HELICOPTER

Abstract

A multicopter (100) having a plurality of propellers (1) is configured to be electrically operated. The multicopter (100) is provided with electric motors (2), at least one main battery (3), a generator (4), an engine (5), and a battery condition detecting section (71). The electric motors (2) drive the propellers (1). The main battery (3) is a first electric power source that supplies the electric power to the electric motors (2). The generator (4) is a second electric power source that supplies the electric power to the electric motors (2). The engine (5) drives the generator (4). The battery condition detecting section (71) detects abnormality of the main battery (3). When the battery condition detecting section (71) detects the abnormality of the main battery (3), the generator (4) supplies the electric power that has been converted from motive power from the engine (5) directly to the electric motors (2).

Claims

1. An electric helicopter having a plurality of rotors comprising: electric motors that drive the rotors; at least one battery as a first electric power source that supplies an electric power to the electric motors; a generator as a second electric power source that supplies the electric power to the electric motors; an engine that drives the generator; and a battery abnormality detecting section that detects abnormality of the battery; wherein the generator supplies the electric power that has been converted from motive power from the engine, directly to the electric motors when abnormality of the battery is detected by the battery abnormality detecting section.

2. The helicopter according to claim 1, wherein the generator supplies the electric power that has been converted from motive power from the engine, to the electric motors and then make landing of the helicopter, when abnormality of the battery is detected by the battery abnormality detecting section.

3. The helicopter according to claim 1, wherein at least one airbag is provided, the airbag is used in emergency landing.

4. The helicopter according to claim 1, wherein the respective electric motors are provided for driving each of the plurality of rotors, a motor abnormality detecting section that detects abnormality in the electric motors is provided, landing is made in a different landing mode, based on the number of electric motors in which abnormality is detected by the motor abnormality detecting section.

5. The helicopter according to claim 4, wherein landing is made in a different mode, based on the number and position of electric motors in which abnormality is detected by the motor abnormality detecting section.

6. The helicopter according to claim 4, wherein the landing mode includes a non-stop flight mode that is a mode for landing in accordance with user's instructions while continuing a flight and a forced landing mode that is a mode for immediately making a forced landing.

7. The helicopter according to claim 3 comprising: the airbag; a parachute; and a flight level measuring section that measures a flight level; wherein the forced landing can be made by using at least either one of the airbag and the parachute, based on the flight level that is measured by the flight level measuring section.

8. The helicopter according to claim 7, wherein an electric power source that opens at least either one of the airbag or the parachute is provided separately from the battery and the generator.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG. 1 A perspective view showing an overall configuration of a multicopter according to one embodiment of the present invention.

[0033] FIG. 2 A schematic plan view showing rotation of propellers in the multicopter.

[0034] FIG. 3 A block diagram showing an outline of a configuration of the multicopter.

[0035] FIG. 4 A diagram showing a situation that a parachute and an airbag are opened.

[0036] FIG. 5 A flowchart showing an example of control that is performed in a control unit with respect to abnormality of a main battery.

[0037] FIG. 6 A flowchart showing an example of control that is performed in the control unit with respect to abnormality of an electric motor.

[0038] FIG. 7 A diagram showing an example of a landing mode selection map.

EMBODIMENT FOR CARRYING OUT THE INVENTION

[0039] Next, some embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an overall configuration of a multicopter 100.

[0040] The multicopter (helicopter) 100 shown in FIG. 1 is configured as an electric unmanned helicopter that is equipped with a plurality of propellers (rotors) 1 (in this embodiment, six propellers). The multicopter 100 can be radio-operated by remote control. As shown in FIG. 1, the multicopter 100 includes a bodywork 10, six propellers 1, electric motors 2, a main battery (battery) 3, a generator 4, and an engine 5.

[0041] The bodywork 10 is arranged in a central portion of the multicopter 100. The electric motors 2, the main battery 3, the generator 4, and the engine 5 are installed in the bodywork 10.

[0042] As shown in FIG. 1, the propellers 1 are arranged on a circle centered at the bodywork 10 at regular intervals. The multicopter 100 flies by simultaneously rotating each of the propellers 1.

[0043] The electric motors 2 that are arranged below each of the propellers 1 drive the propellers 1. Each of the electric motors 2 is electrically connected to the main batteries 3. The main batteries 3 supply the electric power with each of the electric motors 2.

[0044] When a remaining capacity of the main battery 3 is equal to or less than a predetermined threshold, in the multicopter 100, the main battery 3 can be charged by operation of the generator 4 and the engine 5.

