JP6496892B1 - Vertical takeoff and landing vehicle with foreign body removal movable part - Google Patents
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Abstract
【課題】空中を飛行する垂直離着陸飛行体が鳥類など異物との衝突による飛行中の事故を低減する。【解決手段】垂直離着陸飛行体の垂直方向に揚力や推力を発生する推進機のフレーム２の中にはプロペラ４とそれを回転させるエンジンが設置されている。推進機のフレームは丸形状の筒型で構成される空気取込口３の上に異物進入防止部材５が配置された構造となっており、推進機のフレームの上部に設けたガイドレール２ａで異物進入防止部材の縁５dを保持し、異物進入防止部材の上には補助翼５ｃが１枚〜数枚設けられている異物進入防止部材には網が張られており、上部から空気取込口３に流れ込む吸引力で引き込まれる異物は異物進入防止部材で止められ、かつ補助翼にあたる空気流で異物進入防止部材が異物除去可動部６として回転することにより異物を振り落とす。【選択図】図１A vertical take-off and landing vehicle that flies in the air reduces accidents in flight due to collision with foreign objects such as birds. A propeller 4 and an engine for rotating the propeller 4 are installed in a frame 2 of a propulsion device that generates lift and thrust in the vertical direction of a vertical take-off and landing vehicle. The frame of the propulsion unit has a structure in which a foreign matter intrusion prevention member 5 is arranged on an air intake port 3 constituted by a round cylindrical shape. The edge 5d of the foreign matter entry prevention member is held, and the foreign matter entry prevention member having one or several auxiliary blades 5c provided on the foreign matter entry prevention member is stretched with a net, and air is taken in from above. The foreign matter drawn in by the suction force flowing into the mouth 3 is stopped by the foreign matter entry prevention member, and the foreign matter entry prevention member rotates as the foreign matter removal movable portion 6 by the air flow hitting the auxiliary wings, and the foreign matter is shaken off. [Selection] Figure 1
Description
空中飛行する垂直離着陸飛行体におけるバードストライク対策技術。 Bird strike countermeasure technology for vertical take-off and landing vehicles flying in the air.
飛行機の空気取込口やヘリコプターのローターに鳥類が巻き込まれるなど航空機のバードストライク事故のニュースが散見される昨今、現在研究開発されている垂直離着陸飛行体（人が乗らないドローンや人が乗る空飛ぶ車など）においても、空中で鳥が飛行体に衝突するバードストライクの危険性が問題視されており、垂直離着陸飛行体の空気取込口の上に網で構成される防護部を設けて対策を行っているものもあるが、これだけではまだ安心はできない。
機体が大きい飛行機やプロペラが大きいヘリコプターであってもバードストライクによってトラブルが起きているが、複数のプロペラを回転して垂直離着陸する飛行体においては、各々のプロペラと鳥類の大きさの対比は既存の航空機と鳥類の対比より衝突時の衝撃はより大きなものとなるのは明らかである。
人が乗らないドローンのバードストライクでは機体の墜落破損は免れないとしても人命に害を及ぼす率は低いが、世界各国で開発されつつある人が乗る垂直離着陸飛行体においては、ドローンより各プロペラが大きく鳥類との衝突により飛行困難になった場合は、操縦者の人命はもとより墜落地域の被害は甚大になる可能性がある。
特に垂直離着陸飛行体ではプロペラ上部が空気取込口となるため、鳥類や他の異物が空気流により空気取込口に張り付く事態も考慮したバードストライクの危機回避対策が重要である。
このような状況の中で下記５件の非特許文献、特許文献が散見される。
Recently, news of aircraft bird strike accidents such as birds getting caught in airplane air intakes and helicopter rotors, vertical take-off and landing vehicles currently being researched and developed (drones that people do not ride and sky that people carry) Even in flying vehicles, the danger of bird strikes where birds collide with a flying object in the air is considered a problem, and a protective part composed of a net is provided above the air intake of a vertical take-off and landing flying object. Some are taking measures, but this alone is not enough.
Even with helicopters with large aircraft and helicopters with large propellers, troubles have occurred due to bird strikes, but for aircraft that rotate and take off and land by rotating multiple propellers, the comparison between the size of each propeller and birds is already present It is clear that the impact at the time of collision will be greater than the contrast between aircraft and birds.
Although drone bird strikes that do not carry humans are less likely to be harmful to human life even if the crash of the aircraft is unavoidable, in vertical take-off and landing vehicles that are being developed by people around the world, each propeller is more than a drone. If it becomes difficult to fly due to a large collision with birds, damage to the crashed area as well as the life of the pilot may be enormous.
Especially in vertical take-off and landing vehicles, the upper part of the propeller serves as an air intake, so it is important to take measures to avoid a bird strike crisis that takes into account the situation where birds and other foreign objects stick to the air intake due to airflow.
In such a situation, the following five non-patent documents and patent documents are frequently found.
特許文献１（特開２０１２−８６８２２）には円盤型飛行体が開示され、特許文献２（実用新案登録第３１９１４６８号）にも飛翔型機体が開示されており、それらからは上カバーの図示は確認されるが、空気取入口に相当する位置を網で覆っているのかいないのか説明には何ら触れていない。
特許文献３（特開平５−３０１６００）にはヘリコプターのプロペラの周囲にロータフレームを付けてその上に網が設けられることが記載されているが、異物除去の方法までは何ら記載されていない。
特許文献４（実用新案登録第３１０６２０６号）にはエンジン吸気ファンの回転でエンジン前のカバーを高速回転させ異物を弾き飛ばすことが記載されているものの、あくまで水平に高速で飛行するエンジン部への高速飛行中に飛び込んでくる異物を弾き飛ばして異物混入を防止するのが目的であり、垂直離着陸飛行体のように垂直方向にエンジン部が設けられ、一定の高度を確保するまでは高速上昇動作をするものの、一定の高度を確保した後は、ホバリング飛行も含め一定の高度での飛行形態を維持するので、垂直離着陸飛行体では一般の翼を有する高速飛行する飛行体とは異物との接触状況は異なる。よって特許文献４の技術は垂直離着陸飛行体のとしては採用できるものではない。
Patent Document 1 (Japanese Patent Laid-Open No. 2012-86822) discloses a disk-type flying body, and Patent Document 2 (Utility Model Registration No. 3191468) also discloses a flying-type aircraft. Although it is confirmed, no explanation is given as to whether or not the position corresponding to the air intake is covered with a net.
Patent Document 3 (Japanese Patent Laid-Open No. 5-301600) describes that a rotor frame is attached around a helicopter propeller and a net is provided on the rotor frame, but there is no description of a foreign matter removing method.
Patent Document 4 (Utility Model Registration No. 3106206) describes that the front cover of the engine is rotated at a high speed by the rotation of the engine intake fan to blow off foreign matter. The purpose is to prevent foreign matter from flying in by flying away foreign objects that fly in during high-speed flight, and an engine unit is provided in the vertical direction like a vertical take-off and landing aircraft, and it operates at high speed until a certain altitude is secured. However, after securing a certain altitude, the flight form at a certain altitude, including hovering flight, is maintained, so the vertical take-off and landing aircraft is in contact with foreign objects on a high-speed flying vehicle with a general wing. The situation is different. Therefore, the technique of
また、非特許文献１には米国での空飛ぶ車の動画が公開されている。
この空飛ぶ車は人が座った座席を中心に、その足元の周りに複数のプロペラを配置し、プロペラの上に網を覆って異物がプロペラに入らないようにして空を飛べるようにした車が動画で開示されている。
Non-Patent
This flying car is a car that has several propellers around its feet, centered on the seat where people are sitting, and covers the net over the propellers so that foreign objects do not enter the propellers and fly in the sky. Is disclosed in the video.
数年前から人が乗らないドローンなる垂直離着陸飛行体が世に現れ、空中からの撮影や測量、警備システムへの応用や施設設備の保守点検、そして日用品や医薬品など物資輸送や農薬散布など広範囲な活用性に期待が膨らんでいる。
複数の推進機（プロペラ）の回転する方向と速さで飛行をコントロールして、空中で留まる状態のホバリングや、ホバリング状態から垂直、水平方向への飛行や、前後左右など各方向へ低速で移動することも可能であり、室内で飛ばせる小さな玩具から前述した多用途な作業に用いるいろいろなサイズの機体が見受けられる中、人が乗れる空を飛ぶ車の試作機が各国で発表されており、空飛ぶタクシーで交通渋滞の緩和など新たな期待が持たれている。
現在飛行機のエンジンなど空気取込口に鳥が吸い込まれて墜落するというバードストライク事故があるが、固定翼のついた飛行機の場合はエンジンが故障しても翼によりある程度滑空するためすぐに墜落することはないが、垂直離着陸飛行体は複数のプロペラが均衡を保って飛ぶ飛行体であるためプロペラの一部でも壊れたら飛行継続は不安定になり、墜落ともなれば操縦者の死傷事故や墜落地域への甚大な被害など大事故に発展する可能性がある。
比較的上空（約１０キロメートル）を高速で水平飛行する飛行機に比べてドローンの高度は数百メートル程度を飛行することが多く、時にはホバリング飛行で機体を空中の一点に静止させたり低速で移動する飛行も可能であるため、空中を飛翔する鳥にとって生活空間を脅かす存在となりかねない。ゆえに高速で水平飛行する飛行機とは異なり、垂直離着陸飛行体は鳥類の攻撃や衝突の対象になりバードストライクが発生する可能性も高く、鳥類および浮遊物などによりプロペラへの損傷を起こさない安全対策が重要である。
現時点、取り敢えずの対策としてプロペラの上に網を張って鳥や空中の浮遊物がプロペラにあたらないようにしている例は散見されるが、この対策だけでは、網の上に載った鳥や浮遊物が、プロペラの回転によって起こる吸引力により網に張り付いてしまう危険性が容易に推測される。
A drone vertical take-off and landing vehicle that has not been on board for several years has appeared, and it has a wide range of shooting and surveying from the air, application to security systems, maintenance inspection of facility equipment, transportation of supplies such as daily necessities and medicines, and spraying of agricultural chemicals Expectations are growing for usability.
Control the flight with the direction and speed of multiple propellers (propellers), hovering while staying in the air, flying vertically and horizontally from the hovering state, and moving at low speeds in each direction such as front and rear, left and right While various sizes of aircraft used for the versatile work described above can be seen from small toys that can fly indoors, prototypes of vehicles flying in the sky where people can ride are announced in each country, New expectations such as alleviation of traffic congestion by flying taxis.
Currently there is a bird strike accident where a bird is sucked into an air intake such as an airplane engine and crashes, but in the case of an airplane with a fixed wing, even if the engine breaks down, it crashes immediately because it glides to some extent by the wing However, the vertical take-off and landing vehicle is a flying object in which multiple propellers are kept in balance, so if any part of the propeller breaks, the continuation of the flight becomes unstable, and if it crashes, the driver's death or injury or crash There is a possibility that it will develop into a major accident such as serious damage to the region.
The altitude of a drone often flies around several hundred meters compared to an airplane that flies horizontally at a high speed (approximately 10 kilometers), and sometimes the hovering flight stops the aircraft at a point in the air or moves at a low speed. Because it can fly, it can be a threat to living space for birds flying in the air. Therefore, unlike airplanes that fly horizontally at high speed, vertical take-off and landing vehicles are subject to bird attacks and collisions, and there is a high possibility of bird strikes, and safety measures that do not cause damage to propellers due to birds and floating objects is important.
At present, there are some cases in which a net is placed on the propeller to prevent the birds and airborne floating objects from hitting the propeller as a temporary measure. The risk of the object sticking to the net due to the suction force generated by the rotation of the propeller is easily inferred.
