Engine-mounted autonomous flying device
An autonomous flying device achieving a large payload and a long continuous flight time and also accurately adjust position and orientation while flying. The device includes: a main rotor and the like that provide main thrust; a sub rotor and the like that controls the orientation; an engine that generates energy for rotating the main rotor and the like and the sub rotor and the like; and an arithmetic control device that controls rotation of the sub rotor and the like. Also, the main rotor and the like are rotated by being drivingly connected to the engine, whereas the sub rotor and the like are rotated by motors driven by electric power generated from generator and the like operated by the engine. Further, when orientation control to tilt the fuselage is performed, the arithmetic control device increases the output distribution ratio of the sub rotor to above the output distribution ratio of the sub rotor when hovering is performed.
1. A method of operating an engine-mounted autonomous flying device comprising:
a first main rotor and a second main rotor that gives main thrust to a fuselage;
a plurality of sub rotors that controls orientation of the fuselage;
an engine that generates energy for rotating the first main rotor, the second main rotor and the plurality of sub rotors; and
an arithmetic control device that controls rotation of the plurality of sub rotors,
wherein the first main rotor and the second main rotor are rotated by being drivingly connected to the engine,
the plurality of sub rotors are rotated by a motor driven by electric power generated from a generator operated by the engine, and
wherein the method includes;
a step of hovering; and
a step of controlling orientation to tilt the fuselage,
wherein a rotational speed of the engine during the step of hovering and a rotational speed of the engine during the step of controlling orientation are substantially same,
wherein the arithmetic control device increases an output distribution ratio of the sub rotors during the step of controlling orientation to above an output distribution ratio of the sub rotors during the step of hovering, charges a capacitor or a battery during the step of hovering, and supplies electric power discharged by the capacitor or the battery to the motor during the step of controlling orientation,
wherein a step of controlling orientation to tilt the fuselage comprising increasing an output distribution ratio of at least one sub rotor of the plurality of sub rotors to above an output distribution ratio of the plurality of sub rotors when hovering by the arithmetic control device wherein the arithmetic control device sets the output distribution ratio of the at least one sub rotor of the plurality of sub rotors at 10% or more and 30% or less when the orientation control is performed,
wherein during the step of controlling orientation the autonomous flying device is tilted between 10 degrees to 35 degrees,
the plurality of sub rotors are each attached to a tip side of a respective sub arm extending outward from a portion where the engine is arranged, and
the first main rotor and the second main rotor are each attached to a tip side of a respective main arm extending outward from the portion where the engine is arranged, the main arm extending laterally in a horizontal direction from the fuselage,
when a direction in which a first engine part and a second engine part constituting the engine are arrayed is a first direction, and a direction which is perpendicular to the first direction is a second direction,
the first main rotor is driven by the first engine part and arranged on an outside along the first direction, and the second main rotor is driven by the second engine part and leveled at a position opposite the first main rotor, and
the plurality of sub rotors includes
on the first main rotor side, a first sub rotor arranged on the outside along the second direction, and a second sub rotor arranged along the second direction at a position opposite the first sub rotor, and
on the second main rotor side, a third sub rotor arranged on the outside along the second direction, and a fourth sub rotor arranged along the second direction at a position opposite the third sub rotor.
2. The method according to claim 1 , wherein during the step of hovering the output distribution ratio of the first main rotor and the second main rotor combined and the plurality of sub rotors combined is 90%: 10%.
3. The method according to claim 1 , wherein the first main rotor and the second main rotor rotate in opposite directions.
4. The method according to claim 1 , wherein the first main rotor, the second main rotor and the plurality of sub rotors are arranged to be line-symmetric with respect to a left-right direction symmetry line passing the center of the fuselage along the left-right direction.
5. The method according to claim 4 , wherein the first main rotor, the second main rotor and the plurality of sub rotors are arranged to be line-symmetric with respect to a front-rear direction symmetry line passing the center of the fuselage along the front-rear direction.
6. The method according to claim 1 , wherein when viewed from above, the main rotor and the fuselage do not overlap.
7. The method according to claim 6 , wherein when viewed from above, the center of rotation of the main rotor is positioned outside the fuselage.
8. A method of operating an engine-mounted autonomous flying device comprising:
a first main rotor and a second main rotor that gives main thrust to a fuselage; the first main rotor and the second main rotor rotate in opposite directions,
a plurality of sub rotors that controls orientation of the fuselage;
an engine that generates energy for rotating the first main rotor, the second main rotor and the plurality of sub rotors; and
an arithmetic control device that controls rotation of the plurality of sub rotors,
wherein the first main rotor and the second main rotor are rotated by being drivingly connected to the engine,
the plurality of sub rotors are rotated by a motor driven by electric power generated from a generator operated by the engine, and
wherein the method includes;
a step of hovering; and
a step of controlling orientation to tilt the fuselage,
wherein a rotational speed of the engine during the step of hovering and a rotational speed of the engine during the step of controlling orientation are substantially same,
wherein the arithmetic control device increases an output distribution ratio of the sub rotors during the step of controlling orientation to above an output distribution ratio of the sub rotors during the step of hovering, charges a capacitor or a battery during the step of hovering, and supplies electric power discharged by the capacitor or the battery to the motor during the step of controlling orientation,
when a direction in which a first engine part and a second engine part constituting the engine are arrayed is a first direction, and a direction which is perpendicular to the first direction is a second direction,
the first main rotor is driven by the first engine part and arranged on an outside along the first direction, and the second main rotor is driven by the second engine part and leveled at a position opposite the first main rotor, and
the plurality of sub rotors includes
on the first main rotor side, a first sub rotor arranged on the outside along the second direction, and a second sub rotor arranged along the second direction at a position opposite the first sub rotor, and
on the second main rotor side, a third sub rotor arranged on the outside along the second direction, and a fourth sub rotor arranged along the second direction at a position opposite the third sub rotor
wherein a step of controlling orientation to tilt the fuselage comprising increasing an output distribution ratio of at least one sub rotor of the plurality of sub rotors to above an output distribution ratio of the plurality of sub rotors when hovering by the arithmetic control device wherein the arithmetic control device sets the output distribution ratio of the at least one sub rotor of the plurality of sub rotors at 10% or more and 30% or less when the orientation control is performed,
wherein during the step of controlling orientation the autonomous flying device is tilted between 10 degrees to 35 degrees
the plurality of sub rotors are each attached to a tip side of a respective sub arm extending outward from a portion where the engine is arranged, and
the first main rotor and the second main rotor are each attached to a tip side of a respective main arm extending outward from the portion where the engine is arranged, the main arm extending laterally in a horizontal direction from the fuselage,
when a direction in which a first engine part and a second engine part constituting the engine are arrayed is a first direction, and a direction which is perpendicular to the first direction is a second direction,
the first main rotor is driven by the first engine part and arranged on an outside along the first direction, and the second main rotor is driven by the second engine part and leveled at a position opposite the first main rotor.
9. The method according to claim 8 , wherein the first main rotor, the second main rotor and the plurality of sub rotors are arranged to be line-symmetric with respect to a left-right direction symmetry line passing the center of the fuselage along the left-right direction.
10. The method according to claim 9 , wherein the first main rotor, the second main rotor and the plurality of sub rotors are arranged to be line-symmetric with respect to a front-rear direction symmetry line passing the center of the fuselage along the front-rear direction.
11. The method according to claim 8 , wherein when viewed from above, the sub rotor and the fuselage do not overlap.
12. The method according to claim 11 , wherein when viewed from above, the center of rotation of the sub rotor is positioned outside the fuselage.