WO2020095841A1 - Drone - Google Patents

Drone Download PDF

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Publication number
WO2020095841A1
WO2020095841A1 PCT/JP2019/043058 JP2019043058W WO2020095841A1 WO 2020095841 A1 WO2020095841 A1 WO 2020095841A1 JP 2019043058 W JP2019043058 W JP 2019043058W WO 2020095841 A1 WO2020095841 A1 WO 2020095841A1
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WO
WIPO (PCT)
Prior art keywords
drone
rotary blade
main body
rotary
blades
Prior art date
Application number
PCT/JP2019/043058
Other languages
French (fr)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
Original Assignee
株式会社ナイルワークス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ナイルワークス filed Critical 株式会社ナイルワークス
Priority to JP2020511543A priority Critical patent/JP6888219B2/en
Publication of WO2020095841A1 publication Critical patent/WO2020095841A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C23/00—Influencing air flow over aircraft surfaces, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/90—Cooling
    • B64U20/96—Cooling using air
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/299—Rotor guards

Definitions

  • the present invention relates to drones.
  • the airflow generated by the rotor blades 301-2a, 301-2b, 301-4a, 301-4b is inside and outside the radius of gyration of the rotor blades 301-2a, 301-2b, 301-4a, 301-4b. Circulate.
  • a part of the airflow does not circulate, but is blown up from below to above between the rotor blade 301 and the main body 310 of the drone 300, and diffuses. Therefore, there is a need for a drone that can efficiently generate thrust by using the wind force of the upward airflow.
  • a drone includes a main body, a plurality of rotary blades arranged around the main body, and upwards from below the main body generated by the rotary blades.
  • a straightening vane for guiding the advancing airflow to a position where it is sucked into the rotary blade.
  • At least a part of the flow straightening plate is arranged between the main body and the rotary blade, and the airflow that is generated between the main body and the rotary blade and that progresses from below to above is sucked into the rotary blade. You may guide to a position.
  • the end of the flow straightening plate on the side of the rotary blade may be arranged above the rotary blade.
  • a plurality of pairs of the rotating blades are arranged in pairs vertically, and the end portion of the flow straightening plate on the side of the rotating blades is located between the upper rotating blades and the lower rotating blades in the height direction. It may be arranged.
  • the straightening vane may extend obliquely upward with respect to the rotation surface of the rotary blade in the direction from the main body side to the rotary blade.
  • the medicine nozzle for spraying the medicine may be further provided, and the end portion of the flow straightening plate on the side of the rotary blade may be arranged above the rotary blade arranged in the vicinity of the medicine nozzle.
  • the baffle plate may be connected to the main body and configured to radiate heat generated from the main body.
  • FIG. 1 is a plan view showing a first embodiment of a drone according to the present invention. It is a front view of the said drone. It is a right view of the said drone. It is a rear view of the drone. It is a perspective view of the drone. It is the whole conceptual diagram of the medicine spraying system which the drone has. It is a schematic diagram showing the control function of the said drone. It is a schematic longitudinal cross-sectional view showing a positional relationship between a main body, a rotary blade, and a current plate included in the drone. Structures other than the main body, the rotary blades, and the flow straightening plate are omitted.
  • FIG. 6 is a perspective view showing a second embodiment of the drone according to the present invention.
  • the drone regardless of power means (electric power, prime mover, etc.), control method (whether wireless or wired, and whether it is an autonomous flight type or a manual control type), It refers to all aircraft with multiple rotors.
  • the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b are It is a means to fly the drone 100, and in consideration of the stability of flight, the size of the aircraft, and the balance of battery consumption, 8 aircraft (4 sets of two-stage rotary blades) are provided around the main body 110. ing.
  • Each rotor 101 is arranged on four sides of the main body 110 by an arm 120 extending from the main body 110 of the drone 100.
  • the radial member for supporting the propeller guard which is provided so that the rotor does not interfere with foreign matter, is not horizontal but has a tower-like structure. This is to promote the buckling of the member to the outside of the rotor blade at the time of collision and prevent the member from interfering with the rotor.
  • the drug nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying the drug downward, and are equipped with four machines.
  • the term "chemicals” generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.
  • the drug tank 104 is a tank for storing the sprayed drug, and is provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance.
  • the drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. And may also serve to support the chemical nozzle.
  • the pump 106 is a means for discharging the medicine from the nozzle.
  • an emergency operating device (not shown) that has a function dedicated to emergency stop (a large emergency stop button, etc. is provided so that the emergency operating device can respond quickly in an emergency). It may be a dedicated device with).
  • the operation unit 401 and the drone 100 perform wireless communication by Wi-Fi or the like.
  • the field 403 is a rice field, a field, etc. to which the drug is sprayed by the drone 100.
  • the topography of the farm field 403 is complicated, and there are cases where the topographic map cannot be obtained in advance, or the topographic map and the situation at the site are inconsistent.
  • the farm field 403 is adjacent to a house, a hospital, a school, another crop farm field, a road, a railroad, and the like.
  • the base station 404 is a device that provides a master device function of Wi-Fi communication, etc., and may also function as an RTK-GPS base station to provide an accurate position of the drone 100 (Wi- The base unit function of Fi communication and RTK-GPS base station may be independent devices).
  • the farm cloud 405 is typically a group of computers operated on a cloud service and related software, and may be wirelessly connected to the operation unit 401 via a mobile phone line or the like.
  • the farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the drone 100 may be provided with the stored topographical information of the field 403 and the like. In addition, the history of the flight of the drone 100 and captured images may be accumulated and various analysis processes may be performed.
  • the drone 100 will take off from the landing point 406 outside the field 403 and return to the landing point 406 after spraying the drug on the field 403 or when it becomes necessary to replenish or charge the drug.
  • the flight route (entry route) from the landing point 406 to the target field 403 may be stored in advance in the farm cloud 405 or the like, or may be input by the user 402 before the start of takeoff.
  • FIG. 7 shows a block diagram showing the control function of the embodiment of the drug spraying drone according to the present invention.
  • the flight controller 501 is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 based on the input information received from the operation unit 401 and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor 102-1a, 102-1b , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are controlled to control the flight of the drone 100.
  • ESC Electronic Speed Control
  • the actual rotation speed of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501 to perform normal rotation. It is configured so that it can be monitored.
  • the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501.
  • the software used by the flight controller 501 can be rewritten through storage media or the like for function expansion / change, problem correction, etc., or through communication means such as Wi-Fi communication or USB.
  • encryption, checksum, electronic signature, virus check software, etc. are used to protect the software from being rewritten by unauthorized software.
  • a part of the calculation process used by the flight controller 501 for control may be executed by another computer existing on the operation unit 401, the farm cloud 405, or another place. Since the flight controller 501 is highly important, some or all of its constituent elements may be duplicated.
  • the battery 502 is a means for supplying electric power to the flight controller 501 and other components of the drone, and may be rechargeable.
  • the battery 502 is connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 may be a smart battery having a function of transmitting its internal state (amount of stored electricity, accumulated use time, etc.) to the flight controller 501 in addition to the power supply function.
  • the flight controller 501 exchanges with the operation unit 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives a necessary command from the operation unit 401, and outputs necessary information to the operation unit. Can be sent to 401.
  • the communication may be encrypted so as to prevent illegal acts such as interception, spoofing, and hijacking of equipment.
  • the base station 404 has a function of an RTK-GPS base station in addition to a communication function by Wi-Fi.
  • the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it may be duplicated / multiplexed, and each redundant GPS module 504 should use a different satellite to cope with the failure of a specific GPS satellite. It may be controlled.
  • the 6-axis gyro sensor 505 is a means for measuring accelerations of the drone aircraft in three directions orthogonal to each other (further, a means for calculating speed by integrating accelerations).
  • the 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone body in the three directions described above, that is, the angular velocity.
  • the geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism.
  • the atmospheric pressure sensor 507 is a means for measuring the atmospheric pressure, and can indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of laser light, and may be an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the ground surface by using the reflection of sound waves such as ultrasonic waves.
  • These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Further, these sensors may be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, it may switch to another sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the measurement results do not match, it may be considered that a failure has occurred.
  • the flow rate sensor 510 is a means for measuring the flow rate of the medicine, and is provided at a plurality of places on the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount.
  • the multi-spectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle and is a device different from the multispectral camera 512 because the image characteristics and the lens orientation are different from those of the multispectral camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to make various settings.
  • the obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone. ..
  • the cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are open.