本願はそのようなバードストライクおよび空中の浮遊物によるプロペラへの障害対策として、垂直離着陸飛行体の垂直方向に揚力を発生させる推進機（プロペラ）の上面に開放された空気取込口の上に異物進入防止部材を設け、さらに異物除去可動部を空気取込口の上で動かすことにより、異物進入防止部材の上面に載る異物など浮遊物を振り落として空気取込口の中に異物を混入させず、かつ異物進入防止部材に鳥などの異物が張り付かないようにするものである。
この異物を振り落とす異物除去可動部は、飛行体の推進機の駆動とは異なる駆動源を持っている。なぜなら一般のジェットやプロペラで推力を生み出す飛行機とは異なり、垂直離着陸飛行体に設けられた複数の推進機は単純に揚力や推力を生み出すだけでなく、ホバリング飛行で空中の一点に静止したり非常に低速で移動するなど、複数の推進機を正逆回転させたり回転速度を変えるなどして各々のプロペラをバランスよく制御することで飛行の安定性を保っている。よって、本願の異物除去可動部の駆動は垂直離着陸飛行体の揚力を発生させる推進機の駆動とは関係ない駆動源で異物除去可動部を動かすことにより、推進機の多様な駆動制御に影響を与えず異物進入防止部材の上面から異物を除去して空気取込口に異物を混入させず、垂直離着陸飛行体を安定して飛行させることを可能にするものである。
なお、この異物除去可動部の駆動源には異物進入防止部材への空気流も含まれる。特に垂直離着陸飛行体のプロペラ以外の範囲には飛行体操縦のための操縦席や機器類などが配置され、ホバリング飛行で空中静止などもする垂直離着陸飛行体の上面には、鳥など飛翔体が安易に留まる場合も有る。
その際に異物除去可動部を高速可動して異物を跳ね飛ばすことは、飛行体の操縦席の視界を妨げたり機器類に損傷をもたらす可能性があると同時に、命ある鳥などへの配慮の点からも好ましくない。よって、垂直離着陸飛行体での異物除去可動部では異物を跳ね飛ばすのではなく振り落とす動作が好ましく、そのために異物除去可動部は低速で可動して異物を除去するようにしている。
As a countermeasure against the propeller due to such bird strikes and airborne floating objects, the present application is on an air intake opening opened on the upper surface of a propeller (propeller) that generates lift in the vertical direction of the vertical take-off and landing aircraft. By providing a foreign matter entry prevention member and moving the foreign matter removal movable part above the air intake port, the foreign matter on the top surface of the foreign matter entry prevention member is shaken off and foreign matter enters the air intake port. It prevents the foreign matter such as birds from sticking to the foreign matter entry preventing member.
The foreign substance removal movable part that shakes off the foreign substance has a drive source different from that of the propulsion unit of the flying object. This is because, unlike ordinary jets and propellers that generate thrust, multiple propellers installed on a vertical take-off and landing vehicle not only generate lift and thrust, but also stand at a single point in the air with hovering The flight stability is maintained by controlling each propeller in a well-balanced manner by rotating the propellers forward and backward or changing the rotation speed. Therefore, the drive of the foreign object removal movable part of the present application affects the various drive controls of the propulsion device by moving the foreign object removal movable part with a drive source that is not related to the drive of the propulsion machine that generates the lift of the vertical takeoff and landing aircraft. The foreign matter is removed from the upper surface of the foreign matter entry preventing member without giving the foreign matter, and the foreign matter is not mixed into the air intake port, and the vertical take-off and landing vehicle can be made to fly stably.
Note that the drive source of the foreign matter removal movable part includes an air flow to the foreign matter entry preventing member. In particular, in the area other than the propeller of the vertical take-off and landing vehicle, cockpits and equipment for flying the aircraft are arranged, and on the upper surface of the vertical take-off and landing vehicle that is hovering and resting in the air, flying objects such as birds are It may stay easy.
At that time, moving the foreign object removal moving part at high speed and jumping the foreign object may interfere with the visibility of the flight cockpit's cockpit and damage the equipment. It is not preferable also from a point. Therefore, the foreign object removal movable part in the vertical take-off / landing vehicle preferably performs the operation of swinging off the foreign substance instead of splashing it. For this reason, the foreign substance removal movable part is moved at a low speed to remove the foreign substance.
この異物除去可動部を垂直離着陸飛行体の推進機とは関係なく駆動する方法としていくつかの手段を以下で説明する。
１つは、この異物除去可動部として空気取込口の上に張られた異物進入防止部材（網や桟など）を可動可能にし、空気取込口の上で異物進入防止部材を回転させることで、空気取込口の上の異物進入防止部材上面から異物を振り落とす。この異物進入防止部材の回転方法としては、異物進入防止部材に空気流で回転する補助翼を設けて、空気取込口への空気の流れで異物進入防止部材が回転可能にすることで実現できる。
他の方法としては、異物進入防止部材の縁などに駆動部を設けて駆動部の力で異物進入防止部材を回転させることでも実現できる。回転させる異物進入防止部材の形状は円形とし、駆動部は常時または一定間隔で駆動させたり、異物を検知して駆動させて異物を除去することもできれば、操縦者の操作で必要に応じて駆動させ異物進入防止部材を回転させることで空気取込口の上の異物進入防止部材の上面から異物を振り落とすこともできる。
特に、回転する異物進入防止部材の上下何れかに沿わせて配置する筋部材、例えば推進機のフレームに筋部材の一方または両端を固定的に取り付けておけば、異物進入防止部材に載るまたは空気取込口の吸引力により異物進入防止部材に張り付いた異物は、回転する異物進入防止部材と筋部材との隙間で掻き落とされることになり、異物除去にはより効果的である。
Several means will be described below as a method of driving the foreign-matter removal movable part regardless of the vertical take-off / landing vehicle propulsion device.
One is to allow a foreign matter entry prevention member (such as a net or a cross) stretched over the air intake port to move as this foreign matter removal movable part, and to rotate the foreign matter entry prevention member over the air intake port. Then, the foreign matter is shaken off from the upper surface of the foreign matter entry preventing member above the air intake port. This method of rotating the foreign matter entry preventing member can be realized by providing an auxiliary wing that rotates with the air flow in the foreign matter entry preventing member so that the foreign matter entry preventing member can be rotated by the air flow to the air intake port. .
Another method can be realized by providing a drive unit at the edge of the foreign matter entry prevention member and rotating the foreign matter entry prevention member with the force of the drive unit. The rotating foreign object entry prevention member has a circular shape, and the drive unit can be driven at all times or at regular intervals, or it can be driven by detecting the foreign object to remove the foreign object. The foreign matter can be shaken off from the upper surface of the foreign matter entry prevention member above the air intake port by rotating the foreign matter entry prevention member.
In particular, if one or both ends of the streak member are fixedly attached to the strut member arranged along either the top or bottom of the rotating foreign matter intrusion prevention member, for example, the frame of the propulsion unit, The foreign matter stuck to the foreign matter entry prevention member by the suction force of the intake port is scraped off in the gap between the rotating foreign matter entry prevention member and the muscle member, which is more effective for removing the foreign matter.
また、他の異物除去可動部の実現方法としては、空気取込口の上にある異物進入防止部材は固定的に配置され、その異物進入防止部材の上下何れかに筋部材を配置し、この筋部材を駆動させることでも異物を除去することが可能である。
一部が湾曲する筋部材など空気流によって自然に回転する構造とした筋部材の動きで異物進入防止部材に載る異物を掻き落とす、または筋部材に駆動部を設けてその駆動力で筋部材を回転させることも可能で、駆動部を設けた筋部材の回転は常時または一定間隔で駆動させたり、異物を検知して駆動させて異物を除去することもできれば、操縦者の操作で必要に応じて駆動させることも可能である。
さらに他の方法として異物進入防止部材そのものを駆動部の駆動により振動させることで空気取込口の上の異物進入防止部材上面から異物を振り落としたり、異物進入防止部材が回転可能な円形で構成できない場合には、その異物進入防止部材の上面自体が、異物の重みで回転したり空気流で回る回転棒などを配置することで異物を振り落とす異物除去可動部とすることも可能である。
Further, as another method for realizing the foreign matter removal movable part, the foreign matter entry prevention member above the air intake port is fixedly arranged, and a streak member is arranged above or below the foreign matter entry prevention member. It is also possible to remove foreign matter by driving the muscle member.
The muscle member that is structured to rotate naturally by the air flow, such as a partially curved muscle member, scrapes off the foreign matter placed on the foreign matter entry prevention member, or a driving portion is provided on the muscle member and the muscle member is moved by the driving force. It can also be rotated, and the rotation of the muscle member provided with the drive unit can be driven constantly or at regular intervals, or it can be detected and driven to remove foreign matter, if necessary by the operator's operation It is also possible to drive them.
As another method, the foreign object intrusion prevention member itself is vibrated by driving the drive unit, so that the foreign object intrusion prevention member is shaken off from the upper surface of the air intake port, or the foreign object intrusion prevention member is configured to be rotatable. If this is not possible, the foreign matter entry preventing member itself may be a foreign matter removing movable part that swings off foreign matter by arranging a rotating rod that rotates by the weight of the foreign matter or rotates by an air flow.
本願発明にて、無人や有人の垂直離着陸飛行体（カメラや荷物を搭載して飛ばす人間が乗らないドローンや、人が乗って飛行する空飛ぶ車）は、飛行体の大きさが上空を高速飛行する飛行機より小型であり、高度も数百メートル程度を飛行するため鳥の生活空間を飛行することになり、ホバリングや低速飛行をする垂直離着陸飛行体は鳥の攻撃対象になったり興味本位に近づいてプロペラの空気取込口に鳥が吸い寄せられる可能性もある。
仮に鳥が飛行体の上に留まる場合にも本願の異物除去可動部によって鳥を振り落とすことで、鳥を殺すことなくバードストライク事故を防止するとともに、操縦席や機器類などに対する二次的損傷を低減させる効果を生む。そして、その異物除去可動部の駆動は垂直離着陸飛行体の推進機の制御とは別の駆動源で行うため、垂直離着陸飛行体の安全安定飛行に寄与する効果をも生む。
In the present invention, unmanned and manned vertical takeoff and landing vehicles (drones that do not carry humans that fly with cameras and luggage, and flying vehicles that people fly) fly over the sky at high speed. Because it is smaller than a flying airplane and fly at a height of several hundred meters, it will fly in the bird's living space, and the vertical take-off and landing vehicle that performs hovering and low-speed flight will become a target of bird attack and interest There is also the possibility that birds will be drawn near the air intake of the propeller.
Even if a bird stays on the flying object, it is possible to prevent a bird strike accident without killing the bird by shaking it off with the foreign body removal movable part of the present application, and secondary damage to the cockpit and equipment etc. Produces the effect of reducing Since the foreign-matter removal movable part is driven by a drive source different from the control of the propulsion unit of the vertical take-off / landing vehicle, an effect contributing to safe and stable flight of the vertical take-off / landing vehicle is also produced.
以下、本発明の実施の形態を図面に基づいて詳細に説明をする。尚、本発明は、以下の実施の形態に限定されるものではない。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the following embodiments.