[0045] The generator 4 that is installed in a lower portion of the bodywork 10 is configured to charge the electric power to the electric motors 2 when abnormality is occurred in the main battery 3.

[0046] The engine 5 is a power source of the generator 4. A small diesel engine or a reciprocating engine can be used as the engine 5.

[0047] In the above-described configuration, the multicopter 100 of this embodiment supplies the electric power of the main battery 3 to the electric motors 2 and thereby flies by rotating the six propellers 1.

[0048] Although the principle of flight of the multicopter 100 has been known, in the following, flight of the multicopter 100 will be briefly described with reference to FIG. 2. FIG. 2 is a schematic plan view showing rotation of each of the propellers 1 in the multicopter 100.

[0049] As shown in FIG. 2, rotational directions of the six propellers 1 included in the multicopter 100 is set to reverse the rotational directions between the adjacent propellers 1 (for example, a propeller 1a and a propeller 1b) in a circumferential direction. Accordingly, since rotation torques that are generated by rotating the propellers 1 are offset to each other, the multicopter 100 can preferably ascend by obtaining a climbing power without turning due to rotation of the propellers 1.

[0050] Hovering or level flight of the multicopter 100 can be achieved by controlling a rotation speed of the each of the propellers 1 and balancing between a lifting power that is obtained by rotating the propellers 1 and gravity of the multicopter 100. The multicopter 100 can descend by decreasing the lifting power that is generated by the propellers 1.

[0051] Turning of the multicopter 100 can be achieved by controlling the rotation speed of each of the propellers 1 and causing imbalance in rotation torques that are generated by rotating the six propellers 1.

[0052] As described above, the multicopter 100 flies while controlling rotating the plurality of propellers 1 by the electric motors 2. Therefore, when abnormality is occurred in the main battery 3 that is a power source of the electric motors 2, or abnormality is occurred in the electric motors 2, the multicopter 100 may be damaged by crash.

[0053] In this respect, as shown in FIG. 3, the multicopter 100 of this embodiment includes the above-described propellers 1, the electric motors 2, the main battery 3, the generator 4, and the engine 5, as well as a control unit 6, a storage unit 61, an operation condition detecting section 7, an emergency landing system 8, and a flight level measuring section 9.

[0054] The control unit 6 is configured as a small computer. The control unit 6 can control the flight of the multicopter 100 in accordance with an operation command by radio from the user. The control unit 6 can allow the multicopter 100 to land when the operation condition detecting section 7 detects abnormality in the multicopter 100.

[0055] The storage unit 61 stores parameters (for example, a flight level setting value, etc.) which are preset with respect to operation of the emergency landing system 8.

[0056] The operation condition detecting section 7 configured to detect an operation condition of each part in the multicopter 100 includes a battery condition detecting section 71, a motor condition detecting section 72 and the like.

[0057] The battery condition detecting section 71 is configured to detect a battery abnormality such as overheating and abnormal voltage drop, or the remaining capacity of the battery. For example, when the battery condition detecting section 71 detects an abnormal voltage drop while monitoring an output voltage of the main battery 3, it can be determined that the battery is abnormal.

[0058] The motor condition detecting section 72 is configured to detect a motor abnormality such as overheating, vibration and rotation instability, rotation speed of the motors, rotation torques, and the like. For example, when the motor condition detecting section 72 detects an abnormal driving current while comparing a driving current of each of the electric motors 2 with a preset reference value, it can be determined that the motor is abnormal. When the motor condition detecting section 72 having a temperature sensor such as a thermistor that is arranged near the electric motors 2 detects an excessive temperature rise of the electric motors 2 by using the temperature sensor, it can be determined that the motor is abnormal.

[0059] The emergency landing system 8 includes an airbag 81, a parachute 82, and an emergency battery 83. The emergency landing system 8 is used for emergency landing (forced landing) in abnormality occurrence of the multicopter 100. The airbag 81 and the parachute 82 are used as an auxiliary landing system in forced landing.

[0060] The airbag 81 is stored in a lower portion of the bodywork 10. The airbag 81 is configured to open and expand in forced landing, as shown in FIG. 4. The parachute 82 is stored in an upper portion of the bodywork 10. The parachute 82 is configured to open upward in forced landing as shown in FIG. 4.

[0061] The flight level measuring section 9 can measure a flight level of the multicopter 100. The control unit 6 can adjust the flight level of the multicopter 100 to the level that is instructed by a user based on the flight level that is detected by the flight level measuring section 9. In emergency landing, the control unit 6 can select an appropriate auxiliary landing system and open it depending on the flight level that is detected by the flight level measuring section 9.