  • the drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is open. These sensors may be selected according to the drone's cost targets and performance requirements, and may be duplicated or multiplexed.
  • a sensor may be provided at the base station 404 outside the drone 100, the operation device 401, or at another place, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information regarding wind force / wind direction may be transmitted to the drone 100 via Wi-Fi communication.
  • the flight controller 501 sends a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge.
  • the current status of the pump 106 (for example, the number of rotations) is fed back to the flight controller 501.
  • the LED107 is a display means for notifying the drone operator of the status of the drone.
  • a display means such as a liquid crystal display may be used instead of the LED or in addition to the LED.
  • the buzzer 518 is an output means for notifying a drone state (especially an error state) by a voice signal.
  • the Wi-Fi slave device function 503 is an optional component for communicating with an external computer or the like, for example, for software transfer, in addition to the operation unit 401.
  • other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used.
  • the speaker 520 is an output means for notifying the drone state (particularly an error state) by the recorded human voice, synthesized voice or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice.
  • the warning light 521 is a display means such as a strobe light for notifying the state of the drone (in particular, an error state). These input / output means may be selected according to the cost target and performance requirements of the drone, or may be duplicated / multiplexed.
  • each rotary wing 301 is arranged on four sides of the main body 310 by an arm extending from the main body 310.
  • the front rotor blades 301-2a, 301-2b, 301-4a, 301-4b are shown.
  • the rotor blades 301-2a and 301-2b and the rotor blades 301-4a and 301-4b are paired with each other to form a two-stage configuration.
  • Rotary blades 301-2a and 301-2b rotate in opposite directions to generate a descending airflow below the rotary blades 301-2b.
  • the drone 300 flies by this downdraft.
  • the rotating blades 301-2a and 301-2b generate a circulating airflow 360a that circulates in a cylindrical region so as to cover the outer circumferences of the rotating blades 301-2a and 301-2b.
  • the circulating airflow 360a is discharged downward from the inside in the radial direction of the rotary blades 301-2a, 301-2b, rises on the outer circumference of the rotary blades 301-2a, 301-2b, and is sucked in from above the rotary blades 301-2a.
  • the circulating airflow 360b is generated by the rotary blades 301-4a and 301-4b.
  • a part of the circulation airflows 360a and 360b become diffusion airflows 361a and 361b that are blown up and diffused above the main body 310.
  • the diffused airflows 361a and 361b may blow up the drug to be sprayed, and it may be difficult to spray the drug at the intended drug concentration, or the drug may reach an unintended region. ..
  • the chemical substance is applied to the main body 310, which may cause stains.
  • rectifying plates 21a, 21b, 22a, 22b are arranged on the left and right sides of the main body 110 of the drone 100.
  • the straightening vanes 21a, 21b, 22a, 22b are all flat plates elongated in the traveling direction.
  • the straightening vanes 21a and 21b and the straightening vanes 22a and 22b are arranged vertically in this order.
  • the current plates 21a and 21b are examples of the first current plate, and the current plates 22a and 22b are examples of the second current plate.
  • the straightening vanes 21a, 21b, 22a, 22b extend obliquely upward with respect to the rotation surface of the rotary blade 101 in the direction from the main body 110 to the rotary blade 101, that is, in the width direction.
  • the length of the straightening vanes 21a, 21b, 22a, 22b in the front-rear direction is longer than the distance between the front and rear rotation centers. Therefore, the straightening vanes 21a, 21b, 22a, 22b extend from the main body 110 to the extent of exceeding the rotation center of the rotary blade 101.
  • the baffles 21a, 21b, 22a, 22b may be physically connected to the main body 110 of the drone 100, that is, the housing in which the flight controller 501 and other internal parts are stored. It can also be realized by a structure in which a part of the casing of the main body 110 is projected to the rotor blade side. Further, the current plates 21a, 21b, 22a, 22b may be connected to the arm 120 that connects the main body 110 to the rotary blade 101 and the motor 102.
  • the straightening vanes 21a, 21b, 22a, 22b are arranged in the flow path of the airflow generated by the rotor blades 101. More specifically, in FIG. 2, the end of the upper right rectifying plate 21a on the rotor blade 101 side is arranged above the rotor blades 101-1a and 101-2a, and the upper left rectifying plate 22a The end portion on the rotary blade 101 side is arranged above the rotary blades 101-3a and 101-4a. The end of the lower right rectifying plate 21b on the rotor blade 101 side is below the rectifying plate 21a, and the rotor blades 101-1a, 101-2a and the rotor blades 101-1b, 101-2b in the height direction.
  • An end of the lower left rectifying plate 22b on the rotor blade 101 side is below the rectifying plate 22a, and the rotor blades 101-3a and 101-3a and the rotor blades 101-4b and 101-4b in the height direction. It is located in between.
  • the circulating airflows 60a and 60b that travel between the main body 110 and the rotor blades 101 and travel upward of the main body 110 are reflected by the straightening vanes 21a, 21b, 22a, and 22b and become obliquely downward airflows.
  • the position above the rotary blade 101 is a position where the rotary blade 101 is sucked, that is, suction regions 71a, 71b, 72a, 72b.
  • the airflow reflected by the straightening vanes 21a, 21b, 22a, 22b is sucked into the rotor blades 101 in the suction areas 71a, 71b, 72a, 72b and discharged as a descending airflow. Since the airflow reflected by the straightening plates 21a, 21b, 22a, 22b is a downward airflow, it can contribute to the wind force of the downdraft and generate a larger downdraft. That is, according to the flow straightening plates 21a, 21b, 22a, 22b, it is possible to collect the upward airflow and generate thrust in a more energy efficient manner.
  • the straightening vanes 21a, 21b, 22a, 22b can reflect the diffused airflows 361a, 361b toward the rotor blades and suppress the diffused airflows 361a, 361b from being blown upward. That is, in the drug spraying drone, the drug spraying can be performed accurately with respect to the drug spraying region and the spraying concentration. Further, it is possible to reduce the stain on the main body 110 due to the medicine.
  • the flow straightening plates 21a, 21b, 22a, 22b are part of the rotor blade 101 from the vicinity of the main body 110 and do not reach the center of rotation of the rotor blade 101 when viewed from the plane direction. Has become the size of.
  • the circulating airflows 60a and 60b have opposite directions, so even if the flow straightening plates 21a, 21b, 22a, and 22b have a size that covers the rotation center, This is because the airflow cannot be guided to the suction areas 71a, 71b, 72a, 72b.
  • the flatness of the upper straightening vanes 21a and 22a is larger than the flatness of the lower straightening vanes 21b and 22b. According to this configuration, the area of the upper straightening vanes 21a, 22a can be increased without being restricted by the propeller guard, and the circulation airflows 60a, 60b and the diffusion airflows 61a, 61b can be more efficiently sucked in the suction area 71a. , 72a.
  • Lower flow straightening plates 21b and 22b project to the inner side of the rotary blade 101 in the radial direction.
  • the propeller guard on the main body 110 side may have an uneven shape.
  • a plurality of columns that connect the upper ring portion and the lower ring portion of the propeller guard may be widely spaced.
  • the length of the current plate in the traveling direction is arbitrary.
  • the ends of the flow straightening plates 221a, 222a are provided only above the rotary blades 101-1, 101-4 arranged in the vicinity of the drug nozzle 103. It may be arranged. According to this configuration, it is possible to suppress the scattering of the medicine, and to spray the medicine with high accuracy with a simpler and lighter structure. Further, it is possible to reduce the stain on the main body 210 due to the chemical.
  • the straightening plates 21a, 21b, 22a, 22b have the same length with respect to the traveling direction, but may have different lengths.
  • the planar shape of the current plate may be a rectangle with rounded corners, an ellipse, an ellipse, a polygon, or the like.
  • a configuration having only the upper straightening vanes 21a and 22a or only the lower straightening vanes 21b and 22b also belongs to the technical scope of the present invention. Further, the upper straightening vanes 21a and 22a may be integrated.
  • the straightening vanes 21a, 21b, 22a, 22b may be curved surfaces in which the plane facing the rotor blade 101 in the cross section is curved. Since the circulating airflows 60a and 60b are sucked while curving toward the center of rotation of the rotor blade 101, the straightening vanes 21a, 21b, 22a, and 22b are curved along the circulating airflows 60a and 60b, so that The airflows 60a and 60b can be guided to the suction regions 71a and 72a more efficiently.
  • the flow straightening plates 21a, 21b, 22a, 22b have the effect of improving the cooling efficiency of the main body 110 by being connected to the main body 110.
  • the flow straightening plates 21a, 21b, 22a, 22b may be made of a material having a high heat dissipation property, such as a metal.
  • a structure such as unevenness for facilitating heat dissipation may be arranged on the upper surfaces of the rectifying plates 21a, 21b, 22a, 22b.
  • each straightening vanes 21a, 21b, 22a, 22b does not necessarily have to be between the main body 110 and the rotary blade 101, and an airflow that is generated by the rotary blade 101 and that progresses upward from below is generated. It may be arranged at a position, and may be arranged around the rotary blade 101 other than between the main body 110 and the rotary blade 101.
  • the flow straightening plates 21a, 21b, 22a, 22b may be arranged between the rotary blades 101, or the main body 110 is arranged outside the rotary blades 101, that is, around the rotary blades 101. It may be arranged on the side opposite to the position.
  • the drug spray drone has been described as an example, but the technical idea of the present invention is not limited to this, and can be applied to all flying bodies having a rotary wing.
  • This flying body may be capable of autonomous flight or may be capable of manual flight control.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

[Problem] To generate thrust efficiently by using the wind force of air flow blown upward in a drone having rotary wings. [Solution] A drone 100 is provided with: a body 110; a plurality of rotary wings 101 arranged around the body; and flow rectifying plates 21, 22 each guiding air flow that is generated by the rotary wings and flows upward from below the body, to a position where the air flow is taken in by the rotary wings. At least portions of the flow rectifying plates may be arranged between the body and the rotary wings, and may guide the air flow that is generated between the body and the rotary wings and flows upward from below, to the position where the air flow is taken in by the rotary wings.