図１は空気取込口（３）の上で異物進入防止部材（５）が異物除去可動部（６）として回転する構造を示した図であって、（１−Ａ）は一部が見えるようにした斜視図で、（１−Ｂ）は異物進入防止部材の縁を拡大した説明図である。
（１ーＡ）は後で述べる垂直離着陸飛行体（１）における推進機のフレーム（２）の一つを取り出して説明している図であって、垂直離着陸飛行体の垂直方向に揚力や推力を発生する推進機のフレーム（２）の中にはプロペラ（４）とそれを回転させるエンジンが設置されており、プロペラ（４）の回転により空気流が発生し推進機のフレーム（２）の上部は空気取込口（３）となる。ここで上記エンジンは、電気やガソリンをエネルギー源とする回転力発生ユニットを意味し、別の構成としては図１のプロペラで無くてもジェットエンジンなどを下向きに設けて代替とすることも考えられる。これによって垂直離着陸飛行体（１）は飛行に必要な垂直方向に働く揚力を得ることが可能となる。本願の図ではプロペラを回転させる構造で以下の説明をする。
（１ーＡ）は、推進機のフレーム（２）は丸形状の筒型で構成される空気取込口（３）の上に異物進入防止部材（５）が配置された構造となっていることを示しており、推進機のフレーム（２）の上部に設けたガイドレール（２ａ）で異物進入防止部材の縁（５ｄ）を保持し、異物進入防止部材（５）の上には補助翼（５ｃ）が１枚〜数枚設けられている外観を現わしている。
推進機のフレーム（２）内でプロペラ（４）が図で示すαからβの方向に回転して推進機のフレーム（２）が浮上する揚力が発生した場合は、空気取込口（３）に流れ込む空気流が発生し、異物進入防止部材（５）に設けられた補助翼（５ｃ）にあたる空気流により異物進入防止部材（５）は例えば図で示すα’からβ’の方向に追従して回転する。（１−Ｂ）は推進機のフレーム（２）の一部を拡大した図で、上枠がコの字型に形成されたガイドレール（２ａ）で異物進入防止部材の縁（５ｄ）を保持している構造を示しており、異物進入防止部材の縁（５ｄ）はガイドレール（２ａ）に保持された状態で摺動可能である。
図１の異物進入防止部材（５）には網が張られており、図では上部から空気取込口（３）に流れ込む吸引力で引き込まれる異物は異物進入防止部材（５）で止められ、かつ補助翼（５ｃ）にあたる空気流で異物進入防止部材（５）が異物除去可動部（６）として回転することにより異物は振り落とされてしまう。このように空気取込口（３）に吸い込まれる異物は異物進入防止部材（５）で止められ振り落とされるので大きな事故を未然に防ぐことが可能となる。
特にこの異物除去可動部（６）の回転は、単に異物進入防止部材の上に誤って着地した異物を振り落とす程度の動きで良いので、垂直離着陸飛行体が飛行するプロペラ（４）の回転により自然発生する空気流で異物除去可動部（６）が回転するだけで事足り、プロペラ（４）など推進機の駆動制御に影響を及ぼさない。
FIG. 1 is a view showing a structure in which a foreign matter entry preventing member (5) rotates as a foreign matter removing movable portion (6) on the air intake port (3), and (1-A) is partially visible. (1-B) is the explanatory drawing which expanded the edge of the foreign material approach prevention member.
(1A) is a diagram illustrating one of the propulsion unit frames (2) in the vertical take-off and landing vehicle (1), which will be described later, in which lift and thrust are vertically applied to the vertical take-off and landing vehicle. A propeller (4) and an engine that rotates the propeller (4) are installed in the propulsion frame (2) that generates the air, and an air flow is generated by the rotation of the propeller (4). The upper part is an air intake (3). Here, the engine means a rotational force generating unit that uses electricity or gasoline as an energy source. Alternatively, a jet engine or the like may be provided downward instead of the propeller of FIG. . As a result, the vertical take-off and landing vehicle (1) can obtain a lift force that works in the vertical direction necessary for flight. In the drawing of the present application, the following explanation is given with a structure in which a propeller is rotated.
(1A) has a structure in which the foreign matter intrusion prevention member (5) is arranged on the air intake port (3) in which the propulsion unit frame (2) is formed of a round cylindrical shape. The guide rail (2a) provided on the upper part of the frame (2) of the propulsion unit holds the edge (5d) of the foreign matter entry prevention member, and the auxiliary wing is placed on the foreign matter entry prevention member (5). (5c) shows an appearance in which one to several sheets are provided.
When the propeller (4) rotates in the direction of α to β shown in the figure in the propulsion unit frame (2) and lift force is generated to lift the propulsion unit frame (2), the air intake (3) An air flow flowing into the foreign matter is generated, and the foreign matter entry prevention member (5) follows, for example, the directions α ′ to β ′ shown in the figure by the air flow corresponding to the auxiliary blade (5c) provided on the foreign matter entry prevention member (5). Rotate. (1-B) is an enlarged view of a part of the frame (2) of the propulsion device, and the edge (5d) of the foreign matter entry preventing member is held by a guide rail (2a) whose upper frame is formed in a U-shape. The edge (5d) of the foreign matter entry preventing member is slidable while being held by the guide rail (2a).
The foreign matter intrusion prevention member (5) in FIG. 1 is stretched with a net. In the figure, foreign matter drawn in by the suction force flowing from the top into the air intake port (3) is stopped by the foreign matter intrusion prevention member (5). In addition, the foreign matter intrusion prevention member (5) rotates as the foreign matter removal movable portion (6) by the air flow hitting the auxiliary blade (5c), and the foreign matter is shaken off. As described above, since the foreign matter sucked into the air intake port (3) is stopped by the foreign matter entry preventing member (5) and shaken off, it is possible to prevent a major accident.
In particular, the rotation of the foreign object removal movable part (6) may be such that the foreign object that has accidentally landed on the foreign object intrusion prevention member is shaken off. Therefore, the rotation of the propeller (4) on which the vertical takeoff and landing vehicle flies. It is sufficient that the foreign matter removing movable part (6) is rotated by the naturally generated air flow and does not affect the drive control of the propeller such as the propeller (4).
図２は異物進入防止部材（５）を異物除去可動部（６）とする一例であって、図１が空気取込口（３）に流れ込む空気流によって異物進入防止部材（５）が回転するのに対して、図２は異物進入防止部材の縁（５ｄ）に設けた駆動部（６ａ）によって異物進入防止部材（５）を回転させる構造を示しており、（２−Ａ）はお椀形の異物進入防止部材（５）の横からの断面図であり、（２−Ｂ）は動作を表すイメージ図である。
垂直離着陸飛行体はホバリング飛行など複数の各プロペラは回転方向や速度が異なる制御をされるため、各々のプロペラ上に発生する空気流は一定ではない。そのため空気流とは関係のない駆動部を用いた例として示しており、異物進入防止部材を回転させる独立した駆動部（６ａ）を設けているためプロペラ（４）など推進機の推進制御に影響を及ぼさない。
つまり、（２−Ａ）は異物進入防止部材の縁（５ｄ）に駆動部（６ａ）を設けた状況を断面図で示しており、（２−Ｂ）はその動作を表すイメージ図で、異物進入防止部材の縁（５ｄ）に設けた駆動部（６ａ）によって異物進入防止部材（５）をαまたはβの方向に回転させることが可能になるので、異物進入防止部材（５）は異物除去可動部（６）として異物を振り落とすことで大きな事故を未然に防ぐことが可能になる。
FIG. 2 shows an example in which the foreign matter entry prevention member (5) is a foreign matter removal movable portion (6). FIG. 1 shows that the foreign matter entry prevention member (5) is rotated by the air flow flowing into the air intake port (3). On the other hand, FIG. 2 shows a structure in which the foreign matter entry prevention member (5) is rotated by the drive portion (6a) provided on the edge (5d) of the foreign matter entry prevention member, and (2-A) is a bowl shape. It is sectional drawing from the side of the foreign material approach prevention member (5), (2-B) is an image figure showing operation | movement.
In a vertical take-off and landing vehicle, a plurality of propellers such as a hovering flight are controlled to have different rotation directions and speeds, so that the air flow generated on each propeller is not constant. Therefore, it is shown as an example using a drive unit unrelated to the air flow, and since an independent drive unit (6a) for rotating the foreign matter intrusion prevention member is provided, the propulsion control such as the propeller (4) is affected. Does not affect.
In other words, (2-A) is a cross-sectional view showing a situation in which the drive portion (6a) is provided on the edge (5d) of the foreign matter entry preventing member, and (2-B) is an image diagram showing the operation of the foreign matter entry prevention member. The foreign matter entry prevention member (5) can be rotated in the direction of α or β by the drive portion (6a) provided on the edge (5d) of the prevention member, so that the foreign matter entry prevention member (5) is movable to remove foreign matter. It is possible to prevent a major accident by shaking off foreign matter as the part (6).
図３は異物進入防止部材（５）の他の構造を示した図であって、（３−Ａ）は異物進入防止部材が桟で構成された図。（３−Ｂ）は異物進入防止部材が網目で構成された図。（３−Ｃ）は（３−Ａ）（３−Ｂ）を横から見た断面図を示すものであり、図３では異物進入防止部材（５）の上に筋部材（９）を設けて、この筋部材（９）を駆動部（６ａ）で駆動させることで異物除去可動部（６）として機能させる構造の例を示している。
つまり、図３の（３−Ａ）（３−Ｂ）は図１と下記の点で異なる。
図１では推進機のフレーム（２）の上に設けた異物進入防止部材（５）が空気取込口（３）へ空気が吸い込まれる空気流で回転するのに対して、図３の（３−Ａ）（３−Ｂ）の異物進入防止部材（５）は回転しない。その代わり異物進入防止部材（５）の上に設けられた筋部材（９）である異物除去可動部（６）が、駆動部（６ａ）の駆動力により図３で示すαまたはβの方向に回転する。これによって、異物進入防止部材（５）の上から空気取込口（３）に入ろうとする異物は、異物進入防止部材（５）の上で異物除去可動部（６）により掻き落とし、かつ振り落とされるので大きな事故を未然に防ぐことが可能となる。
ここで図３の（３−Ａ）は異物進入防止部材（５）として異物進入防止部材の桟（５ｂ）を使っている例であり、（３−Ｂ）は異物進入防止部材（５）として異物進入防止部材の網（５ａ）を使っている例である。異物進入防止部材の網（５ａ）では異物進入防止部材の隙間（５e）は格子状の穴で構成されるが、異物進入防止部材の桟（５ｂ）では異物進入防止部材の隙間（５e）は長細い溝穴で構成される違いがあるのみで、その効果はほぼ同じである。
図３の（３−Ｃ）は（３−Ａ）（３−Ｂ）では隠れていた駆動部（６ａ）と垂直離着陸飛行体（１）の揚力および推進力を生むプロペラ（４）との位置関係を参考までに示しているが、異物除去可動部（６）と駆動部（６ａ）の連結方法や設置位置はこの図示の形に限定するものではない。ただし異物除去可動部である筋部材（９）を回転させる独立した駆動部（６ａ）を設けることにより、プロペラ（４）など推進機の推進制御に影響を及ぼさない構造である。
なお、図３では駆動部（６ａ）の力で回転する筋部材（９）を異物除去可動部（６）として説明しているが、この筋部材（９）を空気の流れで回転可能な湾曲を持たせた構造にすれば、空気取込口に流入する空気流のみでも筋部材（９）は回転可能となる。
FIG. 3 is a view showing another structure of the foreign matter intrusion preventing member (5), and (3-A) is a view in which the foreign matter intrusion preventing member is constituted by a crosspiece. (3-B) is a diagram in which the foreign matter entry preventing member is configured by a mesh. (3-C) is a cross-sectional view of (3-A) and (3-B) as viewed from the side. In FIG. 3, a streak member (9) is provided on the foreign matter entry prevention member (5). The example of the structure which functions as the foreign substance removal movable part (6) by driving the muscle member (9) with the drive part (6a) is shown.
That is, (3-A) and (3-B) in FIG. 3 differ from FIG. 1 in the following points.