[0062] In the above-described configuration, in the multicopter 100 of this embodiment, since the electric power can be supplied with the electric motors 2 by operation of the engine 5 and the generator 4 even if the abnormality is occurred in the main battery 3, fall accident caused by power loss can be avoided. In the multicopter 100 of this embodiment having the airbag 81 and the parachute 82 as the auxiliary landing system, since an opening of the airbag 81 or the parachute 82 can be selected depending on the flight level when forced landing is needed, damage of the multicopter 100 in emergency landing can be appropriately avoided.

[0063] Next, in the multicopter 100 of this embodiment, a configuration for landing the multicopter 100 when the abnormality is occurred in the main battery 3 as a main electric power source will be described.

[0064] As shown in FIG. 3, the main battery 3 and the generator 4 are connected to an electric power supply changeover switch 11. The electric power from the main battery 3 or the generator 4 can be supplied to the electric motors 2 via the electric power supply changeover switch 11. When the battery condition detecting section 71 detects abnormality of the main battery 3, the control unit 6 transmits an operation command to the engine 5 and the generator 4 and transmits a switching command to the electric power supply changeover switch 11, and thereby controls such that the electric power is supplied from the generator 4 to the electric motors 2. The control unit 6 makes the multicopter 100 land by using the electric power from the generator 4.

[0065] The multicopter 100 of this embodiment has a non-stop flight mode and a forced landing mode, as a landing mode. The non-stop flight mode is a mode to continue the flight of the multicopter 100 and then to land after moving the multicopter 100 to an appropriate point (for example, a takeoff point or a place in user's own setting) in accordance with instructions by user's operation. The forced landing mode is a mode that is used for emergency landing, the mode to immediately make forced landing of the the multicopter 100 by using the airbag 81 or the parachute 82. When the operation condition detecting section 7 detects abnormality in the multicopter 100, the control unit 6 selects an appropriate landing mode, and then makes forced landing of the multicopter 100.

[0066] Next, control for landing when the control unit 6 detects abnormality of the main battery 3 and abnormality is occurred will be described with reference to FIG. 5. FIG. 5 is a flowchart showing an example of control that is performed in the control unit 6 with respect to abnormality of the main battery 3.

[0067] When starting a flow shown in FIG. 5, the control unit 6 firstly determines whether or not abnormality is occurred in the main battery 3 based on a condition of the main battery 3 that is detected by the battery condition detecting section 71 (step S101). When abnormality is not occurred in the main battery 3, the step is returned to the step S101. When abnormality is occurred in the main battery 3, the control unit 6 determines whether or not forced landing is needed, based on an operation condition in other parts in the multicopter 100, which is detected by the operation condition detecting section 7 such as the motor condition detecting section 72 (step S102).

[0068] If forced landing is needed, the control unit 6 selects the forced landing mode and then immediately makes landing of the multicopter 100 (step S103). In this case, the control unit 6 firstly obtains a current flight level α of the multicopter 100 from the flight level measuring section 9 (step S104), and reads a flight level setting value β that is preset with respect to an opening of the auxiliary landing system provided with the emergency landing system 8, from the storage unit 61 (step S105). Then, the control unit 6 compares the two obtained values (step S106). When the current flight level α of the multicopter 100 is above the flight level setting value β, as shown in FIG. 4, forced landing (soft landing) of the multicopter 100 is made by opening both of the airbag 81 and the parachute 82 (step S107). When the current flight level α of the multicopter 100 is equal to or less than the flight level setting value β, forced landing of the multicopter 100 is made by opening only the airbag 81 (step S108).

[0069] When it is determined in the step S102 that forced landing is not needed, the control unit 6 operates the engine 5 and the generator 4, and thereby supplies the electric power to the electric motors 2 in place of the main battery 3 (step S109) and makes the flight of the multicopter 100 depending on the user's operation (non-stop flight mode, step S110). The multicopter 100 flies to the appropriate point and lands in accordance with the user's instructions.

[0070] Next, control for landing when abnormality of the electric motors 2 is detected by the control unit 6 and abnormality is occurred will be described with reference to FIG. 2 and FIG. 6. FIG. 6 is a flowchart showing an example of control that is performed in the control unit 6 with respect to abnormality of the electric motor 2.

[0071] When starting a flow shown in FIG. 6, the control unit 6 firstly determines whether or not abnormality is occurred in the electric motors 2 based on an operation condition of a motor that is detected by the motor condition detecting section 72 (step S201). When abnormality is not occurred in the electric motors 2, the step is returned to the step S201. When abnormality is occurred in the electric motors 2, the control unit 6 obtains the number and position of the electric motors 2 in which abnormality is occurred, from the motor condition detecting section 72 (step S202), and reads a landing mode selection map from the storage unit 61 (step S203). Then, the control unit 6 determines whether or not forced landing is needed, based on the number and position of the electric motors 2 in which abnormality is occurred and the landing mode selection map (step S204).

