Engine-mounted autonomous flying device

Abstract

An autonomous flying device achieving a large payload and a long continuous flight tune 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 . An engine-mounted autonomous flying device comprising:
 a main rotor that gives main thrust to a fuselage;   a sub rotor that controls orientation of the fuselage;   an engine that generates energy for rotating the main rotor and the sub rotor; and   an arithmetic control device that controls rotation of the sub rotor,   wherein the main rotor is rotated by being drivingly connected to the engine,   the sub rotor is rotated by a motor driven by electric power generated from a generator operated by the engine, and   when orientation control to tilt the fuselage is performed, the arithmetic control device increases an output distribution ratio of the sub rotor to above an output distribution ratio of the sub rotor when hovering is performed.   
     
     
         2 . The engine-mounted autonomous flying device according to  claim 1 , wherein the arithmetic control device sets the output distribution ratio of the sub rotor at 10% or more and 30% or less when the orientation control is performed. 
     
     
         3 . The engine-mounted autonomous flying device according to  claim 1 , further comprising:
 an electric power converter that converts the electric power generated from the generator; and   a capacitor that stores electric power outputted from the electric power converter,   wherein the arithmetic control device
 charges the capacitor when the hovering is performed, and 
 supplies electric power discharged by the capacitor to the motor when the orientation control is performed. 
   
     
     
         4 . The engine-mounted autonomous flying device according to  claim 3 , wherein a rotational speed of the engine when the hovering is perfomied and a rotational speed of the engine when the orientation control is performed are substantially same. 
     
     
         5 . The engine-mounted autonomous flying device according to  claim 1 , wherein the engine and the main rotor are drivingly connected via a belt. 
     
     
         6 . The engine-mounted autonomous flying device according to  claim 1 , wherein the engine has a first engine part having a first piston that reciprocates and a second engine part having a second piston that reciprocates while facing the first piston. 
     
     
         7 . The engine-mounted autonomous flying device according to  claim 6 , wherein the first piston and the second piston reciprocate inside a continuous cylinder. 
     
     
         8 . The engine-mounted autonomous flying device according to  claim 6 , wherein the first piston reciprocates inside a first cylinder, and the second piston reciprocates inside a second cylinder formed as a separate body from the first cylinder. 
     
     
         9 . The engine-mounted autonomous flying device according to  claim 1 , wherein
 the sub rotor is attached to a tip side of a sub arm extending, outward from a portion where the engine is arranged, and   the main rotor is attached to a tip side of a main aim being longer than the sub arm and extending outward from the portion where the engine is arranged.   
     
     
         10 . The engine-mounted autonomous flying device according to  claim 1 , wherein driving force is transmitted to the main rotor via an engine-side pulley attached to a shaft extending from a crankshaft in the engine to an outside, a rotor-side pulley attached to the main rotor, and a belt looped between the engine-side pulley and the rotor-side pulley. 
     
     
         11 . The engine-mounted autonomous flying device according to  claim 1 , wherein
 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 main rotor has a first main rotor driven by the first engine part and arranged on an outside along the first direction, and a second main rotor driven by the second engine part and leveled at a position opposite the first main rotor, and   the sub rotor has
 on the first main rotor side, a first sub rotor arranged on the outside along the second direction, and the 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 the fourth sub rotor arranged along the second direction at a position opposite the third sub rotor. 
   
     
     
         12 . The engine-mounted autonomous flying device according to  claim 1 , wherein
 the engine has a crankshaft with a first balance mass formed thereon, and a balancer shaft with a second balance mass formed thereon at a symmetric position relative to the first balance mass, and   the main rotor is rotated by driving force from the crankshaft aind the balancer shaft.   
     
     
         13 . (ew) The engine-rirounted autonomous flying device according to  claim 2 , further comprising:
 an electric power converter that converts the electric power generated from the generator; and   a capacitor that stores electric power outputted from the electric power converter,   wherein the arithmetic control device
 charges the capacitor when the hovering is performed, and 
 supplies electric power discharged by the capacitor to the motor when the orientation control is performed.. 
   
     
     
         14 . The engine-mounted autonomous flying device according to  claim 13 , wherein a rotational speed of the engine when the hovering is performed and a rotational speed of the engine when the orientation control is performed are substantially same. 
     
     
         15 . The engine-mounted autonomous flying device according to  claim 2 , wherein the engine and the main rotor are drivingly connected via a belt. 
     
     
         16 . The engine-mounted autonomous flying device according to  claim 3 , wherein the engine and the main rotor are drivingly connected via a belt. 
     
     
         17 . The engine-mounted autonomous flying device according to  claim 2 , wherein the engine has a first engine part having a first piston that reciprocates and a second engine part having a second piston that reciprocates while facing the first piston. 
     
     
         18 . The engine-mounted autonomous flying device according to  claim 3 , wherein the engine has a first engine part having a first piston that reciprocates and a second engine part having a second piston that reciprocates while facing the first piston. 
     
     
         19 . The engine-mounted autonomous flying device according to  claim 4 , wherein the engine has a first engine part having a first piston that reciprocates and a second engine part having a second piston that reciprocates while facing the first piston. 
     
     
         20 . The engine-mounted autonomous flying device according to  claim 5 , wherein the engine has a first engine part having a first piston that reciprocates and a second engine part having a second piston that reciprocates while facing the first piston.