In FIG. 1, the foreign matter intrusion prevention member (5) provided on the frame (2) of the propulsion unit rotates by the air flow in which air is sucked into the air intake port (3), whereas (3 in FIG. -A) The foreign matter entry preventing member (5) of (3-B) does not rotate. Instead, the foreign substance removal movable part (6), which is a streak member (9) provided on the foreign substance entry preventing member (5), moves in the direction of α or β shown in FIG. 3 by the driving force of the driving part (6a). Rotate. As a result, foreign matter entering the air intake port (3) from above the foreign matter entry prevention member (5) is scraped off by the foreign matter removal movable part (6) on the foreign matter entry prevention member (5) and shaken. It will be possible to prevent a major accident.
Here, (3-A) in FIG. 3 is an example in which the crosspiece (5b) of the foreign matter entry prevention member is used as the foreign matter entry prevention member (5), and (3-B) is the foreign matter entry prevention member (5). It is an example using the net | network (5a) of a foreign material approach prevention member. In the foreign matter entry prevention member net (5a), the foreign matter entry prevention member gap (5e) is composed of lattice holes, but in the foreign matter entry prevention member crosspiece (5b), the foreign matter entry prevention member gap (5e) is The effect is almost the same, with the only difference being a long and narrow slot.
(3-C) in FIG. 3 is the position of the drive unit (6a) hidden in (3-A) and (3-B) and the propeller (4) that generates the lift and propulsion of the vertical takeoff and landing vehicle (1). Although the relationship is shown for reference, the connecting method and the installation position of the foreign substance removal movable part (6) and the drive part (6a) are not limited to the illustrated form. However, by providing an independent drive unit (6a) that rotates the muscle member (9), which is a foreign substance removal movable unit, the propeller (4) and other propulsion controls are not affected.
In FIG. 3, the streak member (9) that rotates by the force of the drive unit (6a) is described as the foreign object removal movable part (6). However, the streak member (9) can be rotated by the flow of air. If the structure is provided, the muscle member (9) can be rotated only by the air flow flowing into the air intake port.
図４は、図３の筋部材（９）で構成された異物除去可動部（６）の別な形状を示した説明図で、（４−Ａ）は異物進入防止部材（５）を上から見た図で、その中央に鎌形状の筋部材（９）を配した様子を示しており、（４−Ｂ）ではその様子を斜視図で現わしている。
（４−Ａ）のように筋部材（９）の形状を鎌形状にし、その片側に刃を設けるとさらに異物（８）の除去が容易になる。包丁や鎌のように一片を切削可能な刃にした異物除去可動部（６）であれば、一方向の回転では背側で異物を払いのけるに留め、逆に刃のある方向に回転させると異物を切り落とすことが可能になる。鳥類などは筋部材（９）の背側が接近して驚かせれば飛び立つし、木の枝葉など異物進入防止部材（５）の隙間に留まる異物（８）は筋部材（９）の刃の側で切り落とすなども可能である。
なお図４には異物除去可動部（６）を動かす駆動部（６ａ）を図示していないが、図３のように筋部材（９）に駆動部（６ａ）を設けて異物除去可動部（６）として機能させても良いし、筋部材（９）の先端を推進機のフレーム（２）に固着して図２のように異物進入防止部材（５）に駆動部（６ａ）を設けて異物除去可動部（６）として機能させても良い。
つまり、回転しない異物進入防止部材（５）に載った異物（８）に向けて異物除去可動部（６）である筋部材（９）が接近して異物（８）を掻き落とすか、異物除去可動部（６）である異物進入防止部材（５）が回転してその上に載った異物（８）が固定された筋部材（９）に接近して掻き落とされるかの違いであって、その効果は変わらず異物（８）を振り落とすだけではなく、近接する異物進入防止部材（５）と筋部材（９）により掻き落とすので、より迅速に効率よく異物を除去して大きな事故を未然に防ぐことが可能になる。
なお、異物（８）が異物除去可動部（６）に当たる場合は掻き落とす、異物（８）が異物除去可動部（６）の動きで落とされる場合は振り落とすであって、両者における異物除去可動部（６）の動きは低速動作であり目的は同じである。
FIG. 4 is an explanatory view showing another shape of the foreign substance removal movable part (6) constituted by the streak member (9) of FIG. 3, and (4-A) shows the foreign substance entry preventing member (5) from above. In the figure which looked, the mode that the sickle-shaped muscle member (9) was arranged in the center is shown, and in (4-B), the mode is shown with the perspective view.
If the shape of the muscle member (9) is made sickle like (4-A) and a blade is provided on one side thereof, the removal of the foreign matter (8) is further facilitated. If the foreign object removal movable part (6) has a blade capable of cutting a piece like a knife or sickle, the rotation in one direction keeps away the foreign substance on the back side, and conversely rotates in the direction with the blade. It is possible to cut off foreign matter. Birds and so on will fly if the back side of the muscle member (9) approaches and surprises, and foreign matter (8) that stays in the gap between the foreign matter entry prevention members (5) such as tree branches and leaves is on the blade side of the muscle member (9). It can also be cut off.
4 does not show the drive unit (6a) for moving the foreign object removal movable part (6), but the drive unit (6a) is provided on the muscle member (9) as shown in FIG. 6), or the distal end of the muscle member (9) is fixed to the frame (2) of the propulsion unit, and the drive unit (6a) is provided on the foreign matter entry prevention member (5) as shown in FIG. You may make it function as a foreign material removal movable part (6).
That is, the streak member (9), which is the foreign matter removal movable part (6), approaches the foreign matter (8) placed on the non-rotating foreign matter entry prevention member (5) and scrapes the foreign matter (8) or removes the foreign matter. The foreign matter intrusion prevention member (5), which is the movable portion (6), rotates and the foreign matter (8) placed thereon approaches the fixed muscle member (9) and is scraped off, The effect is not changed, and not only the foreign object (8) is shaken off, but also scraped off by the adjacent foreign object intrusion prevention member (5) and the muscle member (9), so that the foreign object can be removed more quickly and efficiently before a major accident occurs. It becomes possible to prevent.
When the foreign object (8) hits the foreign object removal movable part (6), it is scraped off. When the foreign object (8) is dropped by the movement of the foreign object removal movable part (6), it is shaken off. The movement of the part (6) is a low speed operation and the purpose is the same.
図５は異物進入防止部材の隙間（５e）に入り込んだ異物（８）が筋部材（９）で除去される説明図であって、（５−Ａ）は異物（８）と異物進入防止部材の隙間（５e）と筋部材（１０）との関連図であり、（５−Ｂ）異物進入防止部材の隙間（５e）に入った異物（８）が切断される説明図でで、（５−Ｃ）は異物進入防止部材の隙間（５e）に入った異物（８）が折れ抜ける説明図である。
この図５では（５−Ａ）、（５−Ｂ）、（５−Ｃ）の３つの図にて異物進入防止部材（５）の上で異物（８）が異物進入防止部材の隙間（５e）に挟まった場合に、異物除去可動部（６）にてどのように異物（８）が排除されるのかを説明している。
初めに（５−Ａ）では異物進入防止部材の隙間（５e）に挟まった異物（８）の部位の状態を示しており、（５−Ｂ）では異物進入防止部材（５）の上で異物除去可動部（６）が右横方向に移動するために、異物（８）の部位が異物除去可動部（６）に押されて起き上がり、異物（８）に亀裂が入って切断される直前の様子を現わしている。さらに異物除去可動部（６）が右横方向に移動した場合は、異物（８）は切断されるか、折曲がって異物進入防止部材の隙間（５e）から抜け出る。
（５−Ｃ）では異物進入防止部材（５）の上で異物除去可動部（６）が左横方向に移動するために、異物除去可動部（６）に横から押されて異物進入防止部材の隙間（５e）より押し出される状態を説明している。
このように異物進入防止部材（５）の上で異物除去可動部（６）を横移動することで異物（８）の部位が異物進入防止部材の隙間（５e）に入っても、その部位は切断されたり変形したりして異物（８）は異物進入防止部材（５）の上で横移動しながら最終的には掻き落とされて除去されることになり、仮に空気取込口（３）の中に異物が入っても異物進入防止部材の隙間（５e）の空間で切断された異物（８）の小さな部位に留まり、大きな事故になることは無い。
この動きは、一般の車のワイパーのようにガラス平面を撫でる動きとは異なり、異物進入防止部材の隙間（５e）に絡まった異物の部位を切断、変形させることも可能とするものであるため、その目的から構造は車のワイパーとは異なるものである。
なお、図５の説明では異物進入防止部材（５）の上に異物除去可動部（６）を配置したが、異物進入防止部材（５）の下に異物除去可動部（６）を配置しても同様の効果は得られる。ここでは筋部材（９）が異物除去可動部（６）として動き、異物進入防止部材（５）の上の異物（８）が変形、切断、除去される様子を図示したが、筋部材（９）が固定され異物進入防止部材（５）が異物除去可動部（６）として動く場合も、異物進入防止部材（５）の上の異物（８）が筋部材（９）にあたることで同様の効果となり、異物進入防止部材（５）の上の異物（８）は変形、切断、除去される。
FIG. 5 is an explanatory diagram in which the foreign matter (8) that has entered the gap (5e) of the foreign matter entry prevention member is removed by the streak member (9), and (5-A) shows the foreign matter (8) and the foreign matter entry prevention member. (5B) is a relational view between the gap (5e) and the muscle member (10), and (5-B) is an explanatory view in which the foreign matter (8) entering the gap (5e) of the foreign matter entry preventing member is cut. -C) is an explanatory view in which the foreign matter (8) entering the gap (5e) of the foreign matter entry preventing member is broken.
In FIG. 5, in the three views (5-A), (5-B), and (5-C), the foreign matter (8) is placed on the foreign matter entry prevention member (5) in the gap (5e ) Describes how the foreign matter (8) is removed by the foreign matter removal movable part (6).
First, (5-A) shows the state of the part of the foreign matter (8) sandwiched between the gaps (5e) of the foreign matter entry prevention member, and (5-B) shows the foreign matter on the foreign matter entry prevention member (5). Since the removal movable part (6) moves in the right lateral direction, the part of the foreign matter (8) is pushed up by the foreign matter removal movable part (6), and immediately before the foreign matter (8) is cracked and cut. Appears. Further, when the foreign matter removing movable part (6) moves in the right lateral direction, the foreign matter (8) is cut or bent and escapes from the gap (5e) of the foreign matter entry preventing member.
In (5-C), since the foreign substance removal movable part (6) moves in the left lateral direction on the foreign substance entry prevention member (5), the foreign substance entry prevention member is pushed from the side by the foreign substance removal movable part (6). The state of being pushed out from the gap (5e) is described.
Thus, even if the part of the foreign matter (8) enters the gap (5e) of the foreign matter entry prevention member by laterally moving the foreign matter removal movable part (6) on the foreign matter entry prevention member (5), the part remains The foreign material (8) that is cut or deformed is eventually scraped off and removed while laterally moving on the foreign material entry prevention member (5). Even if a foreign substance enters, the foreign substance stays in a small part of the foreign substance (8) cut in the space (5e) of the foreign substance intrusion preventing member, and does not cause a major accident.
Since this movement is different from the movement of stroking the glass plane like a general car wiper, it is possible to cut and deform the part of the foreign matter entangled in the gap (5e) of the foreign matter entry preventing member. For that purpose, the structure is different from a car wiper.
In the description of FIG. 5, the foreign object removal movable part (6) is arranged on the foreign substance entry prevention member (5), but the foreign substance removal movable part (6) is arranged below the foreign substance entry prevention member (5). The same effect can be obtained. Here, the muscle member (9) moves as the foreign object removal movable portion (6), and the foreign material (8) on the foreign matter entry prevention member (5) is deformed, cut and removed. ) Is fixed and the foreign object intrusion preventing member (5) moves as the foreign object removal movable part (6), the same effect can be obtained when the foreign object (8) on the foreign object intrusion preventing member (5) hits the muscle member (9). Thus, the foreign matter (8) on the foreign matter entry prevention member (5) is deformed, cut and removed.
