of the main body 10 to be cleaned while maintaining a stable posture in the liquid.

In the present embodiment, by changing the angle of the rotor 30 with respect to the main body 10 by the angle changing mechanism 40A, the water flow F can be caused to impinge on the side portion, the upper portion, and the lower portion of the main body 10. This allows the water flow F to impact the entire body 10, and thus allows the deposits on the body 10 to be more reliably removed.

Next, the unmanned aerial vehicle cleaning system 100A according to embodiment 2 of the present invention will be described. Fig. 9 is a side view showing the unmanned washing system 100A. Note that, in the same configuration as the above-described embodiment, the same reference numerals are given to the same components, and the description thereof may be omitted.

As shown in fig. 9, the unmanned aerial vehicle cleaning system 100A includes an aircraft 1A and a cleaning tank 110A. Drone cleaning system 100A is a two-stage cleaning system that cleans aircraft 1A using two tanks, namely, a 1 st cleaning tank 111A and a 2 nd cleaning tank 112 as cleaning tanks 110A. In addition, in fig. 9, the case of the washed aircraft 1A is shown by a two-dot chain line.

The first cleaning tank 111A is a tank in which the aircraft 1 to which the attachments have adhered is initially submerged. The first cleaning tank 111A has a discharge section 114 at its bottom for discharging the liquid in the tank to the outside. The 2 nd cleaning tank 112 is a tank into which the aircraft 1 cleaned in the liquid of the 1 st cleaning tank 111A enters. Since the first cleaning tank 111A includes the discharge unit 114, when the liquid in the first cleaning tank 111A is contaminated by the deposits on the aircraft 1, the liquid can be discharged from the discharge unit 114 and replaced. Thus, even when the aircraft 1A having the deposits is cleaned a plurality of times, the liquid contamination of the second cleaning tank 112 can be suppressed. Furthermore, the apparatus for cleaning the aircraft 1A can be made more compact.

As is apparent from the above description, the embodiments of the present invention have advantageous effects by the following configurations.

An aircraft (1, 1A) according to an embodiment of the present invention is capable of traveling in a liquid, and includes: a main body (10); a rotor (30) that generates an air flow that moves the main body (10) by rotating; angle changing means (40, 40A) for changing the angle of the rotor (30) with respect to the main body (10) so that a water flow (F) generated by the rotation of the rotor (30) in the liquid flows toward the main body (10); and control units (60, 60A) capable of selecting a flight mode in which the rotor (30) is rotated to generate an air flow and thereby fly in the air, and a cleaning mode in which the angle changing mechanisms (40, 40A) are controlled in a liquid and a water flow (F) flowing toward the main body (10) is generated by the rotation of the rotor (30). Thus, in the washing mode, the angle of the rotor (30) relative to the main body (10) can be changed by controlling the angle changing mechanisms (40, 40A), so that a water flow (F) flowing toward the main body (10) due to the rotation of the rotor (30) can be made to impact the main body (10), and the rotor (30) can generate an air flow required for flight. Therefore, the main body part (10) can be cleaned without manual operation and large-scale equipment.

In an aircraft (1, 1A) according to an embodiment of the present invention, a plurality of rotors (30) are arranged, and a control unit (60, 60A) controls the rotational speed of the plurality of rotors (30) and controls the attitude of a main body (10) in a liquid. Thus, the main body (10) can be cleaned in a stable posture by taking balance in the liquid.

The aircraft (1A) according to the embodiment of the present invention further comprises an arm (20) extending from the main body (10) and supporting the rotor (30), and the angle changing mechanism (40A) comprises: a 1 st angle changing mechanism (41) for changing the angle of the rotating shaft (A) of the rotor (30) relative to the support (20); and a 2 nd angle changing mechanism (42) for changing the angle of the arm (20) relative to the main body (10). Thus, the angle of the rotation axis (A) of the rotor (30) relative to the arm (20) and the angle of the arm (20) supporting the rotor (30) relative to the main body (10) can be changed, so that the direction of the water flow (F) generated by the rotation of the rotor (30) and the position of the rotor (30) generating the water flow (F) can be changed. Therefore, not only the water flow can be made to impact the side portion of the main body portion (10), but also, for example, the water flow can be made to impact the upper portion and the lower portion of the main body portion (10), and the attached matter attached to the main body portion (10) can be more reliably removed.

The embodiments of the present invention have been described above, but the present invention is not limited to the embodiments, and variations, improvements, and the like within a range in which the object of the present invention can be achieved are included in the present invention.

In the above embodiment, the aircraft 1 includes the 1 st angle changing mechanism 41 that changes the angle of the rotation axis a of the rotor 30 with respect to the arm portion 20, and the aircraft 1A includes the 2 nd angle changing mechanism 42 that changes the angle of the arm portion 20 with respect to the main body portion 10 in addition to the 1 st angle changing mechanism 41, but the configuration may be such that the

aircraft

1, 1A further includes a mechanism that changes the pitch angle of the rotor 30. This enables the direction of the liquid flow generated by the rotation of the rotor 30 to be more finely adjusted.

In the embodiment, the unmanned aerial vehicle cleaning system 100 is configured to include the cleaning tank 110 and the aircraft 1 or the aircraft 1A, and the unmanned aerial vehicle cleaning system 100A is configured to include the aircraft 1A and the cleaning tank 110A, but the unmanned aerial vehicle cleaning system may be configured to include the aircraft 1 and the cleaning tank 110A.

In embodiment 1, the number of cleaning tanks 110 of the unmanned aerial vehicle cleaning system 100 is set to three, but the number of tanks is not particularly limited. For example, one, two, or four or more may be used.

In embodiment 2, only first cleaning tank 111A of drone cleaning system 100A includes discharge unit 114, but second cleaning tank 112 may also include discharge unit 114.

[ description of symbols ]

1. 1A aircraft

10 main body part

30 rotor wing

60. 60A control device (control unit)

F water flow (liquid flow).

Claims

1. An aircraft capable of diving in a liquid, comprising:

a main body portion;

a rotor that generates an air flow that moves the main body by rotating;

an angle changing mechanism that changes an angle of the rotor with respect to the main body so that a liquid flow generated by rotation of the rotor in a liquid flows toward the main body; and

and a control unit capable of selecting a flight mode in which the rotor rotates to generate an air flow and the rotor flies in the air, and a cleaning mode in which the angle changing mechanism is controlled in a liquid and a liquid flow flowing toward the main body is generated by the rotation of the rotor.

2. The aircraft of claim 1 wherein a plurality of said rotors are provided,

the control unit controls the rotational speed of the plurality of rotors to control the posture of the main body in the liquid.

3. The aircraft according to claim 1 or 2, further provided with a support portion extending from the main body portion and supporting the rotor,

the angle changing mechanism includes:

a 1 st angle changing mechanism for changing an angle of a rotary shaft of the rotor with respect to the support portion; and

and a 2 nd angle changing mechanism for changing an angle of the support portion with respect to the main body portion.