Description

ドローンDrone
　本願発明は、ドローンに関する。 The present invention relates to drones.
　一般にドローンと呼ばれる小型ヘリコプター（マルチコプター）の応用が進んでいる。その重要な応用分野の一つとして農地（圃場）への農薬や液肥などの薬剤散布が挙げられる（たとえば、特許文献１）。比較的狭い農地においては、有人の飛行機やヘリコプターではなくドローンの使用が適しているケースが多い。 The application of small helicopters (multicopters) commonly called drones is progressing. One of the important fields of application thereof is spraying chemicals such as pesticides and liquid fertilizers on agricultural land (field) (for example, Patent Document 1). In relatively small farmlands, it is often the case that drones are more suitable than manned planes and helicopters.
　準天頂衛星システムやRTK-GPS（Real Time Kinematic - Global Positioning System）などの技術によりドローンが飛行中に自機の絶対位置をセンチメートル単位で正確に知ることができるようになったことで、日本において典型的な狭く複雑な地形の農地でも、人手による操縦を最小限として自律的に飛行し、効率的かつ正確に薬剤散布を行なえるようになっている。 Technologies such as the Quasi-Zenith Satellite System and RTK-GPS (Real Time Kinematic-Global Positioning System) have made it possible for the drone to accurately know its absolute position in centimeters during flight. Even in a farmland with a narrow and complicated terrain typical of the above, it is possible to autonomously fly with minimal manual operation, and to efficiently and accurately apply a drug.
　その一方で、農業用の薬剤散布向け自律飛行型ドローンについては安全性に対する考慮が十分とは言いがたいケースがあった。薬剤を搭載したドローンの重量は数10キログラムになるため、人の上に落下する等の事故が起きた場合に重大な結果を招きかねない。また、通常、ドローンの操作者は専門家ではないためフールプルーフの仕組みが必要であるが、これに対する考慮も不十分であった。今までに、人間による操縦を前提としたドローンの安全性技術は存在していたが（たとえば、特許文献２）、特に農業用の薬剤散布向けの自律飛行型ドローンに特有の安全性課題に対応するための技術は存在していなかった。 On the other hand, there were cases where it was difficult to say that safety considerations were sufficient for autonomous flight drones for agricultural drug spraying. A drone loaded with medicines weighs several tens of kilograms, which could have serious consequences in the event of an accident such as falling onto a person. In addition, the drone operator is usually not an expert, so a fool-proof mechanism is necessary, but the consideration for this was insufficient. Until now, there has been a drone safety technology that is premised on human control (for example, Patent Document 2), but in particular, it addresses the safety issues peculiar to an autonomous flight drone for drug spraying for agriculture. There was no technology to do this.
　図10に示すように、回転翼301-2aおよび301-2b,ならびに301-4aおよび301-4bがそれぞれ上下に対をなして互いに反対方向に回転する二重反転ドローン300においては、下降気流により推力を発生させる。一方、回転翼301-2a,301-2b,301-4a,301-4bにより発生する気流は、回転翼301-2a,301-2b,301-4a,301-4bの回転半径の内側および外側を循環する。また、一部の気流は循環せず、回転翼301とドローン300の本体310の間において下方から上方に向かって吹き上げられ、拡散する。そこで、上方へ向かう気流の風力を利用して、効率よく推力を発生させることができるドローンが必要とされている。 As shown in FIG. 10, in the counter-rotating drone 300 in which the rotor blades 301-2a and 301-2b, and 301-4a and 301-4b are paired up and down respectively and rotate in the opposite directions, Generate thrust. On the other hand, the airflow generated by the rotor blades 301-2a, 301-2b, 301-4a, 301-4b is inside and outside the radius of gyration of the rotor blades 301-2a, 301-2b, 301-4a, 301-4b. Circulate. In addition, a part of the airflow does not circulate, but is blown up from below to above between the rotor blade 301 and the main body 310 of the drone 300, and diffuses. Therefore, there is a need for a drone that can efficiently generate thrust by using the wind force of the upward airflow.
　特許文献３には、推進プロペラを主翼前方に配置し、推進プロペラを取り囲む位置から主翼上下両縁を挟む主翼前縁部に至る円筒形の整流ダクトを設け、整流ダクトの後方の主翼後縁にフラップを配置して、整流ダクトから主翼の上下両面に導き出される排気後流をフラップに誘導する固定翼飛行機が開示されている。しかしながら、この飛行機は固定翼を有する構成であり、回転翼により発生する上方へ向かう気流の風力を推力に利用することはできなかった。 In Patent Document 3, a propulsion propeller is arranged in front of the main wing, and a cylindrical straightening duct extending from a position surrounding the propulsion propeller to a front edge of the main wing sandwiching both upper and lower edges of the main wing is provided at a rear edge of the main wing behind the straightening duct. There is disclosed a fixed-wing airplane that arranges flaps and guides the exhaust wakes guided to the upper and lower surfaces of the main wing from the flow straightening duct to the flaps. However, since this airplane has a structure with fixed wings, it was not possible to use the wind force of the upward airflow generated by the rotary wings for thrust.
特許公開公報　特開２００１－１２０１５１Patent publication gazette JP 2001-120151 特許公開公報　特開２０１７－１６３２６５Patent publication gazette JP 2017-163265 特許公開公報　特開昭５８－２２７９６Patent publication gazette JP-A-58-22796
　回転翼を有するドローンにおいて、上方へ向かう気流の風力を利用して、効率よく推力を発生させることができるドローンを提供する。 For a drone with rotary wings, we will provide a drone that can efficiently generate thrust by using the wind force of the upward airflow.
　上記目的を達成するため、本発明の一の観点に係るドローンは、本体と、前記本体の周辺に配置される複数の回転翼と、前記回転翼によって発生する前記本体の下方から上方に向かって進行する気流を、前記回転翼に吸入される位置に案内する整流板と、を備える。 In order to achieve the above object, a drone according to one aspect of the present invention includes a main body, a plurality of rotary blades arranged around the main body, and upwards from below the main body generated by the rotary blades. A straightening vane for guiding the advancing airflow to a position where it is sucked into the rotary blade.
　前記整流板の少なくとも一部は、前記本体と前記回転翼の間に配置され、前記本体と前記回転翼の間に発生する下方から上方に向かって進行する気流を、前記回転翼に吸入される位置に案内するものとしてもよい。 At least a part of the flow straightening plate is arranged between the main body and the rotary blade, and the airflow that is generated between the main body and the rotary blade and that progresses from below to above is sucked into the rotary blade. You may guide to a position.
　整流板の前記回転翼側の端部は、前記回転翼より上方に配置されていてもよい。 The end of the flow straightening plate on the side of the rotary blade may be arranged above the rotary blade.
　複数の前記回転翼は、上下に対を成して複数対配置され、前記整流板の前記回転翼側の端部は、高さ方向において、上段の前記回転翼と下段の前記回転翼の間に配置されていてもよい。 A plurality of pairs of the rotating blades are arranged in pairs vertically, and the end portion of the flow straightening plate on the side of the rotating blades is located between the upper rotating blades and the lower rotating blades in the height direction. It may be arranged.
　複数の前記回転翼は、上下に対を成して複数対配置され、前記整流板は、前記回転翼側の端部が上段の前記回転翼より上方に配置される第1整流板と、前記回転翼側の端部が高さ方向において上段の前記回転翼と下段の前記回転翼の間に配置される第2整流板と、を含み、前記第１整流板の前記本体側から前記回転翼に向かう幅方向の大きさは、前記第2整流板の前記本体側から前記回転翼に向かう幅方向の大きさより大きくなっていてもよい。 A plurality of pairs of the plurality of rotary blades are arranged in pairs vertically, and the flow straightening plate includes a first flow straightening plate whose end on the rotary blade side is arranged above the rotary blade in the upper stage, and the rotary blade. A second flow straightening plate whose end on the blade side is arranged between the upper rotary blade and the lower rotary blade in the height direction, and extends from the main body side of the first straightening plate toward the rotary blade. The size in the width direction may be larger than the size in the width direction from the main body side of the second straightening vane toward the rotary blade.
　前記整流板は、前記本体側から前記回転翼に向かう方向において、前記回転翼の回転面に対して斜め上方に伸び出ていてもよい。 The straightening vane may extend obliquely upward with respect to the rotation surface of the rotary blade in the direction from the main body side to the rotary blade.
　薬剤を散布する薬剤ノズルをさらに備え、前記整流板の前記回転翼側の端部は、前記薬剤ノズルの近傍に配置される前記回転翼の上方に配置されていてもよい。 The medicine nozzle for spraying the medicine may be further provided, and the end portion of the flow straightening plate on the side of the rotary blade may be arranged above the rotary blade arranged in the vicinity of the medicine nozzle.
　前記整流板は、前記本体に接続され、前記本体から発生する熱を放熱するように構成されていてもよい。 The baffle plate may be connected to the main body and configured to radiate heat generated from the main body.
　回転翼を有するドローンにおいて、上方へ向かう気流の風力を利用して、効率よく推力を発生させることができる。 In a drone that has rotor blades, it is possible to efficiently generate thrust by using the wind force of the upward airflow.