ここまでの説明が推進機のフレーム（２）を抜き出して説明していたので、垂直離着陸飛行体（１）において推進機のフレーム（２）がどのような位置づけにあるのかを説明するため、図６は垂直離着陸飛行体（１）全体の外観図の一例であって、４つのプロペラに対して各々に筋部材（９）を異物進入防止部材（５）の上に配置した説明図である。
図６の垂直離着陸飛行体（１）は人間が一人乗れる飛ぶ車としての外観を示しており、一般に広まっている小型無人飛行体であるドローンより大きな飛行体である。小型無人飛行体はサイズが小さいため空を飛ぶ鳥類との接触事故は稀で、もし接触事故が起きたときは機体の墜落を免れないが無人飛行体であるがゆえに操縦者の死傷事故にはつながらない。
しかしながら人が乗れる大きさの垂直離着陸飛行体（１）の場合、図６は操縦席（７）の前後左右に各１個、計４個の推進機のフレーム（２）を設けた垂直離着陸飛行体（１）の図であり、各々の推進機のフレーム（２）の大きさは人を乗せて飛ぶ推進力を得る必要から直径１ｍ前後の大きな形状になる。そして移動速度も数十Ｋｍ／Ｈ〜数百Ｋｍ／Ｈの速度になり、空を飛ぶ鳥類と何時バードストライクなる事故に合ってもおかしくない状況にある。
図６ではそのような状況の中でも事故を防ぐために各々の推進機のフレーム（２）には異物進入防止部材（５）を備えかつ筋部材（９）をも備え、今まで説明したように異物進入防止部材（５）または筋部材（９）を異物除去可動部（６）として機能させることにより、異物が異物進入防止部材（５）に張り付いても、図１〜図５で説明したように異物（８）の除去を可能とするものである。
Since the description so far has been made by extracting the propulsion unit frame (2), in order to explain the position of the propulsion unit frame (2) in the vertical takeoff and landing vehicle (1), FIG. 6 is an example of an external view of the entire vertical take-off and landing vehicle (1), and is an explanatory diagram in which the muscle members (9) are arranged on the foreign matter intrusion prevention member (5) for each of the four propellers.
A vertical take-off and landing vehicle (1) in FIG. 6 shows an appearance as a flying vehicle on which a human can ride alone, and is larger than a drone that is a small unmanned flying vehicle that is generally spread. Because the small unmanned air vehicle is small in size, contact accidents with birds flying in the sky are rare, and if a contact accident occurs, the aircraft can not escape crashing, but because it is an unmanned air vehicle, it dose not connect.
However, in the case of a vertical take-off and landing vehicle (1) large enough for a person to ride, FIG. 6 shows a vertical take-off and landing flight in which four propeller frames (2) are provided, one on each of the front, rear, left and right sides of the cockpit (7). It is a figure of a body (1), and the size of the frame (2) of each propulsion device is a large shape with a diameter of about 1 m because it is necessary to obtain a propulsion force to fly with a person. The moving speed is also several tens Km / H to several hundreds Km / H, and it is in a situation that is not strange even when a bird strikes with the birds flying in the sky.
In FIG. 6, in order to prevent accidents even in such a situation, the frame (2) of each propulsion unit is provided with a foreign matter entry prevention member (5) and also a muscle member (9). As shown in FIGS. 1 to 5, even if the foreign matter sticks to the foreign matter entry prevention member (5) by causing the entry prevention member (5) or the streak member (9) to function as the foreign matter removal movable portion (6). In addition, the foreign matter (8) can be removed.
図６で人が乗れる垂直離着陸飛行体（１）について操縦席（７）やその周りに複数の推進機のフレーム（２）が設けられ、異物進入防止部材（５）または筋部材（９）を異物除去可動部（６）として機能させることについて簡単に構造を説明したが、異物除去可動部（６）の駆動について図７でより詳しく説明する。
図７の垂直離着陸飛行体（１）には図示していないが推進力を生むプロペラおよびプロペラ駆動部、またはジェットエンジンなどが設けられ、複数の推進機のフレーム（２）には空気取込口の上に異物進入防止部材（５）が配置されている。本願はその異物進入防止部材（５）の上に筋部材（９）で構成した異物除去可動部（６）を配置し駆動させることでより確実に異物を除去することを目的としている。
ただし、図１の異物進入防止部材（５）や図４の筋部材（９）が、垂直離着陸飛行体（１）の推進力で空気取込口（３）に生じる空気流で自動的に回転して異物除去可動部（６）として異物を除去することもできれば、図２の異物進入防止部材（５）や図３の筋部材（９）のように異物除去可動部（６）が、駆動部（６ａ）の駆動力により回転し異物を除去することも可能である。
ここで図７は異物除去可動部（６）を操縦者（７ａ）の指示で駆動させる場合の説明図であり（７−Ａ）は異物除去可動部の回転方向を示す説明図で、（７−Ｂ）は７−Ａの異物除去可動部を操作する動作説明図である。
（７−Ａ）は垂直離着陸飛行体（１）を上から見た図であって、中央に操縦者（７ａ）が座る操縦席（７）、その前後左右に各々推進機のフレーム（２）が配置され、その上に図では示していないが異物進入防止部材（５）が設けられており、図ではその上に配置される筋部材（９）で構成した異物除去可動部（６）を一例として羽根状に記載している。そして各々の異物除去可動部（６）、図での記号としてはＷ１、Ｗ２、Ｗ３、Ｗ４で示し、異物除去可動部（６）の動きを右回りについてはＷ１Ｒ、Ｗ２Ｒ、Ｗ３Ｒ、Ｗ４Ｒ、左回りについてはＷ１Ｌ、Ｗ２Ｌ、Ｗ３Ｌ、Ｗ４Ｌで示している。これらＷ１、Ｗ２、Ｗ３、Ｗ４、Ｗ１Ｒ、Ｗ２Ｒ、Ｗ３Ｒ、Ｗ４Ｒ、Ｗ１Ｌ、Ｗ２Ｌ、Ｗ３Ｌ、Ｗ４Ｌについての動作説明として（７−Ｂ）で詳細に説明する。
（７−Ｂ）では図の上部に操作部（６ｂ）のスイッチの状況を示している。この操作部（６ｂ）に記載しているＷ１Ｒ、Ｗ２Ｒ、Ｗ３Ｒ、Ｗ４Ｒ、Ｗ１Ｌ、Ｗ２Ｌ、Ｗ３Ｌ、Ｗ４Ｌ各々のスイッチを操作部（６ｂ）上で押下すれば、（７−Ａ）で図示している各異物除去可動部（６）はその示す方向に回転するようにしている。具体的には（７−Ｂ）の下部で示しているように操作部（６ｂ）の情報を制御部（６ｃ）が受けて駆動部（６ａ）のＷ１、Ｗ２、Ｗ３、Ｗ４を指示されるＷ１Ｒ、Ｗ２Ｒ、Ｗ３Ｒ、Ｗ４Ｒ、Ｗ１Ｌ、Ｗ２Ｌ、Ｗ３Ｌ、Ｗ４Ｌの内容に照らして駆動することで各々の異物除去可動部（６）は指示される方向に指示される時間駆動することが可能となる。
説明では（７−Ａ）の操縦者（７ａ）が操作部（６ｂ）を操作しているとして説明を行ったが、各々の異物進入防止部材（５）に異物センサー（図は省略）を設けて、異物が異物進入防止部材（５）に載ったときに自動的に反応して予め定めた動きで各々の異物除去可動部（６）を動かしても良いし、飛行体に人が乗らない場合には飛行体の外からリモコンで異物除去可動部（６）を動かしても良い。特に小型の飛行体や、危険地域飛行用に開発された無人飛行体の場合には飛行体の外からのリモコン操作が要求される。
なお、異物センサー（図は省略）は、異物進入防止部材（５）近傍で異物接触による変化をスイッチやレーダーや光で検出したり、空気取込口（３）をカメラで撮像して異物有無の状況を認識して異物感知することは実現可能である。そして異物除去可動部（６）の駆動は、上記操縦者（７ａ）の指示以外に、この異物センサーの検出情報を元に予めプログラムされた仕様に基づき自動駆動しても良い。
図７ではここまで筋部材（９）で構成した異物除去可動部（６）を駆動することで異物を除去する説明をしてきたが、さらに、図では説明していないが筋部材（９）は動かずに、異物進入防止部材（５）を異物除去可動部（６）として飛行体の空気取込口枠体の中で相対的に回転する構造にて制御部を操作することでも同様の効果が得られる。
The vertical take-off and landing vehicle (1) on which a person can ride in FIG. 6 is provided with a pilot seat (7) and a plurality of propulsion unit frames (2) around it, and a foreign object entry prevention member (5) or a muscle member (9) is provided. The structure of the functioning as the foreign matter removing movable part (6) has been briefly described, but the driving of the foreign matter removing movable part (6) will be described in more detail with reference to FIG.
Although not shown, the vertical take-off and landing vehicle (1) of FIG. 7 is provided with a propeller and a propeller driving unit or a jet engine that generate propulsive force, and an air intake port is provided in the frame (2) of the plurality of propulsion devices. A foreign matter intrusion prevention member (5) is disposed on the surface. An object of the present application is to more reliably remove foreign matters by disposing and driving the foreign matter removing movable portion (6) constituted by the streak member (9) on the foreign matter entry preventing member (5).
However, the foreign object intrusion prevention member (5) in FIG. 1 and the streak member (9) in FIG. 4 are automatically rotated by the air flow generated in the air intake (3) by the propelling force of the vertical take-off and landing aircraft (1). If the foreign matter can be removed as the foreign matter removal movable portion (6), the foreign matter removal movable portion (6) is driven like the foreign matter entry prevention member (5) in FIG. 2 and the streak member (9) in FIG. It is also possible to remove the foreign matter by rotating by the driving force of the portion (6a).
Here, FIG. 7 is an explanatory view when the foreign object removal movable part (6) is driven by the instruction of the operator (7a), and (7-A) is an explanatory view showing the rotation direction of the foreign object removal movable part. -B) is operation | movement explanatory drawing which operates 7-A foreign substance removal movable part.
(7-A) is a view of the vertical take-off / landing vehicle (1) as viewed from above, in which a pilot seat (7) in which a pilot (7a) sits in the center, and a propeller frame (2) in front, rear, left and right respectively. Although not shown in the drawing, a foreign matter intrusion prevention member (5) is provided thereon, and in the drawing, the foreign matter removal movable portion (6) configured by the streak member (9) placed thereon is provided. As an example, it is described in a blade shape. Each foreign substance removal movable part (6) is indicated by W1, W2, W3, W4 as symbols in the figure, and the movement of the foreign substance removal movable part (6) is W1R, W2R, W3R, W4R, left, The surroundings are indicated by W1L, W2L, W3L, and W4L. The operation of these W1, W2, W3, W4, W1R, W2R, W3R, W4R, W1L, W2L, W3L, and W4L will be described in detail in (7-B).
(7-B) shows the state of the switch of the operation unit (6b) at the top of the figure. If the switches of W1R, W2R, W3R, W4R, W1L, W2L, W3L, and W4L described in this operation unit (6b) are pressed on the operation unit (6b), they are illustrated in (7-A). Each foreign substance removal movable part (6) is rotated in the direction indicated. Specifically, as shown in the lower part of (7-B), the control unit (6c) receives information on the operation unit (6b) and is instructed to W1, W2, W3, and W4 of the drive unit (6a). By driving in light of the contents of W1R, W2R, W3R, W4R, W1L, W2L, W3L, and W4L, each foreign substance removal movable part (6) can be driven in the direction indicated. .
