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
Authority
WO
WIPO (PCT)
Prior art keywords
drone
rotary blade
main body
rotary
blades
Prior art date
Application number
PCT/JP2019/043058
Other languages
English (en)
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/ja
Publication of WO2020095841A1 publication Critical patent/WO2020095841A1/fr

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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

Le problème décrit par la présente invention est de générer efficacement une poussée à l'aide de la force du vent d'un flux d'air soufflé vers le haut dans un drone ayant des ailes rotatives. À cet effet, l'invention concerne un drone qui est pourvu : d'un corps (110) ; d'une pluralité d'ailes rotatives (101) disposées autour du corps ; et de plaques de redressement de flux (21, 22) guidant chacune un flux d'air qui est généré par les ailes rotatives et s'écoule vers le haut depuis en-dessous du corps, jusqu'à une position dans laquelle le flux d'air est capté par les ailes rotatives. Au moins des parties des plaques de redressement de flux peuvent être disposées entre le corps et les ailes rotatives, et peuvent guider le flux d'air qui est généré entre le corps et les ailes rotatives et s'écoule vers le haut depuis le dessous, jusqu'à la position où le flux d'air est capté par les ailes rotatives.
PCT/JP2019/043058 2018-11-06 2019-11-01 Drone WO2020095841A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020511543A JP6888219B2 (ja) 2018-11-06 2019-11-01 ドローン

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JP2018-208877 2018-11-06
JP2018208877 2018-11-06

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WO2020095841A1 true WO2020095841A1 (fr) 2020-05-14

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WO (1) WO2020095841A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115636117A (zh) * 2022-12-21 2023-01-24 南京三煌计算机***有限公司 一种适用于大棚种植用的飞行器

Citations (4)

* 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 (ja) * 2005-08-04 2007-02-15 Yamaha Motor Co Ltd 無人ヘリコプタの自律制御ボックス構造
JP2009513435A (ja) * 2005-11-01 2009-04-02 アーバン エアロノーティクス リミテッド 屋根と床の流れ
JP2018000109A (ja) * 2016-07-01 2018-01-11 Ｔｅａｄ株式会社 無人飛行体の流体散布用器具

Patent Citations (4)

* 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 (ja) * 2005-08-04 2007-02-15 Yamaha Motor Co Ltd 無人ヘリコプタの自律制御ボックス構造
JP2009513435A (ja) * 2005-11-01 2009-04-02 アーバン エアロノーティクス リミテッド 屋根と床の流れ
JP2018000109A (ja) * 2016-07-01 2018-01-11 Ｔｅａｄ株式会社 無人飛行体の流体散布用器具

Cited By (2)

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CN115636117A (zh) * 2022-12-21 2023-01-24 南京三煌计算机***有限公司 一种适用于大棚种植用的飞行器
CN115636117B (zh) * 2022-12-21 2023-09-12 襄阳金美科林农业开发有限公司 一种大棚种植用飞行器的使用方法

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