To enable accurate positioning of a multi-copter (rotary-wing airplane) in a place separated from a wall under the non-GPS environment such as an indoor place or a place below a bridge and in a space where sufficient luminous energy cannot be taken.SOLUTION: A multi-copter has: a range finder 40 using a laser or a milli-wave, in which 2-parallel beams or 2-beams forming an included angle θare emitted from 1-point radially and simultaneously or sequentially, and a distance to a measured object is measured; an angle calculation module 42 for finding an angle θy formed to the measured object of a machine body on the basis of a difference of a distance to a measured object of the parallel 2-beams found by the range finder 40 or the distance to the measured object of the radially emitted 2-beams and the included angle θ; and a control unit 43 for finding a displacement amount with a target value from the distance measured by the range finder 40 and the θy calculated by the angle calculation module 42, and performing interrupt instruction to a flight controller 44 as a horizontal movement amount and a rotation amount.SELECTED DRAWING: Figure 8

    【課題】マルチコプターの屋内や橋梁下などの非GPS環境下で、かつ、十分な光量がとれない空間において、壁から離れた場所でも精度よく位置決めを可能とする。【解決手段】2本の平行なビームあるいは1点から挟角θ0を成す2本のビームが放射状に同時にあるいは順次放射されて被測定対象物までの距離が測定されるレーザもしくはミリ波を使った距離計40と、前記距離計40で求められた前記平行な2本のビームの被測定対象物までの距離の差分あるいは放射状に放射された2本のビームの被測定対象物までの距離と前記挟角θ0とに基づいて機体の前記被測定対象物に対する成す角θyを求める角度算出モジュール42と、前記距離計40で測定された距離と前記角度算出モジュール42で算出されたθyから目標値との変位量を求め、水平移動量および回転量としてフライトコントローラ44に割込み指示する制御部43とを有するようにしている。【選択図】図8


    Access

    Download


    Export, share and cite



    Title :

    MULTI-COPTER


    Additional title:

    マルチコプター


    Contributors:

    Publication date :

    2020-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Multi-copter

    PARK MIN SOON | European Patent Office | 2022

    Free access

    MULTI-COPTER

    KAWAKITA YOICHI / SATO YOICHI | European Patent Office | 2024

    Free access

    Multi-copter

    PARK MIN SOON / SHIN HEE MIN / PARK SANG HYUN | European Patent Office | 2021

    Free access

    MULTI-COPTER

    ICHIHARA KAZUO | European Patent Office | 2017

    Free access

    Multi-copter

    PARK SANG WOOK / SHIN JEONG WOO | European Patent Office | 2022

    Free access