本願発明に係るドローンの第1実施形態を示す平面図である。FIG. 1 is a plan view showing a first embodiment of a drone according to the present invention. 上記ドローンの正面図である。It is a front view of the said drone. 上記ドローンの右側面図である。It is a right view of the said drone. 上記ドローンの背面図である。It is a rear view of the drone. 上記ドローンの斜視図である。It is a perspective view of the drone. 上記ドローンが有する薬剤散布システムの全体概念図である。It is the whole conceptual diagram of the medicine spraying system which the drone has. 上記ドローンの制御機能を表した模式図である。It is a schematic diagram showing the control function of the said drone. 上記ドローンが有する本体、回転翼、および整流板の位置関係を示す概略縦断面図である。本体、回転翼、および整流板以外の構成は、省略されている。It is a schematic longitudinal cross-sectional view showing a positional relationship between a main body, a rotary blade, and a current plate included in the drone. Structures other than the main body, the rotary blades, and the flow straightening plate are omitted. 本願発明に係るドローンの第2実施形態を示す斜視図である。FIG. 6 is a perspective view showing a second embodiment of the drone according to the present invention. 関連技術のドローンが有する本体、回転翼、および整流板の位置関係を示す概略縦断面図である。本体、回転翼、および整流板以外の構成は、省略されている。It is a schematic longitudinal cross-sectional view showing a positional relationship between a main body, a rotor, and a current plate included in a drone of a related art. Structures other than the main body, the rotary blades, and the flow straightening plate are omitted.
　以下、図を参照しながら、本願発明を実施するための形態について説明する。図はすべて例示である。以下の詳細な説明では、説明のために、開示された実施形態の完全な理解を促すために、ある特定の詳細について述べられている。しかしながら、実施形態は、これらの特定の詳細に限られない。また、図面を単純化するために、周知の構造および装置については概略的に示されている。 Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The figures are all examples. In the following detailed description, for purposes of explanation, certain specific details are set forth in order to facilitate a thorough understanding of the disclosed embodiments. However, embodiments are not limited to these particular details. Also, well-known structures and devices are schematically shown in order to simplify the drawing.
　本願明細書において、ドローンとは、動力手段（電力、原動機等）、操縦方式（無線であるか有線であるか、および、自律飛行型であるか手動操縦型であるか等）を問わず、複数の回転翼を有する飛行体全般を指すこととする。 In the specification of the present application, the drone, regardless of power means (electric power, prime mover, etc.), control method (whether wireless or wired, and whether it is an autonomous flight type or a manual control type), It refers to all aircraft with multiple rotors.
　図１乃至図５に示すように、回転翼101-1a、101-1b、101-2a、101-2b、101-3a、101-3b、101-4a、101-4b（ローターとも呼ばれる）は、ドローン100を飛行させるための手段であり、飛行の安定性、機体サイズ、および、バッテリー消費量のバランスを考慮し、本体110の周辺に8機（2段構成の回転翼が4セット）備えられている。各回転翼101は、ドローン100の本体110からのび出たアーム120により本体110の四方に配置されている。すなわち、進行方向左後方に回転翼101-1a、101-1b、左前方に回転翼101-2a、101-2b、右後方に回転翼101-3a、101-3b、右前方に回転翼101-4a、101-4bがそれぞれ配置されている。なお、ドローン100は図１における紙面下向きを進行方向とする。 As shown in FIGS. 1 to 5, the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also referred to as rotors) are It is a means to fly the drone 100, and in consideration of the stability of flight, the size of the aircraft, and the balance of battery consumption, 8 aircraft (4 sets of two-stage rotary blades) are provided around the main body 110. ing. Each rotor 101 is arranged on four sides of the main body 110 by an arm 120 extending from the main body 110 of the drone 100. That is, the rotating blades 101-1a, 101-1b to the left in the traveling direction, the rotating blades 101-2a and 101-2b to the left front, the rotating blades 101-3a and 101-3b to the right rear, and the rotating blades 101-to the front right. 4a and 101-4b are arranged respectively. Note that the drone 100 has the traveling direction downward in the plane of FIG.
　モーター102-1a、102-1b、102-2a、102-2b、102-3a、102-3b、102-4ａ、102-4bは、回転翼101-1a、101-1b、101-2a、101-2b、101-3a、101-3b、101-4a、101-4bを回転させる手段（典型的には電動機だが発動機等であってもよい）であり、一つの回転翼に対して1機設けられている。モーター102は、推進器の例である。１セット内の上下の回転翼（たとえば、101-1aと101-1b）、および、それらに対応するモーター（たとえば、102-1aと102-1b）は、ドローンの飛行の安定性等のために軸が同一直線上にあり、かつ、互いに反対方向に回転する。なお、一部の回転翼101-3b、および、モーター102-3bが図示されていないが、その位置は自明であり、もし左側面図があったならば示される位置にある。図２、および、図３に示されるように、ローターが異物と干渉しないよう設けられたプロペラガードを支えるための放射状の部材は水平ではなくやぐら状の構造である。衝突時に当該部材が回転翼の外側に座屈することを促し、ローターと干渉することを防ぐためである。 The motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotor blades 101-1a, 101-1b, 101-2a, 101-. 2b, 101-3a, 101-3b, 101-4a, 101-4b is a means for rotating (typically an electric motor, but may be an engine, etc.), one for each rotor Has been. The motor 102 is an example of a propulsion device. The upper and lower rotor blades (eg 101-1a and 101-1b) and their corresponding motors (eg 102-1a and 102-1b) in one set are for drone flight stability etc. The axes are collinear and rotate in opposite directions. Although some rotor blades 101-3b and the motor 102-3b are not shown, their positions are self-explanatory, and if there is a left side view, they are at the positions shown. As shown in FIGS. 2 and 3, the radial member for supporting the propeller guard, which is provided so that the rotor does not interfere with foreign matter, is not horizontal but has a tower-like structure. This is to promote the buckling of the member to the outside of the rotor blade at the time of collision and prevent the member from interfering with the rotor.
　薬剤ノズル103-1、103-2、103-3、103-4は、薬剤を下方に向けて散布するための手段であり4機備えられている。なお、本願明細書において、薬剤とは、農薬、除草剤、液肥、殺虫剤、種、および、水などの圃場に散布される液体または粉体を一般的に指すこととする。 The drug nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying the drug downward, and are equipped with four machines. In the specification of the present application, the term "chemicals" generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.
　薬剤タンク104は散布される薬剤を保管するためのタンクであり、重量バランスの観点からドローン100の重心に近い位置でかつ重心より低い位置に設けられている。薬剤ホース105-1、105-2、105-3、105-4は、薬剤タンク104と各薬剤ノズル103-1、103-2、103-3、103-4とを接続する手段であり、硬質の素材から成り、当該薬剤ノズルを支持する役割を兼ねていてもよい。ポンプ106は、薬剤をノズルから吐出するための手段である。 The drug tank 104 is a tank for storing the sprayed drug, and is provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. And may also serve to support the chemical nozzle. The pump 106 is a means for discharging the medicine from the nozzle.
　図6に本願発明に係るドローン100の薬剤散布用途の実施例を使用したシステムの全体概念図を示す。本図は模式図であって、縮尺は正確ではない。操作器401は、使用者402の操作によりドローン100に指令を送信し、また、ドローン100から受信した情報（たとえば、位置、薬剤量、電池残量、カメラ映像等）を表示するための手段であり、コンピューター・プログラムを稼働する一般的なタブレット端末等の携帯情報機器によって実現されてよい。本願発明に係るドローン100は自律飛行を行なうよう制御されるが、離陸や帰還などの基本操作時、および、緊急時にはマニュアル操作が行なえるようになっていてもよい。携帯情報機器に加えて、緊急停止専用の機能を有する非常用操作機（図示していない）を使用してもよい（非常用操作機は緊急時に迅速に対応が取れるよう大型の緊急停止ボタン等を備えた専用機器であってもよい）。操作器401とドローン100はWi-Fi等による無線通信を行う。 FIG. 6 shows an overall conceptual diagram of a system using an example of drug spraying application of the drone 100 according to the present invention. This figure is a schematic diagram and the scale is not accurate. The operation unit 401 is a means for transmitting a command to the drone 100 by the operation of the user 402 and displaying information received from the drone 100 (for example, position, drug amount, battery level, camera image, etc.). Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program. Although the drone 100 according to the present invention is controlled to perform autonomous flight, it may be configured so that it can be manually operated during basic operations such as takeoff and return, and during emergencies. In addition to the portable information device, you may use an emergency operating device (not shown) that has a function dedicated to emergency stop (a large emergency stop button, etc. is provided so that the emergency operating device can respond quickly in an emergency). It may be a dedicated device with). The operation unit 401 and the drone 100 perform wireless communication by Wi-Fi or the like.
　圃場403は、ドローン100による薬剤散布の対象となる田圃や畑等である。実際には、圃場403の地形は複雑であり、事前に地形図が入手できない場合、あるいは、地形図と現場の状況が食い違っている場合がある。通常、圃場403は家屋、病院、学校、他作物圃場、道路、鉄道等と隣接している。また、圃場403内に、建築物や電線等の障害物が存在する場合もある。 The field 403 is a rice field, a field, etc. to which the drug is sprayed by the drone 100. Actually, the topography of the farm field 403 is complicated, and there are cases where the topographic map cannot be obtained in advance, or the topographic map and the situation at the site are inconsistent. Normally, the farm field 403 is adjacent to a house, a hospital, a school, another crop farm field, a road, a railroad, and the like. In addition, there may be obstacles such as buildings and electric wires in the field 403.
　基地局404は、Wi-Fi通信の親機機能等を提供する装置であり、RTK-GPS基地局としても機能し、ドローン100の正確な位置を提供できるようになっていてもよい（Wi-Fi通信の親機機能とRTK-GPS基地局が独立した装置であってもよい）。営農クラウド405は、典型的にはクラウドサービス上で運営されているコンピュータ群と関連ソフトウェアであり、操作器401と携帯電話回線等で無線接続されていてもよい。営農クラウド405は、ドローン100が撮影した圃場403の画像を分析し、作物の生育状況を把握して、飛行ルートを決定するための処理を行ってよい。また、保存していた圃場403の地形情報等をドローン100に提供してよい。加えて、ドローン100の飛行および撮影映像の履歴を蓄積し、様々な分析処理を行ってもよい。 The base station 404 is a device that provides a master device function of Wi-Fi communication, etc., and may also function as an RTK-GPS base station to provide an accurate position of the drone 100 (Wi- The base unit function of Fi communication and RTK-GPS base station may be independent devices). The farm cloud 405 is typically a group of computers operated on a cloud service and related software, and may be wirelessly connected to the operation unit 401 via a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the drone 100 may be provided with the stored topographical information of the field 403 and the like. In addition, the history of the flight of the drone 100 and captured images may be accumulated and various analysis processes may be performed.