In the description, it is assumed that the driver (7a) of (7-A) is operating the operation unit (6b). However, a foreign object sensor (not shown) is provided in each foreign object intrusion prevention member (5). Thus, when a foreign object is placed on the foreign object intrusion prevention member (5), it automatically reacts to move each foreign object removal movable part (6) with a predetermined movement, and no person gets on the flying object. In this case, the foreign object removal movable part (6) may be moved from the outside of the flying object by a remote controller. In particular, in the case of a small air vehicle or an unmanned air vehicle developed for dangerous area flight, remote control operation from the outside of the air vehicle is required.
The foreign matter sensor (not shown) detects changes due to foreign matter contact with a switch, radar, or light near the foreign matter entry prevention member (5), or images the air intake (3) with a camera. It is feasible to recognize foreign objects and detect foreign objects. The foreign matter removal movable portion (6) may be automatically driven based on specifications programmed in advance based on the detection information of the foreign matter sensor in addition to the instruction from the operator (7a).
Although FIG. 7 has been described so far to remove the foreign matter by driving the foreign matter removal movable portion (6) constituted by the streak member (9), the streak member (9) is not shown in the figure, The same effect can be obtained by operating the control unit in a structure that rotates relative to the air intake frame of the flying object with the foreign object entry preventing member (5) as the foreign object removal movable part (6) without moving. Is obtained.
最初に述べた図２が筋部材（９）は設けず異物進入防止部材（５）を異物除去可動部（６）として駆動部（６ａ）にて駆動させるのに対して、図３以降は筋部材（９）を図示しており、図４で筋部材（９）または異物進入防止部材（５）のどちらを異物除去可動部（６）として機能させても良いという点を記載したが、ここでは筋部材（９）を固定した状態について詳しく説明する。
図８、図９では異物進入防止部材（５）の上に筋部材（９）を配置し、筋部材（９）は推進機のフレーム（２）に固着して異物進入防止部材（５）を異物除去可動部（６）とする例を図８に示す。
図８は異物進入防止部材（５）の上に十字型の筋部材（９）を配置した状態で、異物進入防止部材（５）を異物除去可動部（６）とし、異物進入防止部材の縁（5ｄ）から駆動部（６ａ）を駆動して異物進入防止部材（５）を回転させる構造を示す説明図であって、（８−Ａ）は、お椀形の異物進入防止部材（５）の横からの断面図であり、（８−Ｂ）は推進機のフレーム（２）を省略した斜視図で、十字型に筋部材（９）を配置した異物進入防止部材（５）の動作説明図である。
図８には推進機のフレーム（２）の枠に設けられた駆動部（６ａ）にて異物進入防止部材の縁（５ｄ）に回転を与えて異物進入防止部材（５）をαまたはβ方向に回転する様子を示しており、このとき異物進入防止部材（５）の回転を妨げない隙間をあけて筋部材（９）の端は推進機のフレーム（２）に固着しており筋部材（９）は回転しない。それにより、異物進入防止部材（５）の上に載った異物（８）は回転する異物進入防止部材（５）に振り落とされ、それで落ちない異物（８）は異物進入防止部材（５）の回転に伴って筋部材（９）にぶつかり掻き落として振り落とされることになり、より迅速に効率よく異物を除去して大きな事故を未然に防ぐことが可能になる。
In FIG. 2 described first, the streak member (9) is not provided and the foreign matter intrusion prevention member (5) is driven by the drive portion (6a) as the foreign matter removing movable portion (6), whereas in FIG. Although the member (9) is illustrated, it is described in FIG. 4 that either the streak member (9) or the foreign matter intrusion preventing member (5) may function as the foreign matter removing movable portion (6). Now, the state in which the muscle member (9) is fixed will be described in detail.
8 and 9, the muscle member (9) is disposed on the foreign matter entry prevention member (5), and the muscle member (9) is fixed to the frame (2) of the propulsion unit to attach the foreign matter entry prevention member (5). An example of the foreign substance removal movable part (6) is shown in FIG.
FIG. 8 shows a state in which the cross-shaped streak member (9) is disposed on the foreign matter entry prevention member (5), the foreign matter entry prevention member (5) is the foreign matter removal movable portion (6), and the edge of the foreign matter entry prevention member. It is explanatory drawing which shows the structure which drives a drive part (6a) from (5d), and rotates a foreign material entrance prevention member (5), Comprising: (8-A) is a bowl-shaped foreign material entrance prevention member (5). It is sectional drawing from the side, (8-B) is the perspective view which abbreviate | omitted the flame | frame (2) of the propulsion machine, Operation | movement explanatory drawing of the foreign material approach prevention member (5) which has arrange | positioned the muscular member (9) in the cross shape It is.
In FIG. 8, the drive unit (6a) provided on the frame of the propulsion unit frame (2) rotates the edge (5d) of the foreign matter entry prevention member to move the foreign matter entry prevention member (5) in the α or β direction. At this time, the end of the muscle member (9) is fixed to the frame (2) of the propulsion unit with a gap that does not hinder the rotation of the foreign matter entry prevention member (5). 9) does not rotate. As a result, the foreign matter (8) placed on the foreign matter entry prevention member (5) is shaken off by the rotating foreign matter entry prevention member (5), and the foreign matter (8) which does not fall off by the foreign matter entry prevention member (5). As it rotates, it strikes the muscle member (9) and is shaken off, and it is possible to remove foreign matters more quickly and efficiently to prevent a major accident.
図９は図８と同様に異物進入防止部材（５）の上に１本の筋部材（９）を配置した状態で、異物進入防止部材（５）を異物除去可動部（６）とし、異物進入防止部材の縁（5ｄ）から駆動部（６ａ）を駆動して異物進入防止部材（５）を回転させる構造を示す説明図であって、（９−Ａ）は１本の筋部材（９）を配置した異物進入防止部材（５）の外観図であり、（９−Ｂ）はお椀形の異物進入防止部材（５）の横からの断面図であり、（９−Ｃ）は異物進入防止部材（５）の駆動部（６ａ）を詳細に示した断面図である。
（９−Ａ）は１本の筋部材（９）を推進機のフレーム（２）から異物進入防止部材（５）の中央へと配置した斜視図であり、筋部材（９）は図８のように異物進入防止部材（５）の直径に相当する範囲にかかる大きさではなく、異物進入防止部材（５）の回転を妨げない隙間をあけて推進機のフレーム（２）の半径に相当する大きさで、筋部材（９）の一端は推進機のフレーム（２）に固着して回転しない構造であることを示している。
（９−Ｂ）の断面図で示すように異物進入防止部材（５）が駆動部（６ａ）の駆動力により回転することで、異物進入防止部材（５）に載った異物はその回転で振り落とされるとともに異物進入防止部材（５）の回転に伴って固定された筋部材（９）に異物がぶつかり掻き落とされることになる。
（９−Ｃ）は推進機のフレーム（２）の枠に設けられた異物進入防止部材（５）を異物除去可動部（６）として回転させるため駆動部（６ａ）との関連を一例として拡大図で示しているが、駆動部（６ａ）の位置や向きなど異物進入防止部材（５）を回転させる構成はこの限りではないし、（９−Ｃ）の図中で推進機のフレーム（２）の上端にある丸形の図はベアリングであって、異物進入防止部材（５）がスムーズに回転する仕組みの一例を現わしている。
FIG. 9 shows a state where one streak member (9) is disposed on the foreign matter entry preventing member (5) as in FIG. 8, and the foreign matter entry prevention member (5) serves as the foreign matter removal movable portion (6). It is explanatory drawing which shows the structure which drives a drive part (6a) from the edge (5d) of an approach prevention member, and rotates a foreign material approach prevention member (5), Comprising: (9-A) is one muscle member (9 ) Is an external view of the foreign matter entry prevention member (5), (9-B) is a sectional view from the side of the bowl-shaped foreign matter entry prevention member (5), and (9-C) is a foreign matter entry. It is sectional drawing which showed the drive part (6a) of the prevention member (5) in detail.
(9-A) is a perspective view in which one muscle member (9) is arranged from the frame (2) of the propulsion device to the center of the foreign matter entry prevention member (5), and the muscle member (9) is shown in FIG. Thus, it does not have a size corresponding to the diameter corresponding to the diameter of the foreign matter entry preventing member (5), but corresponds to the radius of the frame (2) of the propulsion unit with a gap that does not hinder the rotation of the foreign matter entry prevention member (5). The size indicates that one end of the muscle member (9) is fixed to the frame (2) of the propulsion device and does not rotate.
As shown in the sectional view of (9-B), the foreign matter entry prevention member (5) is rotated by the driving force of the drive unit (6a), so that the foreign matter placed on the foreign matter entry prevention member (5) is shaken by the rotation. In addition to being dropped, the foreign matter collides with the muscle member (9) fixed along with the rotation of the foreign matter entry preventing member (5) and is scraped off.
(9-C) enlarges the relationship with the drive unit (6a) as an example in order to rotate the foreign matter entry prevention member (5) provided on the frame of the propulsion unit frame (2) as the foreign matter removal movable portion (6). Although shown in the figure, the configuration for rotating the foreign matter entry preventing member (5) such as the position and orientation of the drive unit (6a) is not limited to this, and the frame (2) of the propulsion unit in the drawing of (9-C). The round figure at the upper end of FIG. 2 is a bearing, and shows an example of a mechanism in which the foreign matter entry preventing member (5) rotates smoothly.
図１０では異物進入防止部材（５）を異物除去可動部（６）として駆動部（６ａ）で回転させるにあたり、振動発生用カムを通して異物進入防止部材（５）を振動させる様子を模試的に表した図であり、（１０−Ａ）はお椀形の異物進入防止部材の横からの断面図で、（１０−Ｂ）はその異物進入防止部材（５）の動作説明図である。
（１０−Ａ）は推進機のフレーム（２）に異物進入防止部材（５）が設けられ、異物進入防止部材の縁（５ｄ）に接して駆動部（６ａ）を配置した図の断面図で、（１０−Ｂ）はその斜視図（図では推進機のフレーム（２）の記載は省略）で、駆動部（６ａ）が駆動すると異物進入防止部材（５）が振動する様子を模試的に波型波形で示している。
この振動の発生方法について説明すると、次の図１１では振動発生用カム（１０）などの動きにて異物進入防止部材の縁（５ｄ）が上下に振動する動作を示しており、（１１−Ａ）はカムの回転により異物進入防止部材の縁（５ｄ）が上下する説明図で、（１１−Ｂ）は異物進入防止部材の縁（５ｄ）の受け部の形状により異物進入防止部材の縁（５ｄ）が上下する説明図であり、（１１−Ｃ）は異物進入防止部材（５）に配した回転部材の偏芯形状により（１１−Ａ）のカムの回転と同様の効果を生み出す説明図である。
回転を振動に変える方法の例を詳しく述べると、図１０のように異物進入防止部材（５）を異物除去可動部（６）として駆動部（６ａ）で回転させるにあたり、（１１−Ａ）は非円形である振動発生用カム（１０）の動作により異物進入防止部材の縁（５ｄ）が上下に振動し、（１１−Ｂ）はその振動発生用カム（１０）の代わりに異物進入防止部材の縁（５ｄ）の受け部（推進機のフレームの面）を波状の凸凹形状にして異物進入防止部材の縁（５ｄ）が振動する構造を示したものであり、（１１−Ｃ）は異物進入防止部材の縁（５ｄ）に設けた回転部材として車軸中心が偏心した車を設けることで振動を発生させる事例を示している。
（１１−Ｂ）（１１−Ｃ）では異物進入防止部材（５）を駆動部（６ａ）で回転させる必要があるが、（１１−Ａ）では振動発生用カム（１０）そのものを駆動部（６ａ）で回転させることも可能で、構造設計の際に異物進入防止部材（５）自体を駆動部（６ａ）で回転させなくても異物進入防止部材（５）は振動する。（異物除去の振動効果は低減するが構造は簡単になる）
このように、垂直離着陸飛行体（１）の設計仕様によっては異物進入防止部材（５）を回転ではなく、振動のみさせて異物進入防止部材（５）を異物除去可動部（６）として異物を振り落とすことができるし、図１１の構造に他図面の筋部材（９）も加えることで、異物進入防止部材（５）の異物除去可動部（６）としての異物除去機能を高めることもできる。
FIG. 10 schematically shows how the foreign matter entry prevention member (5) is vibrated through the vibration generating cam when the foreign matter entry prevention member (5) is rotated by the drive portion (6a) as the foreign matter removal movable portion (6). (10-A) is a sectional view from the side of the bowl-shaped foreign matter entry prevention member, and (10-B) is an operation explanatory view of the foreign matter entry prevention member (5).
