To provide an unmanned flight vehicle control method that can prevent an unmanned flight vehicle from inclining due to baggage, while preventing a structure thereof from getting complicated and weight thereof from increasing, and to provide an unmanned fight vehicle.SOLUTION: An unmanned flight vehicle 1 is provided with an airframe 2 including a loading part for baggage, a plurality of arms 3 extending outward from the airframe 2, and propellers 4 provided at tips of the arms 3. The arms 3 are connected to the airframe 2, at positions different from each other and are provided to be rotatable around rotating shafts 15 pointing in a vertical direction. A position of a gravity center of the unmanned flight vehicle 1 loaded with baggage is obtained before flight, and angles around the rotating shafts 15 of the arms 3 are adjusted so that a center of lifting power determined from positions of the plurality of propellers 4 is displaced in a direction of the position of the gravity center. Alternatively, an inclination of the unmanned flight vehicle 1 is detected during the flight, and the angles around the rotating shafts 15 of the arms 3 are adjusted so that the center of lifting power is displaced in a direction of the inclination.SELECTED DRAWING: Figure 1
【課題】構造が複雑になること及び重量増加を抑制しつつ、荷物に起因した無人飛行体の傾きを抑制できる無人飛行体の制御方法及び無人飛行体を提供する。【解決手段】無人飛行体1は、荷物の搭載部を含む機体2と、機体2から外側に延びる複数のアーム3と、各アーム3の先端に設けられるプロペラ4とを備える。各アーム3は互いに異なる位置で機体2に接続されるとともに、上下方向を向いた回転軸15の回りに回転可能に設けられる。飛行前に、荷物を搭載した状態の無人飛行体1の重心位置を取得し、複数のプロペラ4の位置から定まる揚力中心がその重心位置の方向に変位するように、各アーム3の回転軸15回りの角度を調整する。または、飛行中に、無人飛行体1の傾きを検出し、揚力中心がその傾きの方向に変位するように、各アーム3の回転軸15回りの角度を調整する。【選択図】図1
UNMANNED FLIGHT VEHICLE CONTROL METHOD AND UNMANNED FLIGHT VEHICLE
無人飛行体の制御方法、及び無人飛行体
2024-01-19
Patent
Electronic Resource
Japanese
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