　通常、ドローン100は圃場403の外部にある発着地点406から離陸し、圃場403に薬剤を散布した後に、あるいは、薬剤補充や充電等が必要になった時に発着地点406に帰還する。発着地点406から目的の圃場403に至るまでの飛行経路（進入経路）は、営農クラウド405等で事前に保存されていてもよいし、使用者402が離陸開始前に入力してもよい。 Normally, the drone 100 will take off from the landing point 406 outside the field 403 and return to the landing point 406 after spraying the drug on the field 403 or when it becomes necessary to replenish or charge the drug. The flight route (entry route) from the landing point 406 to the target field 403 may be stored in advance in the farm cloud 405 or the like, or may be input by the user 402 before the start of takeoff.
　図7に本願発明に係る薬剤散布用ドローンの実施例の制御機能を表したブロック図を示す。フライトコントローラー501は、ドローン全体の制御を司る構成要素であり、具体的にはCPU、メモリー、関連ソフトウェア等を含む組み込み型コンピュータであってよい。フライトコントローラー501は、操作器401から受信した入力情報、および、後述の各種センサーから得た入力情報に基づき、ESC（Electronic Speed Control）等の制御手段を介して、モーター102-1a、102-1b、102-2a、102-2b、102-3a、102-3b、104-a、104-bの回転数を制御することで、ドローン100の飛行を制御する。モーター102-1a、102-1b、102-2a、102-2b、102-3a、102-3b、104-a、104-bの実際の回転数はフライトコントローラー501にフィードバックされ、正常な回転が行なわれているかを監視できる構成になっている。あるいは、回転翼101に光学センサー等を設けて回転翼101の回転がフライトコントローラー501にフィードバックされる構成でもよい。 FIG. 7 shows a block diagram showing the control function of the embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, a memory, related software, and the like. The flight controller 501, based on the input information received from the operation unit 401 and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor 102-1a, 102-1b , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are controlled to control the flight of the drone 100. The actual rotation speed of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501 to perform normal rotation. It is configured so that it can be monitored. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501.
　フライトコントローラー501が使用するソフトウェアは、機能拡張・変更、問題修正等のために記憶媒体等を通じて、または、Wi-Fi通信やUSB等の通信手段を通じて書き換え可能になっている。この場合において、不正なソフトウェアによる書き換えが行なわれないように、暗号化、チェックサム、電子署名、ウィルスチェックソフト等による保護が行われている。また、フライトコントローラー501が制御に使用する計算処理の一部が、操作器401上、または、営農クラウド405上や他の場所に存在する別のコンピュータによって実行されてもよい。フライトコントローラー501は重要性が高いため、その構成要素の一部または全部が二重化されていてもよい。 The software used by the flight controller 501 can be rewritten through storage media or the like for function expansion / change, problem correction, etc., or through communication means such as Wi-Fi communication or USB. In this case, encryption, checksum, electronic signature, virus check software, etc. are used to protect the software from being rewritten by unauthorized software. Further, a part of the calculation process used by the flight controller 501 for control may be executed by another computer existing on the operation unit 401, the farm cloud 405, or another place. Since the flight controller 501 is highly important, some or all of its constituent elements may be duplicated.
　バッテリー502は、フライトコントローラー501、および、ドローンのその他の構成要素に電力を供給する手段であり、充電式であってもよい。バッテリー502はヒューズ、または、サーキットブレーカー等を含む電源ユニットを介してフライトコントローラー501に接続されている。バッテリー502は電力供給機能に加えて、その内部状態（蓄電量、積算使用時間等）をフライトコントローラー501に伝達する機能を有するスマートバッテリーであってもよい。 The battery 502 is a means for supplying electric power to the flight controller 501 and other components of the drone, and may be rechargeable. The battery 502 is connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker. The battery 502 may be a smart battery having a function of transmitting its internal state (amount of stored electricity, accumulated use time, etc.) to the flight controller 501 in addition to the power supply function.
　フライトコントローラー501は、Wi-Fi子機機能503を介して、さらに、基地局404を介して操作器401とやり取りを行ない、必要な指令を操作器401から受信すると共に、必要な情報を操作器401に送信できる。この場合に、通信には暗号化を施し、傍受、成り済まし、機器の乗っ取り等の不正行為を防止できるようにしておいてもよい。基地局404は、Wi-Fiによる通信機能に加えて、RTK-GPS基地局の機能も備えている。RTK基地局の信号とGPS測位衛星からの信号を組み合わせることで、GPSモジュール504により、ドローン100の絶対位置を数センチメートル程度の精度で測定可能となる。GPSモジュール504は重要性が高いため、二重化・多重化されていてもよく、また、特定のGPS衛星の障害に対応するため、冗長化されたそれぞれのGPSモジュール504は別の衛星を使用するよう制御されていてもよい。 The flight controller 501 exchanges with the operation unit 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives a necessary command from the operation unit 401, and outputs necessary information to the operation unit. Can be sent to 401. In this case, the communication may be encrypted so as to prevent illegal acts such as interception, spoofing, and hijacking of equipment. The base station 404 has a function of an RTK-GPS base station in addition to a communication function by Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it may be duplicated / multiplexed, and each redundant GPS module 504 should use a different satellite to cope with the failure of a specific GPS satellite. It may be controlled.
　６軸ジャイロセンサー505はドローン機体の互いに直交する３方向の加速度を測定する手段（さらに、加速度の積分により速度を計算する手段）である。６軸ジャイロセンサー505は、上述の３方向におけるドローン機体の姿勢角の変化、すなわち角速度を測定する手段である。地磁気センサー506は、地磁気の測定によりドローン機体の方向を測定する手段である。気圧センサー507は、気圧を測定する手段であり、間接的にドローンの高度も測定することもできる。レーザーセンサー508は、レーザー光の反射を利用してドローン機体と地表との距離を測定する手段であり、IR（赤外線）レーザーであってもよい。ソナー509は、超音波等の音波の反射を利用してドローン機体と地表との距離を測定する手段である。これらのセンサー類は、ドローンのコスト目標や性能要件に応じて取捨選択してよい。また、機体の傾きを測定するためのジャイロセンサー（角速度センサー）、風力を測定するための風力センサーなどが追加されていてもよい。また、これらのセンサー類は、二重化または多重化されていてもよい。同一目的複数のセンサーが存在する場合には、フライトコントローラー501はそのうちの一つのみを使用し、それが障害を起こした際には、代替のセンサーに切り替えて使用するようにしてもよい。あるいは、複数のセンサーを同時に使用し、それぞれの測定結果が一致しない場合には障害が発生したと見なすようにしてもよい。 The 6-axis gyro sensor 505 is a means for measuring accelerations of the drone aircraft in three directions orthogonal to each other (further, a means for calculating speed by integrating accelerations). The 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone body in the three directions described above, that is, the angular velocity. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The atmospheric pressure sensor 507 is a means for measuring the atmospheric pressure, and can indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of laser light, and may be an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone body and the ground surface by using the reflection of sound waves such as ultrasonic waves. These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Further, these sensors may be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, it may switch to another sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the measurement results do not match, it may be considered that a failure has occurred.
　流量センサー510は薬剤の流量を測定するための手段であり、薬剤タンク104から薬剤ノズル103に至る経路の複数の場所に設けられている。液切れセンサー511は薬剤の量が所定の量以下になったことを検知するセンサーである。マルチスペクトルカメラ512は圃場403を撮影し、画像分析のためのデータを取得する手段である。障害物検知カメラ513はドローン障害物を検知するためのカメラであり、画像特性とレンズの向きがマルチスペクトルカメラ512とは異なるため、マルチスペクトルカメラ512とは別の機器である。スイッチ514はドローン100の使用者402が様々な設定を行なうための手段である。障害物接触センサー515はドローン100、特に、そのローターやプロペラガード部分が電線、建築物、人体、立木、鳥、または、他のドローン等の障害物に接触したことを検知するためのセンサーである。カバーセンサー516は、ドローン100の操作パネルや内部保守用のカバーが開放状態であることを検知するセンサーである。薬剤注入口センサー517は薬剤タンク104の注入口が開放状態であることを検知するセンサーである。これらのセンサー類はドローンのコスト目標や性能要件に応じて取捨選択してよく、二重化・多重化してもよい。また、ドローン100外部の基地局404、操作器401、または、その他の場所にセンサーを設けて、読み取った情報をドローンに送信してもよい。たとえば、基地局404に風力センサーを設け、風力・風向に関する情報をWi-Fi通信経由でドローン100に送信するようにしてもよい。 The flow rate sensor 510 is a means for measuring the flow rate of the medicine, and is provided at a plurality of places on the path from the medicine tank 104 to the medicine nozzle 103. The liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount. The multi-spectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle and is a device different from the multispectral camera 512 because the image characteristics and the lens orientation are different from those of the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone. .. The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are open. The drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is open. These sensors may be selected according to the drone's cost targets and performance requirements, and may be duplicated or multiplexed. Further, a sensor may be provided at the base station 404 outside the drone 100, the operation device 401, or at another place, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404, and information regarding wind force / wind direction may be transmitted to the drone 100 via Wi-Fi communication.
　フライトコントローラー501はポンプ106に対して制御信号を送信し、薬剤吐出量の調整や薬剤吐出の停止を行なう。ポンプ106の現時点の状況（たとえば、回転数等）は、フライトコントローラー501にフィードバックされる構成となっている。 The flight controller 501 sends a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge. The current status of the pump 106 (for example, the number of rotations) is fed back to the flight controller 501.
　LED107は、ドローンの操作者に対して、ドローンの状態を知らせるための表示手段である。表示手段は、LEDに替えて、または、それに加えて液晶ディスプレイ等の表示手段を使用してもよい。ブザー518は、音声信号によりドローンの状態（特にエラー状態）を知らせるための出力手段である。Wi-Fi子機機能503は操作器401とは別に、たとえば、ソフトウェアの転送などのために外部のコンピューター等と通信するためのオプショナルな構成要素である。Wi-Fi子機機能に替えて、または、それに加えて、赤外線通信、Bluetooth（登録商標）、ZigBee（登録商標）、NFC等の他の無線通信手段、または、USB接続などの有線通信手段を使用してもよい。スピーカー520は、録音した人声や合成音声等により、ドローンの状態（特にエラー状態）を知らせる出力手段である。天候状態によっては飛行中のドローン100の視覚的表示が見にくいことがあるため、そのような場合には音声による状況伝達が有効である。警告灯521はドローンの状態（特にエラー状態）を知らせるストロボライト等の表示手段である。これらの入出力手段は、ドローンのコスト目標や性能要件に応じて取捨選択してよく、二重化・多重化してもよい。 LED107 is a display means for notifying the drone operator of the status of the drone. As the display means, a display means such as a liquid crystal display may be used instead of the LED or in addition to the LED. The buzzer 518 is an output means for notifying a drone state (especially an error state) by a voice signal. The Wi-Fi slave device function 503 is an optional component for communicating with an external computer or the like, for example, for software transfer, in addition to the operation unit 401. In addition to or in addition to the Wi-Fi cordless handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used. The speaker 520 is an output means for notifying the drone state (particularly an error state) by the recorded human voice, synthesized voice or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (in particular, an error state). These input / output means may be selected according to the cost target and performance requirements of the drone, or may be duplicated / multiplexed.
　ここで、図10に示す関連技術のドローン300において回転翼により発生する気流の様子を説明する。ドローン300は、本体310からのび出たアームにより本体310の四方に各回転翼301が配置されている。本図においては、前方の回転翼301-2a,301-2b,301-4a,301-4bのみが図示されている。回転翼301-2a,301-2bと、301-4a,301-4bは、それぞれ対を成し、2段構成になっている。 Here, the state of the air flow generated by the rotor blades in the related art drone 300 shown in FIG. 10 will be described. In the drone 300, each rotary wing 301 is arranged on four sides of the main body 310 by an arm extending from the main body 310. In this figure, only the front rotor blades 301-2a, 301-2b, 301-4a, 301-4b are shown. The rotor blades 301-2a and 301-2b and the rotor blades 301-4a and 301-4b are paired with each other to form a two-stage configuration.
　回転翼301-2a,301-2bは互いに反対方向に回転し、回転翼301-2bの下方に下降気流を発生させる。ドローン300は、この下降気流により飛行する。同時に、回転翼301-2a,301-2bにより、回転翼301-2a,301-2bの外周を覆うように円筒状の領域を循環する循環気流360aが発生する。循環気流360aは回転翼301-2a,301-2bの半径方向内側から下方に排出され、回転翼301-2a,301-2bの外周を上昇し、回転翼301-2aの上方から吸入される。同様に、回転翼301-4a,301-4bにより循環気流360bが発生する。また、循環気流360a、360bの一部は、本体310の上方に吹き上げられて拡散する拡散気流361a,361bとなる。拡散気流361a,361bは、薬剤散布用ドローンにおいては、散布する薬剤を吹き上げてしまい、意図通りの薬剤濃度で散布することが困難になったり、意図しない領域に薬剤を到達させてしまうおそれがある。また、本体310に薬剤がかかり、汚損の原因にもなる。 ▽ Rotary blades 301-2a and 301-2b rotate in opposite directions to generate a descending airflow below the rotary blades 301-2b. The drone 300 flies by this downdraft. At the same time, the rotating blades 301-2a and 301-2b generate a circulating airflow 360a that circulates in a cylindrical region so as to cover the outer circumferences of the rotating blades 301-2a and 301-2b. The circulating airflow 360a is discharged downward from the inside in the radial direction of the rotary blades 301-2a, 301-2b, rises on the outer circumference of the rotary blades 301-2a, 301-2b, and is sucked in from above the rotary blades 301-2a. Similarly, the circulating airflow 360b is generated by the rotary blades 301-4a and 301-4b. In addition, a part of the circulation airflows 360a and 360b become diffusion airflows 361a and 361b that are blown up and diffused above the main body 310. In the drug spraying drone, the diffused airflows 361a and 361b may blow up the drug to be sprayed, and it may be difficult to spray the drug at the intended drug concentration, or the drug may reach an unintended region. .. In addition, the chemical substance is applied to the main body 310, which may cause stains.
　図1乃至5に示すように、ドローン100の本体110の左右側方には、整流板21a,21b,22a,22bが配置されている。整流板21a,21b,22a,22bは、いずれも進行方向に細長い平板である。整流板21aおよび21b、整流板22aおよび22bは、それぞれこの順に上下に配置されている。整流板21aおよび21bは第1整流板の例であり、整流板22aおよび22bは第2整流板の例である。 As shown in FIGS. 1 to 5, rectifying plates 21a, 21b, 22a, 22b are arranged on the left and right sides of the main body 110 of the drone 100. The straightening vanes 21a, 21b, 22a, 22b are all flat plates elongated in the traveling direction. The straightening vanes 21a and 21b and the straightening vanes 22a and 22b are arranged vertically in this order. The current plates 21a and 21b are examples of the first current plate, and the current plates 22a and 22b are examples of the second current plate.
　整流板21a,21b,22a,22bは、本体110から回転翼101に向かう方向、すなわち幅方向において、回転翼101の回転面に対して斜め上方に伸び出ている。 The straightening vanes 21a, 21b, 22a, 22b extend obliquely upward with respect to the rotation surface of the rotary blade 101 in the direction from the main body 110 to the rotary blade 101, that is, in the width direction.
　整流板21a,21b,22a,22bの前後方向の長さは、前後の回転中心間の距離よりも長い。したがって、整流板21a,21b,22a,22bは、本体110から回転翼101の回転中心を超える程度に伸び出ている。 The length of the straightening vanes 21a, 21b, 22a, 22b in the front-rear direction is longer than the distance between the front and rear rotation centers. Therefore, the straightening vanes 21a, 21b, 22a, 22b extend from the main body 110 to the extent of exceeding the rotation center of the rotary blade 101.
　整流板21a,21b,22a,22bは、ドローン100の本体110、すなわちフライトコントローラー501やその他の内部部品が格納される筐体に物理的に連結されていてもよい。また、本体110の筐体の一部を回転翼側に張り出させた構造によっても実現することができる。さらに、整流板21a,21b,22a,22bは、本体110と回転翼101およびモーター102とを連結するアーム120に連結されていてもよい。 The baffles 21a, 21b, 22a, 22b may be physically connected to the main body 110 of the drone 100, that is, the housing in which the flight controller 501 and other internal parts are stored. It can also be realized by a structure in which a part of the casing of the main body 110 is projected to the rotor blade side. Further, the current plates 21a, 21b, 22a, 22b may be connected to the arm 120 that connects the main body 110 to the rotary blade 101 and the motor 102.
　図2、8に示すように、整流板21a,21b,22a,22bは、回転翼101により発生する気流の流路中に配置されている。より具体的には、図2中において上段右方の整流板21aの回転翼101側の端部は、回転翼101-1a,101-2aの上方に配置され、上段左方の整流板22aの回転翼101側の端部は、回転翼101-3a,101-4aの上方に配置されている。下段右方の整流板21bの回転翼101側の端部は、整流板21aの下方であって、高さ方向において回転翼101-1a,101-2aと回転翼101-1b,101-2bの間に配置されている。下段左方の整流板22bの回転翼101側の端部は、整流板22aの下方であって、高さ方向において回転翼101-3aおよび101-3aと回転翼101-4bおよび101-4bの間に配置されている。 As shown in FIGS. 2 and 8, the straightening vanes 21a, 21b, 22a, 22b are arranged in the flow path of the airflow generated by the rotor blades 101. More specifically, in FIG. 2, the end of the upper right rectifying plate 21a on the rotor blade 101 side is arranged above the rotor blades 101-1a and 101-2a, and the upper left rectifying plate 22a The end portion on the rotary blade 101 side is arranged above the rotary blades 101-3a and 101-4a. The end of the lower right rectifying plate 21b on the rotor blade 101 side is below the rectifying plate 21a, and the rotor blades 101-1a, 101-2a and the rotor blades 101-1b, 101-2b in the height direction. It is located in between. An end of the lower left rectifying plate 22b on the rotor blade 101 side is below the rectifying plate 22a, and the rotor blades 101-3a and 101-3a and the rotor blades 101-4b and 101-4b in the height direction. It is located in between.
　図8に示すように、本体110と回転翼101との間を通って本体110上方へ進行する循環気流60a,60bは、整流板21a,21b,22a,22bに反射され、斜め下向きの気流となり、回転翼101上方に案内される。回転翼101の上方は、回転翼101に吸入される位置、すなわち吸入領域71a,71b,72a,72bとなっている。したがって、整流板21a,21b,22a,22bに反射される気流は、吸入領域71a,71b,72a,72bにおいて回転翼101に吸い込まれ、下降気流として排出される。整流板21a,21b,22a,22bに反射される気流は下向きの気流であるため、下降気流の風力に加担し、より大きな下降気流を生じさせることができる。すなわち、整流板21a,21b,22a,22bによれば、上向きの気流を回収し、よりエネルギー効率良く推力を生じさせることが可能となる。 As shown in FIG. 8, the circulating airflows 60a and 60b that travel between the main body 110 and the rotor blades 101 and travel upward of the main body 110 are reflected by the straightening vanes 21a, 21b, 22a, and 22b and become obliquely downward airflows. , Is guided above the rotary blade 101. The position above the rotary blade 101 is a position where the rotary blade 101 is sucked, that is, suction regions 71a, 71b, 72a, 72b. Therefore, the airflow reflected by the straightening vanes 21a, 21b, 22a, 22b is sucked into the rotor blades 101 in the suction areas 71a, 71b, 72a, 72b and discharged as a descending airflow. Since the airflow reflected by the straightening plates 21a, 21b, 22a, 22b is a downward airflow, it can contribute to the wind force of the downdraft and generate a larger downdraft. That is, according to the flow straightening plates 21a, 21b, 22a, 22b, it is possible to collect the upward airflow and generate thrust in a more energy efficient manner.
　また、整流板21a,21b,22a,22bは、拡散気流361a,361bを回転翼に向けて反射させ、拡散気流361a,361bが上方に吹き上げられることを抑制することが可能である。すなわち、薬剤散布用ドローンにおいては、薬剤を散布する領域および散布濃度に関し、精度よく薬剤散布を行うことができる。また、薬剤による本体110の汚損を軽減することができる。 Also, the straightening vanes 21a, 21b, 22a, 22b can reflect the diffused airflows 361a, 361b toward the rotor blades and suppress the diffused airflows 361a, 361b from being blown upward. That is, in the drug spraying drone, the drug spraying can be performed accurately with respect to the drug spraying region and the spraying concentration. Further, it is possible to reduce the stain on the main body 110 due to the medicine.
　図2、8に示すように、整流板21a,21b,22a,22bは、平面方向から見て、本体110付近から回転翼101の一部であって回転翼101の回転中心にまで至らない程度の広さになっている。回転中心よりも本体110から離れた領域においては、循環気流60a,60bの向きが逆になるため、整流板21a,21b,22a,22bが回転中心を覆う大きさになっていても、上向きの気流を吸入領域71a,71b,72a,72bに案内することができないためである。 As shown in FIGS. 2 and 8, the flow straightening plates 21a, 21b, 22a, 22b are part of the rotor blade 101 from the vicinity of the main body 110 and do not reach the center of rotation of the rotor blade 101 when viewed from the plane direction. Has become the size of. In the area farther from the main body 110 than the rotation center, the circulating airflows 60a and 60b have opposite directions, so even if the flow straightening plates 21a, 21b, 22a, and 22b have a size that covers the rotation center, This is because the airflow cannot be guided to the suction areas 71a, 71b, 72a, 72b.
　整流板21a,21b,22a,22bが本体110から回転翼101に向かう方向において、回転翼101の回転面に対して斜め上方に伸び出ている構成によれば、回転翼101の外周を上方に向かって進行する循環気流60a,60bおよび拡散気流361a,361bを、回転翼101の内側に向かって案内できるため、より効率的に吸入領域71a,72aに案内することができる。なお、整流板21a,21b,22a,22bは、回転翼101の回転面と平行であっても、所期の効果を得ることができる。 According to the configuration in which the flow straightening plates 21a, 21b, 22a, 22b extend obliquely upward with respect to the rotation surface of the rotor blade 101 in the direction from the main body 110 toward the rotor blade 101, the outer periphery of the rotor blade 101 is directed upward. The circulating airflows 60a, 60b and the diffused airflows 361a, 361b traveling toward the inside can be guided toward the inside of the rotary blade 101, so that they can be guided to the suction regions 71a, 72a more efficiently. Even if the flow straightening plates 21a, 21b, 22a, 22b are parallel to the rotation surface of the rotary blade 101, the desired effect can be obtained.
　上段の整流板21aおよび22aの平面の広さは、下段の整流板21bおよび22bの平面の広さより大きい。この構成によれば、上段の整流板21a,22aの面積を、プロペラガードの制約を受けずに大きくすることができ、循環気流60a,60bおよび拡散気流61a,61bをより効率的に吸入領域71a,72aに案内することができる。 The flatness of the upper straightening vanes 21a and 22a is larger than the flatness of the lower straightening vanes 21b and 22b. According to this configuration, the area of the upper straightening vanes 21a, 22a can be increased without being restricted by the propeller guard, and the circulation airflows 60a, 60b and the diffusion airflows 61a, 61b can be more efficiently sucked in the suction area 71a. , 72a.
　下段の整流板21b,22bは、回転翼101の半径方向内側まで突出している。この場合、本体110側のプロペラガードは不均一な形状になっていてもよい。例えば、本体110側において、プロペラガードの上段の円環部分と下段の円環部分とを連結する複数の支柱の間隔が大きく空いていてもよい。 Lower flow straightening plates 21b and 22b project to the inner side of the rotary blade 101 in the radial direction. In this case, the propeller guard on the main body 110 side may have an uneven shape. For example, on the main body 110 side, a plurality of columns that connect the upper ring portion and the lower ring portion of the propeller guard may be widely spaced.
　図9に示すように、整流板の進行方向の長さは任意である。同図に示す、本発明に係る第2実施形態を示すドローン200においては、整流板221a,222aの端部は、薬剤ノズル103の近傍に配置される回転翼101-1,101-4の上方のみに配置されていてもよい。本構成によれば、特に薬剤の飛散を抑制し、より簡素かつ軽量な構成で、精度よく薬剤散布を行うことができる。また、薬剤による本体210の汚損を軽減することができる。 -As shown in Fig. 9, the length of the current plate in the traveling direction is arbitrary. In the drone 200 showing the second embodiment according to the present invention shown in the figure, the ends of the flow straightening plates 221a, 222a are provided only above the rotary blades 101-1, 101-4 arranged in the vicinity of the drug nozzle 103. It may be arranged. According to this configuration, it is possible to suppress the scattering of the medicine, and to spray the medicine with high accuracy with a simpler and lighter structure. Further, it is possible to reduce the stain on the main body 210 due to the chemical.
　図1乃至5に示す第1実施形態において、整流板21a,21b,22a,22bは進行方向に対し互いに同じ長さであったが、異なっていてもよい。整流板の平面形状は、角丸の長方形であってもよいし、楕円や長円、多角形等であってもよい。また、上段の整流板21a,22aのみ、又は下段の整流板21b,22bのみを有する構成も、本発明の技術的範囲に属する。また、上段の整流板21a,22aは一体であってもよい。 In the first embodiment shown in FIGS. 1 to 5, the straightening plates 21a, 21b, 22a, 22b have the same length with respect to the traveling direction, but may have different lengths. The planar shape of the current plate may be a rectangle with rounded corners, an ellipse, an ellipse, a polygon, or the like. Further, a configuration having only the upper straightening vanes 21a and 22a or only the lower straightening vanes 21b and 22b also belongs to the technical scope of the present invention. Further, the upper straightening vanes 21a and 22a may be integrated.
　整流板21a,21b,22a,22bは、横断面において回転翼101を向く方の平面が湾曲した曲面であってもよい。循環気流60a,60bは回転翼101の回転中心に向かって湾曲しながら吸入されるため、整流板21a,21b,22a,22bが循環気流60a,60bに沿うように湾曲していることにより、循環気流60a,60bをより効率的に吸入領域71a,72aに案内することができる。 The straightening vanes 21a, 21b, 22a, 22b may be curved surfaces in which the plane facing the rotor blade 101 in the cross section is curved. Since the circulating airflows 60a and 60b are sucked while curving toward the center of rotation of the rotor blade 101, the straightening vanes 21a, 21b, 22a, and 22b are curved along the circulating airflows 60a and 60b, so that The airflows 60a and 60b can be guided to the suction regions 71a and 72a more efficiently.
　整流板21a,21b,22a,22bは、本体110に結合されることにより、本体110の冷却効率を向上させる効果も有する。この機能をより向上させるために、放熱性の高い材料、例えば金属等により整流板21a,21b,22a,22bを構成してもよい。整流板21a,21b,22a,22bの上面には、放熱しやすくするための凹凸等の構成が配置されていてもよい。 The flow straightening plates 21a, 21b, 22a, 22b have the effect of improving the cooling efficiency of the main body 110 by being connected to the main body 110. In order to further improve this function, the flow straightening plates 21a, 21b, 22a, 22b may be made of a material having a high heat dissipation property, such as a metal. On the upper surfaces of the rectifying plates 21a, 21b, 22a, 22b, a structure such as unevenness for facilitating heat dissipation may be arranged.
　なお、各整流板21a,21b,22a,22bの配置位置は、必ずしも本体110と回転翼101の間である必要はなく、回転翼101により発生する下方から上方に向かって進行する気流が発生する位置に配置すればよく、本体110と回転翼101の間以外の回転翼101の周辺に配置されていてもよい。例えば、整流板21a,21b,22a,22bは、回転翼101同士の間に配置されていてもよいし、回転翼101の外側、すなわち回転翼101の周辺であって本体110が配置されている位置とは反対側に配置されていてもよい。 The position of each straightening vanes 21a, 21b, 22a, 22b does not necessarily have to be between the main body 110 and the rotary blade 101, and an airflow that is generated by the rotary blade 101 and that progresses upward from below is generated. It may be arranged at a position, and may be arranged around the rotary blade 101 other than between the main body 110 and the rotary blade 101. For example, the flow straightening plates 21a, 21b, 22a, 22b may be arranged between the rotary blades 101, or the main body 110 is arranged outside the rotary blades 101, that is, around the rotary blades 101. It may be arranged on the side opposite to the position.
　本構成によれば、回転翼を有するドローンにおいて、上方に向かう気流の風力を利用して、効率よく推力を発生させることができる。 According to this configuration, in a drone having a rotary wing, it is possible to efficiently generate thrust by using the wind force of the air flow that is directed upward.
　なお、本説明においては、薬剤散布用ドローンを例に説明したが、本発明の技術的思想はこれに限られるものではなく、回転翼を有する飛行体全般に適用可能である。この飛行体は、自律飛行可能なものであってもよいし、手動で飛行制御可能なものであってもよい。 Note that, in the present description, the drug spray drone has been described as an example, but the technical idea of the present invention is not limited to this, and can be applied to all flying bodies having a rotary wing. This flying body may be capable of autonomous flight or may be capable of manual flight control.
（本願発明による技術的に顕著な効果）
　本発明に係るドローンにおいては、回転翼を有するドローンにおいて、上方に向かう気流の風力を利用して、効率よく推力を発生させることができる。

  (Technically remarkable effect of the present invention)
In the drone according to the present invention, in the drone having the rotary blades, the wind force of the upward airflow can be used to efficiently generate thrust.

Claims (8)

  1. 　本体と、
    　前記本体の周辺に配置される複数の回転翼と、
    　前記回転翼によって発生する前記本体の下方から上方に向かって進行する気流を、前記回転翼に吸入される位置に案内する整流板と、
    を備える、ドローン。
          Body,
    A plurality of rotor blades arranged around the body,
    A straightening plate that guides an air flow generated by the rotor blades and traveling upward from below the body to a position where the rotor blades are inhaled;
    Equipped with a drone.
  2. 　前記整流板の少なくとも一部は、前記本体と前記回転翼の間に配置され、前記本体と前記回転翼の間に発生する下方から上方に向かって進行する気流を、前記回転翼に吸入される位置に案内する、
    請求項１記載のドローン。
          At least a part of the current plate is disposed between the main body and the rotary blade, and the airflow that is generated between the main body and the rotary blade and that progresses from below to above is sucked into the rotary blade. Guide to the position,
    The drone according to claim 1.
  3. 　前記整流板の前記回転翼側の端部は、前記回転翼より上方に配置されている、
    請求項１又は２記載のドローン。
          The rotary blade side end of the flow straightening plate is arranged above the rotary blade,
    The drone according to claim 1 or 2.
  4. 　複数の前記回転翼は、上下に対を成して複数対配置され、
    　前記整流板の前記回転翼側の端部は、高さ方向において、上段の前記回転翼と下段の前記回転翼の間に配置されている、
    請求項１乃至３のいずれかに記載のドローン。
          A plurality of the rotary blades are arranged in pairs in a vertical direction,
    The rotary vane-side end of the flow straightening plate is arranged between the rotary vanes in the upper stage and the rotary vanes in the lower stage in the height direction.
    The drone according to any one of claims 1 to 3.
  5. 　複数の前記回転翼は、上下に対を成して複数対配置され、
    　前記整流板は、
    　　前記回転翼側の端部が上段の前記回転翼より上方に配置される第１整流板と、
    　　前記回転翼側の端部が高さ方向において上段の前記回転翼と下段の前記回転翼の間に配置される第2整流板と、を含み、
    前記第１整流板の前記本体側から前記回転翼に向かう幅方向の大きさは、前記第2整流板の前記本体側から前記回転翼に向かう幅方向の大きさより大きい、
    請求項１乃至４のいずれかに記載のドローン。
          A plurality of the rotary blades are arranged in pairs in a vertical direction,
    The current plate is
    A first straightening vane whose end portion on the rotor blade side is arranged above the rotor blade on the upper stage;
    A second flow straightening plate is disposed between the rotary blade on the upper stage and the rotary blade on the lower stage in an end portion on the rotary blade side in the height direction,
    The size of the first rectifying plate in the width direction from the main body side to the rotary blade is larger than the size of the second rectifying plate in the width direction from the main body side to the rotary blade,
    The drone according to any one of claims 1 to 4.
  6. 　前記整流板は、前記本体側から前記回転翼に向かう方向において、前記回転翼の回転面に対して斜め上方に伸び出ている、
    請求項１乃至５のいずれかに記載のドローン。
          The flow straightening plate extends obliquely upward with respect to the rotation surface of the rotary blade in the direction from the main body side to the rotary blade.
    The drone according to any one of claims 1 to 5.
  7. 　薬剤を散布する薬剤ノズルをさらに備え、
    　前記整流板の前記回転翼側の端部は、前記薬剤ノズルの近傍に配置される前記回転翼の上方に配置されている、
    請求項１乃至６のいずれかに記載のドローン。
          Further comprising a drug nozzle for spraying the drug,
    The rotary blade side end of the flow straightening plate is arranged above the rotary blade arranged in the vicinity of the medicine nozzle.
    The drone according to any one of claims 1 to 6.
  8. 　前記整流板は、前記本体に接続され、前記本体から発生する熱を放熱する、
    請求項１乃至７のいずれかに記載のドローン。

          The rectifying plate is connected to the main body and radiates heat generated from the main body.
    The drone according to any one of claims 1 to 7.

PCT/JP2019/043058 2018-11-06 2019-11-01 Drone WO2020095841A1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115636117A (en) * 2022-12-21 2023-01-24 南京三煌计算机***有限公司 Aircraft suitable for big-arch shelter is planted and is used

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Publication number Priority date Publication date Assignee Title
US5178344A (en) * 1991-09-13 1993-01-12 Vaclav Dlouhy VTOL aircraft
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JP2009513435A (en) * 2005-11-01 2009-04-02 アーバン エアロノーティクス リミテッド Roof and floor flow
JP2018000109A (en) * 2016-07-01 2018-01-11 Ｔｅａｄ株式会社 Fluid dispersion instrument of unmanned flying body

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5178344A (en) * 1991-09-13 1993-01-12 Vaclav Dlouhy VTOL aircraft
JP2007038929A (en) * 2005-08-04 2007-02-15 Yamaha Motor Co Ltd Autonomous control box structure for pilotless helicopter
JP2009513435A (en) * 2005-11-01 2009-04-02 アーバン エアロノーティクス リミテッド Roof and floor flow
JP2018000109A (en) * 2016-07-01 2018-01-11 Ｔｅａｄ株式会社 Fluid dispersion instrument of unmanned flying body

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115636117A (en) * 2022-12-21 2023-01-24 南京三煌计算机***有限公司 Aircraft suitable for big-arch shelter is planted and is used
CN115636117B (en) * 2022-12-21 2023-09-12 襄阳金美科林农业开发有限公司 Using method of aircraft for greenhouse planting

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