(10-A) is a cross-sectional view of the figure in which the foreign matter intrusion prevention member (5) is provided on the frame (2) of the propulsion unit and the drive portion (6a) is disposed in contact with the edge (5d) of the foreign matter intrusion prevention member. , (10-B) is a perspective view (illustration of the frame (2) of the propulsion device is omitted in the figure), and schematically illustrates how the foreign matter intrusion prevention member (5) vibrates when the drive unit (6a) is driven. It is shown as a waveform.
The method of generating this vibration will be described below. FIG. 11 shows an operation in which the edge (5d) of the foreign matter entry preventing member vibrates up and down by the movement of the vibration generating cam (10) or the like. ) Is an explanatory view in which the edge (5d) of the foreign matter entry preventing member is moved up and down by the rotation of the cam. (11-B) is the edge of the foreign matter entry preventing member (see FIG. 5d) is an explanatory diagram that goes up and down, and (11-C) is an explanatory diagram that produces the same effect as the rotation of the cam of (11-A) due to the eccentric shape of the rotating member arranged on the foreign matter intrusion prevention member (5). It is.
Describing in detail an example of a method of changing the rotation to vibration, as shown in FIG. 10, when rotating the foreign matter entry preventing member (5) as the foreign matter removing movable portion (6) by the drive portion (6a), (11-A) is The edge (5d) of the foreign matter entry preventing member vibrates up and down by the operation of the non-circular vibration producing cam (10), and (11-B) is a foreign matter entry preventing member instead of the vibration producing cam (10). 6 shows a structure in which the edge (5d) of the foreign matter entry preventing member vibrates by making the receiving portion (the surface of the frame of the propulsion unit) of the edge (5d) wavy and uneven, and (11-C) shows the foreign matter. This shows an example in which vibration is generated by providing a vehicle having an eccentric axle center as a rotating member provided at the edge (5d) of the entry preventing member.
In (11-B) and (11-C), it is necessary to rotate the foreign matter intrusion prevention member (5) by the drive unit (6a). In (11-A), the vibration generating cam (10) itself is moved to the drive unit ( 6a) can be rotated, and the foreign matter entry preventing member (5) vibrates even if the foreign matter entry preventing member (5) itself is not rotated by the drive unit (6a) during the structural design. (Vibration removal vibration effect is reduced, but the structure is simple)
Thus, depending on the design specifications of the vertical take-off / landing vehicle (1), the foreign object intrusion prevention member (5) is not rotated but only vibrated so that the foreign object intrusion prevention member (5) serves as the foreign object removal movable part (6). The foreign matter removing function as the foreign matter removing movable portion (6) of the foreign matter entry preventing member (5) can be enhanced by adding the streak member (9) of other drawings to the structure of FIG. .
図１２は複数のプロペラに対して１つの異物進入防止部材（５）の上に１つの異物除去可動部（６）を配置した外観図であって、先行技術文献に記載した特許文献２の構造である飛行体全体を覆う異物進入防止部材（５）の上に、一つの異物除去可動部（６）を配置したイメージ図であり、異物除去可動部（６）の制御が一つの駆動系で実現できるというメリットがある。
この異物除去可動部（６）として機能させる部材については、異物進入防止部材（５）を固定にして筋部材（９）を回転させて異物除去可動部（６）としても良いし、筋部材（９）を固定にして異物進入防止部材（５）を異物除去可動部（６）として回転させても良く、この場合、図では１本の筋部材（９）で説明しているが、複数の筋部材を円周部に配置しても良い。
いずれにしても、複数のプロペラに対して１つの異物進入防止部材（５）を設けた構造の垂直離着陸飛行体（１）であっても、その異物進入防止部材（５）が異物除去可動部（６）として空気流により回転する、または駆動部（６ａ）の駆動力で回転させることで異物（８）を振り落とす構造もあれば、異物進入防止部材（５）の上に配置した筋部材（９）が異物除去可動部（６）として空気流により回転する、または駆動部（６ａ）の駆動力で回転させることで異物（８）を掻き落とす構造もあるし、異物進入防止部材（５）が異物除去可動部（６）としてその回転により異物を振り落とし、かつその回転中に異物（８）が筋部材（９）にあたって掻き落とされるなど、異物進入防止部材（５）の大きさ、形状と筋部材（９）の大きさ、形状の組合せは様々な構成で異物除去が可能である。
FIG. 12 is an external view in which one foreign matter removal movable portion (6) is arranged on one foreign matter entry prevention member (5) for a plurality of propellers, and is the structure of
About the member functioning as this foreign substance removal movable part (6), it is good also as a foreign substance removal movable part (6) by fixing a foreign material entrance prevention member (5), and rotating a muscle member (9), or a muscle member ( 9) may be fixed and the foreign matter intrusion prevention member (5) may be rotated as the foreign matter removal movable portion (6). In this case, although illustrated in FIG. You may arrange | position a muscle member in a circumference part.
In any case, even if the vertical take-off and landing vehicle (1) has a structure in which one foreign object intrusion preventing member (5) is provided for a plurality of propellers, the foreign object intrusion preventing member (5) is a foreign object removing movable part. (6) If there is a structure in which the foreign matter (8) is shaken off by rotating by an air flow or rotating by the driving force of the drive unit (6a), a streak member disposed on the foreign matter entry preventing member (5) There is a structure in which the foreign matter removal movable portion (6) is rotated by an air flow or is rotated by the driving force of the drive portion (6a) to scrape off the foreign matter (8). ) Is the size of the foreign matter entry preventing member (5), such as the foreign matter removing movable part (6) being spun off by the rotation and the foreign matter (8) being scraped off by the streak member (9) during the rotation, Shape and size and shape of muscle member (9) Combinations are possible foreign substance removal in a variety of configurations.
図１３は複数のプロペラに対して１つの異物進入防止部材（５）を設け、この異物進入防止部材（５）が振動して異物除去可動部（６）として機能する様子を示したイメージ図である。
異物進入防止部材の振動については、先の図１０、図１１で説明済みのため、ここではそのイメージ図を発明の説明とするにとどめる。
FIG. 13 is an image view showing a state in which one foreign matter entry prevention member (5) is provided for a plurality of propellers, and this foreign matter entry prevention member (5) vibrates and functions as a foreign matter removal movable portion (6). .
Since the vibration of the foreign matter intrusion preventing member has already been described with reference to FIGS. 10 and 11, only the image thereof will be described as the description of the present invention.
図１４は矩形の異物進入防止部材（５）に異物除去可動部（６）としての機能を付加した別実施例の説明図である。図１４の異物進入防止部材（５）は単なる網や桟の形状ではなく、複数の軸を矩形枠の中に並べており、各々の軸は両端を矩形枠２面に差し込んで固定してあるが、軽い力で軸が回転可能に構成してある。
詳しく述べると、回転可能な複数の軸が並列に配置された矩形の異物進入防止部材（５）は、各プロペラ（４）の上方に垂直離着陸飛行体（１）の外周の側が低くなるよう斜めに配置している。
その矩形枠を上面から見た場合、あたかも網や桟を設けたように異物（８）が通り抜けし難い隙間で並列に軸を並べた構造であり、軸そのものにはスクリュー状の突起や複数の凸部を設けてあるため、空気取込口（３）で発生する空気流によって軸は自動回転する。空気の流れが弱い場合であっても異物（８）が載った場合はその重みで軸が回転して低い側へと転がり落ちることになる。
空気流や異物の重みで自動的に回転する軸を複数配置する構造であるため、図１４の異物進入防止部材（５）は操縦者（７ａ）の操作がなくても常に可動可能な異物除去可動部（６）であり、鳥類や他の異物（８）が張り付こうとしても異物進入防止部材（５）を通り抜けられず、かつ網や桟と違って鳥がしがみつくこともできず飛行体の外側へと滑り落ちて除去される。
FIG. 14 is an explanatory view of another embodiment in which a function as a foreign matter removing movable part (6) is added to a rectangular foreign matter entry preventing member (5). The foreign matter intrusion prevention member (5) in FIG. 14 is not a simple net or crosspiece, but a plurality of axes are arranged in a rectangular frame, and each axis is fixed by inserting both ends into the
More specifically, the rectangular foreign matter entry preventing member (5) in which a plurality of rotatable shafts are arranged in parallel is slanted so that the outer peripheral side of the vertical takeoff and landing vehicle (1) is lowered above each propeller (4). Is arranged.
When the rectangular frame is viewed from the top, it has a structure in which the shafts are arranged in parallel with a clearance that does not allow the foreign object (8) to pass through as if a net or a cross was provided. Since the convex portion is provided, the shaft is automatically rotated by the air flow generated at the air intake port (3). Even when the air flow is weak, when the foreign material (8) is placed, the shaft rotates with its weight and rolls down to the lower side.
Since the structure is provided with a plurality of shafts that automatically rotate according to the air flow and the weight of foreign matter, the foreign matter entry prevention member (5) in FIG. 14 is always movable even if there is no operation by the operator (7a). A moving part (6) that cannot pass through the foreign object entry prevention member (5) even if birds or other foreign objects (8) try to stick to it, and unlike a net or pier, a flying object that cannot hold birds It slips down to the outside and is removed.
図１５は異物進入防止部材の形状で異物の落下を容易にした別実施例の説明図で、（１５−Ａ）は異物進入防止部材を（５）弾頭型にして異物の落下を容易にした外観図であり、（１５−Ｂ）は異物進入防止部材（５）の一部に空気流で回転する補助翼を設けた半断面図である。
図１５では異物進入防止部材（５）を弾頭型にする事で、図では省略しているが垂直離着陸飛行体（１）の上下方向に対する空気抵抗を少なくし、異物（８）が衝突した場合に速やかに垂直離着陸飛行体（１）の下方へ異物（８）を落下させられるので安定飛行することが期待できる。
一例として（１５−Ａ）の外観図のように、弾頭型の格子状カバーの異物進入防止部材（５）の中心軸または推進機のフレーム（２）などに、図示していないが駆動部（６ａ）を配置しその駆動力で異物進入防止部材（５）を回転させる構造とする、または（１５−Ｂ）では異物進入防止部材（５）の格子状カバーの上部に飛行中に異物進入防止部材（５）が受ける空気流によって自動でカバーが回転するための補助翼を設けた状態を示しているが、このように異物進入防止部材（５）が弾頭型で空気抵抗も少なく鳥類や他の異物が載っても滑り落ち易く、かつ異物進入防止部材（５）の格子状のカバーが任意に回転出来る構造にすることで、異物（８）が異物進入防止部材（５）に載っても留まることなくサラリと受け流せる。ここで、（１５−Ｂ）の半断面図中央で縦方向の上下２か所に矩形が中心軸より突起したように図示しているのはベアリングであって、異物進入防止部材（５）がスムーズに回転する仕組みを現わしている。
FIG. 15 is an explanatory view of another embodiment in which the foreign matter entry prevention member is made easy to fall due to the shape of the foreign matter entry prevention member. (15-A) makes the foreign matter entry prevention member (5) a warhead type to facilitate the fall of the foreign matter. It is an external view, (15-B) is a half cross-sectional view in which an auxiliary wing that is rotated by an air flow is provided in a part of the foreign matter entry prevention member (5).