[0072] The landing mode selection map may be adopted as a map shown in FIG. 7, for example. In the landing mode selection map of FIG. 7, when abnormality is occurred merely in one of six electric motors 2 (for example, the electric motor 2 of the propeller 1a shown in FIG. 2), the multicopter 100 continues to fly (non-stop flight mode). In this case, the multicopter 100 can return to a position desired by the user (for example, a takeoff position or a place in user's setting) in accordance with the instructions from the user with radio operation. At this time, the control unit 6 stops rotation of the propeller 1a with respect to the electric motor in which abnormality is occurred, and stops rotation of a propeller 1d opposing to the propeller 1a, which can balance rotation torques. Then, the multicopter 100 flies by using the remaining four propellers 1.

[0073] When abnormality is occurred in two of the six electric motors 2, the control unit 6 determines whether or not two electric motors having abnormality are adjacent to each other. When two electric motors having abnormality are adjacent to each other (for example, when abnormality is occurred in both of the electric motor 2 of the propeller 1d and the electric motor 2 of the propeller 1e), since it is difficult to balance a lifting power, the mode of the multicopter 100 is switched to the forced landing mode and then makes emergency landing by using the auxiliary landing system provided with the emergency landing system 8. When two electric motors having abnormality are not adjacent to each other (for example, when abnormality is occurred in both of the electric motor 2 of a propeller 1c and the electric motor 2 of a propeller 1f), the control unit 6 stops two electric motors 2 and continues the flight of the multicopter 100 (non-stop flight mode).

[0074] When the number of electric motors 2 in which abnormality is occurred in the six electric motors 2 is three or more, the mode of the multicopter 100 is switched to the forced landing mode and then makes emergency landing, regardless of the position of the electric motors having abnormality.

[0075] The landing mode can be appropriately selected depending on circumstances by using the above-described landing mode selection map. However, the above-described landing mode selection map is merely illustrative, it is appropriately changeable.

[0076] The description of control that is performed in the control unit 6 (S205 to S210) when it is determined in the step S204 that forced landing is needed will be omitted since these steps are similar to that of S103 to S108. When it is determined in the step S204 that forced landing is not needed, the control unit 6 makes the flight of the multicopter 100 depending on the user's operation (non-stop flight mode, step S211). In the non-stop flight mode, the control unit 6 repeatedly performs determination of the step S201 and monitors abnormality of the electric motors 2. When abnormality is additionally occurred in the electric motors 2, the steps S202 to S204 are performed and then it is determined in the step S204 again whether or not forced landing is needed.

[0077] As shown in FIG. 3, the multicopter 100 of this embodiment is configured that the electric power is supplied from the main battery 3 and the generator 4 to the emergency landing system 8. In the multicopter 100 of this embodiment, the emergency battery 83 is further provided as a dedicated electric power source for the emergency landing system 8.

[0078] Accordingly, even when the electric power cannot be supplied due to abnormality occurrence in the main battery 3 as the electric power source of the multicopter 100 of this embodiment and due to abnormality occurrence in either the engine 5 or the generator 4, with the use of the emergency battery 83, the multicopter 100 can make emergency landing by opening the airbag 81 and the parachute 82 of the auxiliary landing system.

[0079] As described above, the multicopter 100 of this embodiment having the plurality of propellers 1 is configured to be electrically operated. The multicopter 100 includes the electric motors 2, the main battery 3, the generator 4, the engine 5, and the battery condition detecting section 71. The electric motors 2 drive the propellers 1. The main battery 3 is a first electric power source that supplies the electric power with the electric motors 2. The generator 4 is a second electric power source that supplies the electric power with the electric motors 2. The engine 5 drives the generator 4. The battery abnormality detecting section 71 detects abnormality of the main battery 3. When the battery abnormality detecting section 71 detects abnormality of the main battery 3, the generator 4 supplies the electric power that has been converted from motive power from the engine 5, directly to the electric motors 2.

[0080] Accordingly, the main battery 3 drives the electric motors 2, which can reduce noise and exhaust. Moreover, the multicopter 100 can be driven by the generator 4 as the second electric power source that is driven by the engine 5 if abnormality such as overheating or abnormal voltage drop in the main battery 3 as the first electric power source is occurred, which can avoid fall accident that is caused by power loss of the mullicopter 100.

[0081] In the mullicopter 100 of this embodiment, when the battery abnormality detecting section 71 detects the abnormality of the main battery 3, the electric power that has been converted from motive power from the engine 5 is supplied to the electric motors 2 and then the mullicopter 100 lands.

[0082] Accordingly, the generator 4 supplies the electric power for landing to the multicopter 100 when abnormality of the main battery 3 is detected, which can make safe landing of the multicopter 100.

[0083] The multicopter 100 of this embodiment includes at least one airbag 81. The airbag 81 is used for emergency landing.

[0084] Accordingly, damage of the multicopter 100 can be appropriately avoided in emergency landing.

[0085] In the multicopter 100 of this embodiment, the plurality of electric motors 2 is provided so as to drive each of the plurality of propellers 1. The multicopter 100 includes the motor condition detecting section 72 that detects abnormality of the electric motors 2. The multicopter 100 lands with a different landing mode based on the number of electric motors 2 in which abnormality is detected by the motor condition detecting section 72.

[0086] Accordingly, since the severity of abnormality of the multicopter 100 can be assumed based on the number of the electric motors 2 in which abnormality is occurred, the landing ways of the multicopter 100 can be appropriately determined.

[0087] The multicopter 100 of this embodiment is configured to land with a different landing mode based on the number and position of electric motors 2 in which abnormality is detected by the motor abnormality detecting section 72.

[0088] Accordingly, the severity of abnormality of the multicopter 100 can be further accurately assumed by considering the position of the electric motors 2 in addition to the number of electric motors 2 in which abnormality is occurred, which can further appropriately determine the landing way of the multicopter 100.

[0089] In the multicopter 100 of this embodiment, the landing mode includes a non-stop flight mode and a forced landing mode. The non-stop flight mode is a mode for landing in accordance with the user's instructions while continuing the flight. The forced landing mode is a mode for immediately making a forced landing.

[0090] Accordingly, when the abnormality is occurred in the electric motors 2, an appropriate landing mode can be selected depending on the urgency.

[0091] The multicopter 100 of this embodiment includes the airbag 81, the parachute 82, and the flight level measuring section 9. The flight level measuring section 9 measures a flight level. Forced landing of the multicopter 100 can be made by using at least either one of the airbag 81 or the parachute 82.

[0092] Accordingly, when making the forced landing, since means for avoiding damage of the multicopter 100 can be selectively used depending on the flight level, the possibility of success in the forced landing can be improved.

[0093] The multicopter 100 includes the emergency battery 83 as an electric power source that opens the airbag 81 and the parachute 82. The emergency battery 83 is provided separately from the main battery 3 and the generator 4.

[0094] Accordingly, even if both of the main battery 3 and the generator 4 are failed, the emergency landing of the multicopter 100 can be safely made by the electric power source which is separately provided.

[0095] While some preferred embodiments of the present invention have been described above, the foregoing configurations may be modified, for example, as follows.

[0096] As described above, although the control unit 6 of this embodiment is configured to determine whether or not to make emergency landing by using the landing mode selection map, the method for determination is not limited to this. The control unit 6 may determine the necessity of emergency landing by using other methods. In consideration of only the number of electric motors 2 having abnormality occurrence, for example, easy control of selecting the non-stop flight mode if abnormality is occurred in one electric motor 2 and selecting the forced landing mode if abnormality is occurred in two or more electric motors 2, may be performed.

[0097] In the multicopter 100 of this embodiment, if both of the airbag 81 and the parachute 82 are need to be opened, both of the airbag 81 and the parachute 82 may be opened at the same time. The airbag 81 and the parachute 82 may be opened immediately before landing.

[0098] The number of the main batteries 3 is not limited to one, as shown in the above-described embodiments. A plurality of main batteries may be adoptable.

[0099] The generator 4 and the engine 5 may be configured to operate as necessary, for supplying the electric power or power as well as charging to the main battery 3, in a case other than abnormality occurrence.

[0100] The number of propellers 1 is not limited to six, as shown in the above-described embodiments. Five or less, or seven or more propellers 1 may be adoptable.

DESCRIPTION OF THE REFERENCE NUMERALS

[0101] 1 propeller (rotor) [0102] 2 electric motor [0103] 3 main battery (battery) [0104] 4 generator [0105] 5 engine [0106] 71 battery condition detecting section (battery abnormality detecting section) [0107] 72 motor condition detecting section (motor abnormality detecting section) [0108] 81 airbag [0109] 82 parachute [0110] 83 emergency battery [0111] 100 multicopter (helicopter)