To make it possible to move a flight machine in a longitudinal direction while bringing the flight machine into contact with a vertical wall.SOLUTION: A flight machine 10 comprises a flight machine body 12, a pair of wheels 50, and a pair of rollers 42. The flight machine body 12 has plural rotary wings 40A to 40D and plural motors 41A to 41D. The pair of wheels 50 are located on both of left and right sides of the flight machine body 12, and are so supported on the flight machine body 12 as to be rotatable around an axis which extends in a longitudinal direction of the flight machine body 12. The pair of rollers 42 project to a front upper side with respect to each wheel 50 in the state that the flight machine body 12 is horizontal, and are so supported on the flight machine body 12 as to be rotatable around an axis which extends in a tangential direction of each wheel 50. When moving the flight machine body 12 in the longitudinal direction along a vertical wall, the flight machine body 12 is bent forward and the pair of rollers 42 contact the vertical wall, and rotational speeds of the plural motors 41A to 41D are controlled so that the flight machine body 12 is inclined in the longitudinal direction.SELECTED DRAWING: Figure 1
【課題】飛翔機を垂直壁面に接触させながら左右方向に移動させる。【解決手段】飛翔機10は、飛翔機本体12と、一対の車輪50と、一対のローラ42とを備える。飛翔機本体12は、複数の回転翼40A〜40D及び複数のモータ41A〜41Dを有する。一対の車輪50は、飛翔機本体12の左右両側に配置され、飛翔機本体12の左右方向に延びる軸線周りに回転可能に飛翔機本体12に支持されている。一対のローラ42は、飛翔機本体12が水平な状態で各車輪50に対して前上側に突出すると共に、各車輪50の接線方向に延びる軸線周りに回転可能に飛翔機本体12に支持されている。飛翔機本体12を垂直壁面に沿って左右方向に移動させる場合には、飛翔機本体12が前傾して一対のローラ42が垂直壁面に接触すると共に、飛翔機本体12が左右方向の移動する側に傾斜するように、複数のモータ41A〜41Dの回転数が制御される。【選択図】図1
FLIGHT MACHINE AND FLIGHT MACHINE CONTROLLING METHOD
飛翔機及び飛翔機の制御方法
2019-12-12
Patent
Electronic Resource
Japanese
IPC: | B64C AEROPLANES , Flugzeuge |
FLIGHT MACHINE CONTROL SYSTEM, FLIGHT MACHINE CONTROL METHOD, AND FLIGHT MACHINE USE METHOD
European Patent Office | 2018
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