In FIG. 15, the foreign object intrusion prevention member (5) is a warhead type, which is omitted in the figure, but the air resistance in the vertical direction of the vertical takeoff and landing vehicle (1) is reduced and the foreign object (8) collides. Since the foreign object (8) can be quickly dropped below the vertical takeoff and landing vehicle (1), stable flight can be expected.
As an example, as shown in the external view of (15-A), a drive unit (not shown) is shown on the central axis of the foreign matter intrusion prevention member (5) of the warhead type grid cover or the frame (2) of the propulsion unit. 6a) is arranged and the foreign matter entry prevention member (5) is rotated by its driving force, or in (15-B), the foreign matter entry prevention member (5) is prevented from entering during the flight above the lattice-like cover of the foreign matter entry prevention member (5). Although the auxiliary wing for automatically rotating the cover according to the air flow received by the member (5) is shown, the foreign matter intrusion preventing member (5) is a warhead type and has little air resistance. Even if foreign matter (8) is placed on the foreign matter entry prevention member (5), the lattice-shaped cover of the foreign matter entry prevention member (5) can be arbitrarily rotated. You can catch it without stopping. Here, in the center of the half-sectional view of (15-B), the bearing is shown as a rectangle protruding from the central axis at two vertical locations in the vertical direction, and the foreign matter entry preventing member (5) is It shows a mechanism that rotates smoothly.
ここまでの実施例の説明で、本願の垂直離着陸飛行体での異物進入防止部材と異物除去可動部の具体的事例を説明したが、特に垂直離着陸飛行体以外の滑走路を滑走して離着陸する一般の飛行体との違いを明示しておく。
すべての飛行体には一つもしくは複数設置される推進機（プロペラ）による揚力と推力の発生が求められ、本願の垂直離着陸飛行体の場合は、複数の推進機（プロペラ。ローターとも呼ばれる回転翼）で揚力を発生し、空中で留まる状態のホバリングや、ホバリング状態から垂直、水平方向へ低速移動することが可能であり、周囲の気流の変化に対応し、各々の推進機（プロペラ）の回転はこれら変化に対応して機体の安定飛行のために高度な制御技術が求められる。しかし滑走路を滑走して離着陸する一般の飛行体の場合は、ジェットエンジンの噴射もしくはプロペラの回転から推力を得て加速前進し、その前進移動と固定翼によって得る揚力は飛行体の翼に設けられたフラップの角度で制御される点が異なる。
垂直離着陸飛行体を安定飛行させるためには複数の推進機（プロペラ）の各々を、回転方向と回転速度の調整により制御する必要があり、突発的な負荷変動をもたらす異物を除去するための駆動を推進機の駆動源に含めることは、本来の推進機（プロペラ）の制御をさらに難しくするものであって好ましくない。
In the description of the embodiments so far, specific examples of the foreign object intrusion prevention member and the foreign object removal movable part in the vertical take-off and landing vehicle of the present application have been explained, but in particular, the aircraft takes off and landing on a runway other than the vertical take-off and landing vehicle. Clarify the difference from general aircraft.
All aircraft require the generation of lift and thrust by one or more propellers installed. In the case of the vertical take-off and landing aircraft of this application, a plurality of propellers (propellers, also called rotors) ) Can generate hovering and stay in the air, and can move at low speed vertically and horizontally from the hovering state, and each propeller (propeller) rotates in response to changes in the surrounding airflow. In response to these changes, advanced control technology is required for stable flight of the aircraft. However, in the case of a general air vehicle that takes off and land on the runway, it gains thrust from jet engine injection or propeller rotation to advance forward, and the forward movement and lift obtained by fixed wings are provided on the wings of the aircraft. The difference is that the angle is controlled by the angle of the flaps.
In order to make a vertical takeoff and landing vehicle fly stably, it is necessary to control each of a plurality of propellers (propellers) by adjusting the rotation direction and the rotation speed, and the drive to remove foreign matters that cause sudden load fluctuations. Is included in the drive source of the propulsion device, which makes the control of the original propulsion device (propeller) more difficult and is not preferable.
また、滑走路を滑走して飛行する一般の飛行体の場合は、前進方向に空気取込口が開口しエンジンが強力で高速飛行ができ飛行体のボディーも強靭なので、エンジン前で異物を高速回転で外に弾き飛ばしても問題ないと思われるが、本願の垂直離着陸飛行体では推進機前の空気取込口は上向きに開口しており、ホバリングなど空中で静止している場合も有り、飛行体の上面に位置する異物進入防止部材の上に載る異物を除去するとき高速で外に弾き飛ばすのではなく、周囲に低速で良いので振り落とす構造が好ましい。
特に、垂直離着陸飛行体においては飛行体の上面に人が乗る操縦席が設けられる場合もあれば飛行操作のための重要部位が搭載されることもあるし、複数の推進機が水平位置の各所に配置されており、高速で弾き飛ばすと異物がそれら重要部位に衝突して破損したり操縦困難に陥るなどの二次障害を発生する可能性があり、単に異物進入防止部材上の異物を取り除くことのみを異物除去可動部は目的とするので、本願実施例に記載している各種方法をもって周囲に低速で振り落とすことで異物が上記重要部位を破損することなく異物を除去すれば、二次障害の発生も食い止められるので垂直離着陸飛行体においては闇雲に異物除去可動部を高速で回転させて異物を弾き飛ばすのは好ましくない。
そして複数の推進機（プロペラ）を安定して制御コントロールするためにも、飛行体の推進力を生み出す駆動手段とは別の駆動手段、つまり異物進入防止部材の上下における空気流を異物除去可動部の駆動源に用いたり、筋部材や異物進入防止部材の一部の面などを駆動させたり、異物除去可動部を振動や回転させる駆動部を設けて駆動するなど、飛行体の推進力を生み出す駆動手段とは別の駆動源とすることで、その目的を得ることが可能になる。
In addition, in the case of a general aircraft that flies on the runway, the air intake opening opens in the forward direction, the engine is powerful and can fly at high speed, and the body of the aircraft is strong. It seems that there is no problem even if it blows out by rotation, but in the vertical take-off and landing vehicle of this application, the air intake port in front of the propulsion unit is opened upward, and there are cases where it is stationary in the air such as hovering, In order to remove the foreign matter placed on the foreign matter intrusion prevention member positioned on the upper surface of the flying object, it is preferable not to blow it out at a high speed but to swing it down because it can be low at the periphery.
In particular, in vertical take-off and landing vehicles, there may be a cockpit where a person rides on the upper surface of the aircraft, or important parts for flight operations may be installed, and multiple propulsion units may be installed at various positions in the horizontal position. If you play it at a high speed, foreign objects may collide with these important parts and cause secondary obstacles such as damage or difficulty in handling. Since the foreign matter removal movable part is only intended, if the foreign matter is removed without damaging the important part by shaking it around at low speed by various methods described in this embodiment, the secondary part can be removed. In the vertical take-off and landing aircraft, it is not preferable that the foreign object removal movable part is rotated at high speed in the dark clouds to blow off the foreign object.
In order to stably control and control a plurality of propellers (propellers), the driving means different from the driving means for generating the propulsive force of the flying object, that is, the foreign matter removal movable part It can be used as a driving source for the aircraft, drive a part of the surface of the streak member or foreign object intrusion prevention member, etc. By using a driving source different from the driving means, the purpose can be obtained.
特に垂直離着陸飛行体の場合にはホバリング飛行も可能なので、異物が異物進入防止部材の上に載った場合には、ホバリング状態で少し機体を降下させたり左右に振る操縦を行いながら異物は、弾き飛ばすのではなく異物進入防止部材の上から振り落とす操作となるので、その動作は本願実施例に記載の可動手段で十分である。 In the case of a vertical take-off and landing vehicle, hovering flight is also possible, so when a foreign object is placed on the foreign object entry prevention member, the foreign object will be Since the operation is not to fly but to shake off the foreign matter entry preventing member, the movable means described in the embodiment of the present invention is sufficient for the operation.
本願の垂直離着陸飛行体の実施例では人が搭乗する垂直離着陸飛行体で説明をしたが、本願実施例の技術は人が搭乗しない垂直離着陸飛行体であるドローンでも同じく必要な異物対策技術であり、特に無人で飛行するドローンの飛行空間は地上近くを飛行するために飛行地の樹木や風で舞い上がった浮遊物、そして飛行地域に生息する昆虫や鳥類などの生活空間を飛行するため、これら鳥や昆虫との空中接触の可能性は非常に高いと考えられる。
ここで、異物対象を昆虫まで広げる理由はドローンの機体にも色々な大きさが世に提供されており、大きなものでは大型の物資を搬送する大型ドローンから、小さなものではカメラなどを含む各種センサーを搭載して上空から情報収集をする機体や、玩具としてのドローンなど多様なドローンが存在し、空中を浮遊する昆虫も相対的に小さなドローンの飛行に致命的になる可能性があるので本願の異物除去可動部の技術は重要である。
In the embodiment of the vertical take-off / landing vehicle of the present application, the vertical take-off / landing vehicle on which a person rides has been described. However, the technology of the present embodiment is also a necessary foreign matter countermeasure technology for a drone that is a vertical take-off / landing vehicle on which a person does not board. In particular, drones that fly unmannedly fly in the living space such as insects and birds that inhabit the flying area, as well as insects and birds that inhabit the flying area, and flying in the flying area to fly near the ground The possibility of air contact with insects and insects is considered very high.
Here, the reason why the target of foreign objects is extended to insects is also offered to the drone aircraft in various sizes, from large drones that transport large items for large ones to various sensors including cameras for small ones. There are various drones such as airframes that collect information from the sky and drones as toys, and insects floating in the air can be fatal to the flight of relatively small drones. The technology of the removal movable part is important.
以上説明したように、本発明は空中を飛行する垂直離着陸飛行体の空気取込口に異物が入って事故を起こさないように、空気取込口の手前で異物を除去するための技術であって、垂直方向への揚力を発生させる推進機への空気取込口に異物進入を防止する異物進入防止部材を設け、さらに異物進入防止部材の上で空気取込口を塞ぐ異物があれば推進機の駆動に関係なく、推進機とは別の駆動手段による異物除去可動部の動きにより異物を周囲に振り落として異物進入防止部材の上面より異物を除去する異物除去可動部付き垂直離着陸飛行体であり、垂直離着陸飛行体に用いられれば有用である。 As described above, the present invention is a technique for removing foreign matter in front of an air intake so that no foreign matter enters the air intake of a vertical take-off and landing vehicle flying in the air and causes an accident. In addition, a foreign matter entry prevention member that prevents foreign matter entry is provided at the air intake port of the propulsion unit that generates vertical lift, and if there is a foreign matter that blocks the air intake port on the foreign matter entry prevention member Vertical take-off and landing vehicle with a foreign object removal movable part that removes foreign objects from the upper surface of the foreign substance entry prevention member by moving the foreign object removal part around by the movement of the foreign substance removal movable part by a driving means different from the propulsion unit regardless of the driving of the aircraft It is useful if used for a vertical take-off and landing vehicle.
１ 垂直離着陸飛行体
２ 推進機のフレーム
２ａ ガイドレール
３ 空気取込口
４ プロペラ
５ 異物進入防止部材
５ａ 異物進入防止部材の網
５ｂ 異物進入防止部材の桟
５ｃ 補助翼
５ｄ 異物進入防止部材の縁
５ｅ 異物進入防止部材の隙間
６ 異物除去可動部
６ａ 駆動部
６ｂ 操作部
６ｃ 制御部
７ 操縦席
７ａ 操縦者
８ 異物
９ 筋部材
１０ 振動発生用カム
DESCRIPTION OF
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| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |