U.S. patent application number 15/764290 was filed with the patent office on 2018-10-04 for underwater image capturing apparatus.
This patent application is currently assigned to PRODRONE CO., LTD.. The applicant listed for this patent is PRODRONE CO., LTD.. Invention is credited to Kazuo ICHIHARA, Kiyokazu SUGAKI.
Application Number | 20180284575 15/764290 |
Document ID | / |
Family ID | 58631541 |
Filed Date | 2018-10-04 |
United States Patent
Application |
20180284575 |
Kind Code |
A1 |
SUGAKI; Kiyokazu ; et
al. |
October 4, 2018 |
UNDERWATER IMAGE CAPTURING APPARATUS
Abstract
To make it possible to control an image capturing position and
its direction in water easily and flexibly through the use of a
miniature unmanned aerial vehicle equipped with a plurality of
rotors. This is solved by an underwater image capturing apparatus
including a miniature unmanned aerial vehicle equipped with a
plurality of rotors, a winding machine capable of delivering and
winding a string-like member, and an underwater camera capable of
capturing images in water, wherein the winding machine is fixed to
the miniature unmanned aerial vehicle and the string-like member is
connected to the underwater camera.
Inventors: |
SUGAKI; Kiyokazu;
(Nagoya-shi, JP) ; ICHIHARA; Kazuo; (Nagoya-shi,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
PRODRONE CO., LTD. |
Nagoya-shi, Aichi |
|
JP |
|
|
Assignee: |
PRODRONE CO., LTD.
Nagoya-shi, Aichi
JP
|
Family ID: |
58631541 |
Appl. No.: |
15/764290 |
Filed: |
October 7, 2016 |
PCT Filed: |
October 7, 2016 |
PCT NO: |
PCT/JP2016/079951 |
371 Date: |
March 28, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G03B 17/561 20130101;
H04N 2005/2255 20130101; B63G 2008/005 20130101; B64D 47/08
20130101; G03B 15/006 20130101; H04N 5/225 20130101; G03B 17/08
20130101; H04N 5/22521 20180801; B64C 2201/127 20130101; H04N
5/2252 20130101; B63G 8/16 20130101; B64C 27/08 20130101; B64C
39/024 20130101; B64C 2201/024 20130101; B63C 11/48 20130101 |
International
Class: |
G03B 15/00 20060101
G03B015/00; G03B 17/56 20060101 G03B017/56; B64C 27/08 20060101
B64C027/08; B64C 39/02 20060101 B64C039/02; G03B 17/08 20060101
G03B017/08 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 26, 2015 |
JP |
2015-209619 |
Claims
1. An underwater image capturing apparatus comprising: a
multicopter equipped with a plurality of rotors; an underwater
camera capable of capturing images in water; and a manipulator
terminal capable of wireless communication with the multicopter,
wherein the multicopter is adapted such that its airframe attitude
in the air and its flying position can be controlled automatically,
the underwater camera and the multicopter are connected by a
string-like member which is adapted to serve also as a signal line
for transmitting and receiving a signal between the underwater
camera and the multicopter, and the underwater camera is capable of
changing its image capturing direction in water, according to a
signal from the multicopter.
2. The underwater image capturing apparatus according to claim 1,
further comprising a winding machine capable of delivering and
winding the string-like member, wherein the winding machine is
fixed to the multicopter.
3. The underwater image capturing apparatus according to claim 1,
wherein the multicopter is equipped with a GPS and a direction
sensor.
4. The underwater image capturing apparatus according to claim 1,
wherein the string-like member is adapted to serve also as a feeder
for supplying power from the multicopter to the underwater
camera.
5. The underwater image capturing apparatus according to claim 1,
wherein the manipulator terminal is capable of receiving image
information captured by the underwater camera from the multicopter
and displaying the image information on display means of the
manipulator terminal.
6. The underwater image capturing apparatus according to claim 1,
wherein the underwater camera is equipped with a plurality of screw
propellers, and the underwater camera is capable of changing an
image capturing direction of the underwater camera in water by
controlling a rotating speed and a rotational rate of each of the
screw propellers, according to a signal from the multicopter.
7. An underwater image capturing apparatus comprising: a miniature
unmanned aerial vehicle equipped with a plurality of rotors; and an
underwater camera capable of capturing images in water, wherein the
miniature unmanned aerial vehicle includes a winding machine
capable of delivering and winding a plurality of string-like
members at the same time, the string-like members being connected
to the underwater camera with a given interval therebetween; and
the string-like members are pulled downward by weight of the
underwater camera to keep a relative positional relation between an
image capturing direction of the underwater camera and a heading
azimuth of the miniature unmanned aerial vehicle.
8. The underwater image capturing apparatus according to claim 1,
wherein the underwater camera is equipped with a pumping mechanism
placed in a bottom of the underwater camera, the pumping mechanism
includes an intake and a propeller to suck up fluid from downward,
a plurality of discharge outlets to discharge sucked-up fluid in a
horizontal direction, and valve elements to make the underwater
camera turn horizontally to any direction by controlling flow rates
of fluid to be discharged from the respective discharge outputs,
and the underwater camera is capable of changing an image capturing
direction of the underwater camera in water by controlling a
pivoting angle of the valve elements, according to a signal from
the multicopter.
9. The underwater image capturing apparatus according to claim 1,
wherein a first float member floatable on a water surface is placed
between the multicopter and the underwater camera along a
longitudinal direction of the string-like member.
10. The underwater image capturing apparatus according to claim 9,
wherein a fin part which is immersed under a water surface is fixed
to a bottom of the first float member; and when the first float
member is towed by the multicopter on the water surface, supposing
that an end of the fin part, facing forward in a direction of
movement, is a forward end and an opposite end of the fin part is a
rear end, an upper surface of the fin part slants downward from the
rear end to the forward end.
11. The underwater image capturing apparatus according to claim 1,
further comprising a second float member floatable on a water
surface, with the underwater camera accommodated therein, wherein a
lens part of the underwater camera is exposed outside the second
float member or at least a part of the second float member is made
of a transparent material, thereby making the underwater camera
capable of capturing mages in water.
12. The underwater image capturing apparatus according to claim 11,
wherein the underwater camera is supported by an attitude
stabilizer which stabilizes an image capturing direction of the
underwater camera inside the second float member.
13. The underwater image capturing apparatus according to claim 12,
wherein the attitude stabilizer is capable of changing the image
capturing direction of the underwater camera according to
instructions from the multicopter.
14. (canceled)
Description
TECHNICAL FIELD
[0001] The present invention relates to an underwater image
capturing apparatus and, more particularly, to a technology that
controls the position and orientation of an underwater camera using
a miniature unmanned aerial vehicle equipped with a plurality of
rotors.
BACKGROUND ART
[0002] Conventionally, miniature unmanned aerial vehicles (UAVs)
which are typified by unmanned helicopters for industrial use have
been expensive and hard to obtain and manipulative skills have been
needed to make them fly stably. Recently, however, UAV
maneuverability has improved dramatically because an acceleration
sensor, an angular velocity sensor, etc. which have high
performance and are easy to handle have become available at
reasonable prices, and also, many operations to control the UAV
airframe have been automated. Against this background, attempts are
now made to apply, especially, miniature multicopters to diverse
missions in a wide range of fields, not only for hobby
purposes.
[0003] A multicopter is one type of a helicopter having a plurality
or rotors installed thereon, and it flies while keeping balance by
adjusting the rotational rate of each of these rotors. Unlike a
helicopter, a multicopter has a simplified structure, and
therefore, the multicopter is easy to maintain and its airframe can
be built at comparatively low cost.
CITATION LIST
Patent Literature
[0004] PTL1: JP 2006-224863 A
SUMMARY OF INVENTION
Technical Problem
[0005] The aforementioned PTL1 discloses an underwater vehicle
which is equipped with an underwater camera and a plurality of
thrusters and performs attitude control in water through a triaxial
acceleration sensor and a triaxial angular acceleration sensor.
[0006] Since the above underwater vehicle controls the vehicle
position and attitude using the acceleration sensor and angular
acceleration sensor, the vehicle is presumed to control the
direction and distance to move from its current position and
attitude as a starting point in response to a command from its
manipulator. That is, once offset occurs in its position and
attitude, the underwater vehicle of PTL1 is thought to be unable to
make corrections autonomously, such as returning to its original
position, restoring its attitude to be horizontal, and reorienting
the camera toward an image capturing direction. Therefore, the
manipulator always has to manipulate the above underwater vehicle
interactively, while viewing images captured by the camera.
[0007] In addition, in the case of manipulating the vehicle
immersed in water by radio communication, electromagnetic waves
significantly attenuate through a conductor such as water and,
therefore, communication can only be performed across a short
distance of several meters even if a decrease is made in the
frequency of electromagnetic waves to be used for communication.
Hence, it is hard to manipulate the above underwater vehicle stably
by radio communication; probably for this reason, the above
underwater vehicle is manipulated by wired communication according
to its embodiment. Since a terminal for the manipulator and the
underwater vehicle are connected by wire, a range in which the
underwater vehicle moves is restricted within a cable length
range.
[0008] Furthermore, for instance, considering a case where a
miniature unmanned aerial vehicle is made to land on a water
surface and images in water are captured by an underwater camera
installed on the airframe, manipulative skills are needed to
manipulate the vehicle even if the vehicle lands on a still water
surface; additionally, changing the image capturing position and
direction after landing on the water surface becomes complicated.
Moreover, such miniature unmanned aerial vehicle can only capture
images in front of its airframe or in a direction from the airframe
position as a starting point.
[0009] In consideration of the problems noted above, a problem to
be solved by the present invention resides in making it possible to
control the image capturing position and direction in water easily
and flexibly through the use of a miniature unmanned aerial vehicle
equipped with a plurality of rotors.
Solution to Problem
[0010] To solve the foregoing problem, an underwater image
capturing apparatus of the present invention includes a miniature
unmanned aerial vehicle equipped with a plurality of rotors and an
underwater camera capable of capturing images in water, wherein the
underwater camera and the miniature unmanned aerial vehicle are
connected by a string-like member.
[0011] With the miniature unmanned aerial vehicle with high
maneuverability, the underwater camera is manipulated from above;
this makes it possible to capture images in water in a site far
from the manipulator and also to control the position and
orientation of the underwater camera in water easily and
flexibly.
[0012] It is also preferable that the apparatus further includes a
winding machine capable of delivering and winding the string-like
member, wherein the winding machine is fixed to the miniature
unmanned aerial vehicle.
[0013] Since the miniature unmanned aerial vehicle is equipped with
the winding machine, flying stability is enhanced by winding up the
string-like member when the vehicle is moving from a takeoff and
landing port to a spot where image capturing is performed, and it
becomes easy to adjust depth at which the underwater camera should
be positioned when image capturing is performed.
[0014] It is also preferable that the miniature unmanned aerial
vehicle is equipped with a GPS and a direction sensor.
[0015] Since the miniature unmanned aerial vehicle is equipped with
the GPS and the direction sensor, it is possible to specify a
position and an orientation of the miniature unmanned aerial
vehicle using latitude/longitude which is an absolute guidepost and
a direction. This makes it unnecessary for the manipulator to
adjust the position and orientation of the miniature unmanned
aerial vehicle while tracking the vehicle visually, and therefore,
it becomes possible to place the miniature unmanned aerial vehicle
and the underwater camera in a desired position and an orientation
with minimum necessary manipulation and it also becomes possible to
automatically maintain a state that they are placed.
[0016] It is also preferable that the string-like member is adapted
to serve also as a signal line for transmitting and receiving a
signal between the miniature unmanned aerial vehicle and the
underwater camera.
[0017] The miniature unmanned aerial vehicle and the underwater
camera are connected by the signal line and this makes it possible
for the manipulator to manipulate the underwater camera through
wireless communication with the miniature unmanned aerial vehicle
and likewise to receive image information captured by the
underwater camera through wireless communication with the miniature
unmanned aerial vehicle.
[0018] In addition, a configuration may be such that the
string-like member is adapted to serve also as a feeder for
supplying power from the miniature unmanned aerial vehicle to the
underwater camera.
[0019] Power consumed by the underwater camera is generally smaller
as compared with power consumed by the miniature unmanned aerial
vehicle, and it is possible to supply sufficient power even with a
feeder having a small wire diameter. Consequently, it becomes
unnecessary to install a separate battery in the underwater camera;
for example, such an accident can be obviated that image capturing
is stopped by a human error, inter alia, a battery being charged or
installed in the underwater camera.
[0020] It is also preferable that the apparatus further includes a
manipulator terminal capable of wireless communication with the
miniature unmanned aerial vehicle, wherein the manipulator terminal
is capable of receiving image information captured by the
underwater camera from the miniature unmanned aerial vehicle and
displaying the image information on display means of the
manipulator terminal.
[0021] With a configuration arranged so that images captured by the
underwater camera can be displayed on the manipulator terminal, it
becomes possible for the manipulator to adjust the miniature
unmanned aerial vehicle (underwater camera) to a desired position
and an orientation while observing images in water.
[0022] In addition, a configuration may be such that the underwater
camera is equipped with a plurality of screw propellers, and the
underwater camera is capable of changing an image capturing
direction of the underwater camera in water by controlling a
rotating speed and a rotational rate of each of the screw
propellers, according to a signal from the miniature unmanned
aerial vehicle.
[0023] The miniature unmanned aerial vehicle and the underwater
camera are connected by the signal line, and the underwater camera
is separately equipped with means for changing its image capturing
direction; thereby, for example, the manipulator can control the
image capturing direction in water more flexibly through wireless
communication with the miniature unmanned aerial vehicle.
[0024] In addition, a configuration may be such that the winding
machine is capable of delivering and winding a plurality of the
string-like members at the same time, the string-like members are
connected to the underwater camera with a given interval
therebetween, and the string-like members are pulled downward by
weight of the underwater camera to keep a relative positional
relation between an image capturing direction of the underwater
camera and a heading azimuth of the miniature unmanned aerial
vehicle.
[0025] The string-like members are connected to the underwater
camera with a given interval therebetween; owing to this, when the
azimuth of the miniature unmanned aerial vehicle changes and these
string-like members twist in the corresponding direction, the
underwater camera turns by its own weight in an untwisting
direction (it turns in a direction to keep a relative positional
relation between the heading azimuth of the miniature unmanned
aerial vehicle and the capturing direction of the underwater
camera). Having such a simple structure makes it possible for the
manipulator to orient the underwater camera toward a desired image
capturing direction only by manipulating the miniature unmanned
aerial vehicle in an ordinary way.
[0026] In addition, a configuration may be such that the underwater
camera is equipped with an angular velocity sensor and a pumping
mechanism placed in a bottom of the underwater camera, the pumping
mechanism includes an intake and a propeller to suck up fluid from
downward, a plurality of discharge outlets to discharge sucked-up
fluid in a horizontal direction, and valve elements to make the
underwater camera turn horizontally to any direction by controlling
flow rates of fluid to be discharged from the respective discharge
outputs, and the underwater camera automatically operates the valve
elements according to a signal indicating an azimuth change from
the miniature unmanned aerial vehicle to keep a relative positional
relation between an image capturing direction of the underwater
camera in a horizontal direction and a heading azimuth of the
miniature unmanned aerial vehicle.
[0027] The miniature unmanned aerial vehicle and the underwater
camera are connected by the signal line and the underwater camera
is separately equipped with means for changing its image capturing
direction; thereby, the underwater camera can make its image
capturing direction relatively coincide with the heading azimuth of
the miniature unmanned aerial vehicle according to a signal from
the miniature unmanned aerial vehicle. This enables the manipulator
to orient the underwater camera toward a desired direction only by
manipulating the miniature unmanned aerial vehicle in an ordinary
way. Furthermore, when the pumping mechanism sucks up fluid from
downward, the underwater camera is pulled downward by its reaction.
By adjusting fluid to be discharged from the respective discharge
outlets to a flow rate at which the fluid flows balance one another
in a horizontal turning direction, it is possible to stabilize the
under camera position in a circumferential direction. Hence, by
making a configuration such that the pumping mechanism operates all
the time in water, it is possible to make the position and image
capturing direction of the underwater camera in water more
stable.
[0028] In addition, a configuration may be such that a first float
member floatable on a water surface is placed between the miniature
unmanned aerial vehicle and the underwater camera along a
longitudinal direction of the string-like member.
[0029] Since the first float member is placed between the miniature
unmanned aerial vehicle and the underwater camera, the underwater
camera immersed under a water surface will be supported, suspended
from the first float member floating on the water surface. This
makes it possible to keep distance of the underwater camera from
the water surface constant. Moreover, for example, by making the
string-like member slack moderately, even in a case where it is
hard to stabilize the miniature unmanned aerial vehicle in a still
position in the air, it is possible to reduce its influence on the
position and the image capturing direction of the underwater
camera.
[0030] It is also preferable that the first float member is
provided with a fin part which is immersed under a water surface
under its bottom, and when the first float member is towed by the
miniature unmanned aerial vehicle on the water surface, supposing
that an end of the fin part, facing forward in a direction of
movement, is a forward end and an opposite end of the fin part is a
rear end, an upper surface of the fin part slants downward from the
rear end to the forward end.
[0031] When the first float member moves on water surface, towed by
the miniature unmanned aerial vehicle, the first float member is
not pulled sideways, but will be pulled obliquely upward toward the
miniature unmanned aerial vehicle. For this reason, the first float
member has a characteristic that it is liable to bounce up above
water when it experiences water resistance. The first float member
has the fin part which is immersed under a water surface and the
fin part is formed such that its upper surface slants downward
toward a direction of movement; thereby, the fin part produces
force that pulls the first float member downward when the first
float member moves on the water surface. This helps to prevent the
first float member from bouncing up above water when the first
float member moves on the water surface.
[0032] In addition, a configuration may be such that the apparatus
further includes a second float member floatable on a water
surface, with the underwater camera accommodated therein, wherein a
lens part of the underwater camera is exposed outside the second
float member or at least a part of the second float member is made
of a transparent material, thereby making the underwater camera
capable of capturing mages in water.
[0033] Since the underwater camera is accommodated inside the
second float member, it becomes possible to capture images in water
from vicinity of a water surface without making the miniature
unmanned aerial vehicle itself land on the water surface.
Furthermore, for example, by making the string-like member slack
moderately, even in a case where it is hard to stabilize the
miniature unmanned aerial vehicle in a still position in the air,
it is possible to reduce its influence on the position and the
image capturing direction of the underwater camera.
[0034] In addition, since the second float member accommodates the
underwater camera inside it and its structure allows the underwater
camera oriented downward to capture images in water from inside the
second float member, it is hard to provide the second float member
with a fin part under its bottom like the first float member. In a
configuration of the apparatus that is equipped with the first
float member having the fin part and the second float member, the
second float member moves, following the first float member, and
therefore, the second float member will be towed sideways by the
first float member. Thereby, not only the first float member but
the second float member can also be prevented from bouncing up
above water.
[0035] It is also preferable that the underwater camera is
supported by an attitude stabilizer which stabilizes an image
capturing direction of the underwater camera inside the second
float member.
[0036] Since the second float member floats on a water surface, it
is susceptible to weltering of waves on the water surface. The
underwater camera is supported by the attitude stabilizer inside
the second float member; this enables it to reduce the influence of
the second float member weltering on a water surface on image
capturing.
[0037] In addition, a configuration may be such that the attitude
stabilizer is capable of changing the image capturing direction of
the underwater camera according to instructions from the miniature
unmanned aerial vehicle.
[0038] By making the attitude stabilizer capable of changing the
image capturing direction of the underwater camera inside the
second float member, it becomes possible to control the image
capturing direction of the underwater camera more flexibly.
Advantageous Effects of Invention
[0039] As described in the foregoing, according to the underwater
image capturing apparatus pertaining to the present embodiment, it
becomes possible to control the image capturing position and
direction in water easily and flexibly through the use of a
miniature unmanned aerial vehicle equipped with a plurality of
rotors.
BRIEF DESCRIPTION OF DRAWINGS
[0040] FIG. 1 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a first embodiment
captures images in water.
[0041] FIG. 2 is a block diagram depicting a functional
configuration of the underwater image capturing apparatus of the
first embodiment.
[0042] FIG. 3 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a second
embodiment captures images in water.
[0043] FIG. 4 is a block diagram depicting a functional
configuration of the underwater image capturing apparatus of the
second embodiment.
[0044] FIG. 5 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a third embodiment
captures images in water.
[0045] FIG. 6 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a fourth
embodiment captures images in water.
[0046] FIG. 7 is a block diagram depicting a functional
configuration of the underwater image capturing apparatus of the
fourth embodiment.
[0047] FIG. 8 is a bottom view of a pumping device in the fourth
embodiment.
[0048] FIG. 9 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a fifth embodiment
captures images in water.
[0049] FIG. 10 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a sixth embodiment
captures images in water.
[0050] FIG. 11 is a block diagram depicting a functional
configuration of the underwater image capturing apparatus of the
sixth embodiment.
[0051] FIG. 12 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus of a seventh
embodiment captures images in water.
DESCRIPTION OF EMBODIMENTS
[0052] In the following, embodiments of an underwater image
capturing apparatus pertaining to the present invention will be
described in detail with the aid of the drawings. Every underwater
image capturing apparatus pertaining to each of embodiments
described below is an apparatus that flies to a given position
above water, make an underwater camera descend in that position,
and capture images in water, as commanded by its manipulator. Now,
as places where an underwater image capturing apparatus of the
present invention can be used, for example, seas, lakes, rivers,
water reservoirs, aquatic reservoirs, pools, etc. are conceivable;
however, the apparatus can be used in any other place that is a
space where water (liquid) is stored.
First Embodiment
[0053] FIG. 1 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus 91 pertaining to a
first embodiment of the present invention captures images in water.
The underwater image capturing apparatus 91 is comprised mainly of
a multicopter 100 (a miniature unmanned aerial vehicle) equipped
with a plurality of rotors 160 (rotary wings), a winch 200 (a
winding machine) fixed to an adapter plate AP of the multicopter
100, an underwater camera 300 capable of capturing images in water.
Now, a "rotor" termed in the present invention means a motor 161
with a blade 162 installed thereon.
[0054] The multicopter 100 according to the present embodiment is a
hexacopter equipped with six rotors 160. The number of the rotors
160 of the multicopter 100 is not limited to six, and the
multicopter may be configured to be a tricopter (with three
rotors), a quadcopter (with four rotors), or an octocopter (with
eight rotors) depending on required flight performance, reliability
against failure, allowable cost, etc. The adapter plate AP allows
various accessories to be attached to the multicopter 100 depending
on a purpose of flight and is a component for simply enhancing the
general versatility of the multicopter 100; so, the adapter plate
AP may be dispensed with if the winch 200 can be fixed directly to
the main body of the multicopter 100.
[0055] The underwater camera 300 in the present embodiment is
supported, suspended by a wire 210 (string-like member) wound on
the winch 200. When the multicopter 100 arrives at a given position
on water, the winch 200 delivers the wire 210 to immerse the
underwater camera 300 in water. A biforked forward end of the wire
210 is connected to an upper surface of the underwater camera 300
and the underwater camera 300 is supported by the wire 210 to be
always oriented toward a horizontal direction.
[0056] FIG. 2 is a block diagram depicting a functional
configuration of the underwater image capturing apparatus 91
pertaining to the first embodiment. The multicopter is comprised
mainly of a plurality of rotors 160 (six rotors in the present
embodiment) which rotate to generate lift for the airframe by
rotating the blade 162, a flight controller 110 which integrally
manages operation of the respective rotors 160 and controls the
attitude and flying motion of the multicopter airframe in air, a
wireless transceiver 120 for wireless communication with the
manipulator (a manipulator terminal 800), and a battery 140 to
supply power to these components.
[0057] As described above, each rotor 160 is comprised of the motor
161 and the blade 162. The motor 161 is an outer rotor type DC
brushless motor and the blade 162 is installed on its output shaft.
The flight controller 110 includes a control device 111 which is a
microcontroller. The control device 111 includes a CPU 115 which is
a central processing unit, a RAM/ROM 116 which is a storage device,
and a PWM controller 117 which controls the rotating speed and
rotational rate of each motor 161 in conjunction with ESCs 150
(Electronic Speed Controllers).
[0058] The flight controller 110 is also equipped with a suite of
sensors 112 and a GPS receiver 113 (GPS), which are connected to
the control device 111. In the suite of sensors 112 of the
multicopter 100 according to the present embodiment, at least an
acceleration sensor, an angular velocity sensor (a gyroscope
sensor), an atmospheric pressure sensor (an altitude sensor), and a
geomagnetic sensor (an electronic compass) (a direction sensor) are
included. Since the multicopter 100 is equipped with the GPS
receiver 113 and the geomagnetic sensor, it is possible to specify
a position and an orientation of the multicopter 100 using
latitude/longitude which is an absolute guidepost and a direction.
In addition, while altitude of the multicopter 100 can also be
acquired by the GPS receiver 113, the atmospheric pressure sensor
is also provided separately as the altitude sensor in the present
embodiment.
[0059] The configuration described above makes it unnecessary for
the manipulator to make the multicopter fly to a position at which
the underwater camera 300 is to be immersed while piloting the
multicopter 100 visually and the manipulator can immerse the
underwater camera 300 at a desired position by specifying minimum
necessary parameters. Moreover, it is possible to keep the camera
at that position automatically.
[0060] The depth to which the underwater camera 300 is to be
immersed under a water surface WS is adjusted by the manipulator
visually using a display device 820 (to be described later) of the
manipulator terminal 800; besides, it is also possible to make an
adjustment to a desired depth automatically by measuring the length
of the wire 210 delivered by the winch 200 with a rotary encoder
which is not depicted and acquiring a hovering altitude with the
atmospheric pressure sensor.
[0061] In the RAM/ROM 116 of the control device 111, a flight
control program FCP is stored in which a flight control algorithm
is programmed to control attitude and basic flying operations
during a flight of the multicopter 100. According to a command by
the manipulator, the flight control program FCP causes the
multicopter 100 to fly while adjusting the rotating speed and
rotational rate of each rotor 160 and correcting disturbed attitude
based on information acquired from the suite of sensors 112.
Instructing the multicopter 100 to fly may be performed manually by
the manipulator, using a Propo (the manipulator terminal 800).
Alternatively, with parameters such as latitude/longitude,
altitude, and a flight route which should be specified in advance,
the program FCP may cause the multicopter 100 to fly
automatically.
[0062] The winch 200 is equipped with a drive source which is not
depicted and performs delivering and winding of the wire 210
according to instructions from the PWM controller 117 of the
control device 111. In addition, electric power to drive the winch
200 is supplied from the battery 140 of the multicopter 100.
[0063] In the underwater image capturing apparatus 91 of the
present embodiment, the control device 111 in the flight controller
110 also functions to control the winch 200 to simplify the
configuration; however, an alternative configuration to separate
the control function of the winch 200 is also possible such that
the multicopter 100 is separately equipped with a dedicated control
device only for the winch 200 or that the winch 200 itself is
equipped with a control device. Of course, a configuration is also
possible such that the winch 200 is equipped with a battery
independently. In addition, instructing the winch 200 to deliver
and wind the wire 210 may be performed manually by the manipulator,
using the Prop (the manipulator terminal 800) or performed
automatically by a program conditional upon, e.g.,
latitude/longitude, time, etc. Now, the winch 200 is not a
requisite component and can be dispense with in a case where the
wire 210 is short.
[0064] A signal line 211 for transmitting and receiving a signal
between the multicopter 100 and the underwater camera 300 is
combined with the wire 210 from the winch 200. The signal line 211
is communicably connected to the control device 111 via a
transceiver 130 of the multicopter 100 and communicably connected
to a camera module 310 via a transceiver 320 of the underwater
camera 300.
[0065] The multicopter 100 and the underwater camera 300 are
connected by the signal line 211 and this makes it possible to
transmit a command (e.g., a command to start or stop image
capturing and recording or a command to modifying an image
capturing parameter such as zoom) to the underwater camera 300
through wireless communication with the multicopter 100 and
likewise to receive image information captured by the underwater
camera 300 through wireless communication with the multicopter
100.
[0066] The manipulator terminal 800 is equipped with a display
device 820 (display means) to display images captured by the
underwater camera 300 and this enables the manipulator to adjust
the position and orientation of the multicopter 100 (the underwater
camera 300) while observing images in water captured by the
underwater camera 300 in real time.
[0067] Now, the signal line 211 connecting the multicopter 100 with
the underwater camera 300 is not a requisite component. For
instance, in a case where it is not required to observe images in
real time, but simply recording an image in water in a given
position at a given time is required, the signal line 211 combined
with the wire 210 may be dispensed with.
[0068] A feeder 212 to supply power from the battery 140 of the
multicopter 100 to the underwater camera 300 is also combined with
the wire 210 of the winch 200. Power consumed by the underwater
camera 300 is generally smaller as compared with power consumed by
the multicopter 100 and it is possible to supply sufficient power
even with a feeder having a small wire diameter. The feeder 212 is
combined with the wire 210 and this makes it unnecessary to install
a battery in the underwater camera 300; for example, such an
accident is prevented that image capturing is stopped by a human
error when a battery in the underwater camera 300 is charged or
installed. Now, a configuration is also possible such that the
underwater camera 300 is equipped with a battery.
[0069] As will be appreciated from the foregoing, the underwater
image capturing apparatus 91 of the present embodiment is
configured to make the underwater camera 300 descend from the
multicopter 100 with high maneuverability by the winch 200 and
capture images in water; thereby, image capturing in a remote site
using wireless communication and autonomous flying becomes possible
and it is possible to control the position and orientation of the
underwater camera 300 easily and flexibly.
Second Embodiment
[0070] Descriptions are provided below about a second embodiment of
the underwater image capturing apparatus pertaining to the present
invention. FIG. 3 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus 92 pertaining to the
second embodiment captures images in water. FIG. 4 is a block
diagram depicting a functional configuration of the underwater
image capturing apparatus 92. Now, in the following description, a
component having a similar or the same function as in the foregoing
embodiment is assigned the same reference designator as in the
foregoing embodiment and its detailed description is omitted.
[0071] An underwater camera 400 according to the second embodiment
is comprised mainly of a camera module 410 which captures images in
water, a plurality of screw propellers 470 which allows the
underwater camera 400 to change its orientation in water, a control
device 430 which integrally manages operation of the respective
screw propellers 470 and controls attitude of the underwater camera
400 and its image capturing direction in water, a transceiver 420
for communication with the multicopter 100 (and the manipulator
terminal 800) through the signal line 211, and a battery 480 to
supply power to these components.
[0072] As depicted in FIG. 3, the screw propellers 470 are placed
on either side and in the rear of the under camera 400 with its
lens facing forward. Two screw propellers 471 placed on either side
of the underwater camera 400 are thrust sources to make the camera
turnable in a horizontal direction and a screw propeller 472 placed
in the rear is a thrust source to make the underwater camera 400
tiltable in a vertical direction. The underwater camera 400 is
equipped with these screw propellers 470, and thereby, its PTZ
motion in water is enabled.
[0073] The tilting function of the underwater camera 400 is not a
necessary requirement; the screw propeller 472 may be dispensed
with, for instance, in a case where image capturing only in a
horizontal direction is a purpose or where adjusting a depth to
which the underwater camera 400 is to be immersed under water
substitutes for a tilting motion. Now, if the screw propeller 472
is to be dispensed with, it is preferable to make the forward end
of the wire 210 multi-forked and connect it to an upper surface of
the main body of the underwater camera 400, as is the case for the
underwater camera 300 in the first embodiment.
[0074] The control device 430 of the underwater camera 400 includes
a CPU 431 which is a central processing unit, a RAM/ROM 432 which
is a storage device, and a PWM controller 433 which controls the
rotating speed and rotational rate of each motor 460 in conjunction
with ESCs 450.
[0075] In the RAM/ROM 432 of the control device 430, an attitude
control program ACP1 is stored in which an attitude control
algorithm is programmed to control attitude of the underwater
camera 400 in water. According to a command by the manipulator (the
manipulator terminal 800) received via the multicopter 100, the
attitude control program adjusts the rotating speed and rotational
rate of each screw propeller 470, thus changing the image capturing
direction of the camera. In addition, the control device 430
transmits images captured by the camera module 410 in real time to
the manipulator (the manipulator terminal 800) via the multicopter
100.
[0076] The under water camera 400 is further equipped with
acceleration and angular velocity sensors 440. Based on information
acquired from these sensors 440, the attitude control program ACP1
automatically corrects disturbed attitude of the underwater camera
400 to continue to maintain an image capturing direction specified
by the manipulator. Now, this function to maintain an image
capturing direction is not a necessary requirement, and the
acceleration and angular velocity sensors 440 may be dispensed
with, for instance, when environment has little influence on the
camera attitude, inter alia, in a case where image capturing is
performed in a lake or the like where water is still, or when
nothing interferes an operation in which the manipulator manually
corrects disturbed attitude while viewing the display device 820 of
the manipulator terminal 800.
[0077] As will be appreciated from the foregoing, in the underwater
image capturing apparatus 92 of the present embodiment, the
multicopter 100 and the underwater camera 400 are interconnected by
the signal line 211 and the underwater camera 400 is separately
equipped with means for changing its image capturing direction;
thereby, the manipulator can control the image capturing direction
in water more flexibly through wireless communication with the
multicopter 100.
[0078] In addition, the manipulator does not necessarily need to
manipulate the underwater camera 400 separately to turn the
underwater camera 400 horizontally. For example, like an underwater
camera 500 in a fourth embodiment to be described later, the image
capturing direction may automatically be made to relatively
coincide with a change in the azimuth of the multicopter 100
accordingly. This enables the manipulator to change the image
capturing orientation of the underwater camera 400 in a horizontal
direction to a desired direction only by manipulating the
multicopter 100 in an ordinary way.
Third Embodiment
[0079] Descriptions are provided below about a third embodiment of
the underwater image capturing apparatus pertaining to the present
invention. FIG. 5 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus 93 pertaining to the
third embodiment captures images in water. Now, the underwater
image capturing apparatus 93 has the same functional configuration
as that of the image capturing apparatus 91 of the first embodiment
(FIG. 2). Now, in the following description, a component having a
similar or the same function as in the foregoing embodiments is
assigned the same reference designator as in the foregoing
embodiments and its detailed description is omitted.
[0080] The winch 200 in the present embodiment is capable of
delivering and winding two wires 210 at the same time and these two
wires 210 are connected to an upper surface of the underwater
camera 30 with a given interval therebetween. Thereby, when the
multicopter 100 yaws and these wires 210 twist in the yawing
direction, the underwater camera 300 turns horizontally by its own
weight in an untwisting direction.
[0081] The underwater image capturing apparatus 93 of the present
embodiment has a simple structure, making it possible to keep a
relative positional relation between the image capturing direction
of the underwater camera 300 in water and the heading azimuth of
the multicopter 100. This enables the manipulator to orient the
underwater camera 300 toward a desired image capturing direction in
a horizontal direction. Now, the signal line 211 and feeder 212 in
the present embodiment may be combined with any either of the two
wires 210.
Fourth Embodiment
[0082] Descriptions are provided below about a fourth embodiment of
the underwater image capturing apparatus pertaining to the present
invention. FIG. 6 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus 94 pertaining to the
fourth embodiment captures images in water. FIG. 7 is a block
diagram depicting a functional configuration of the underwater
image capturing apparatus 94. Now, in the following description, a
component having a similar or the same function as in the foregoing
embodiments is assigned the same reference designator as in the
foregoing embodiments and its detailed description is omitted.
[0083] The underwater camera 500 according to the fourth embodiment
is comprised mainly of a camera module 510 which captures images in
water, a pumping device 570 which allows the underwater camera 500
to change its orientation in a horizontal direction in water, a
control device 530 which integrally manages operation of respective
valve elements 574 to be described later and a propeller 572 in the
pumping device 570 and controls the image capturing direction of
the underwater camera 500 in water, a transceiver 520 for
communication with the multicopter 100 (and the manipulator
terminal 800) through the signal line 211, and a battery 580 to
supply power to these components.
[0084] As depicted in FIG. 6, the underwater camera 500 of the
present embodiment is equipped with the pumping device 570 in its
bottom. As noted previously, the pumping device 570 is a thrust
source to turn the underwater camera 500 in a horizontal direction.
A multi-forked forward end of the wire 210 is connected to an upper
surface of the underwater camera 500 and the underwater camera 500
is supported by the wire 210 so as to be oriented toward a
horizontal direction all the time.
[0085] FIG. 8 is a bottom view of the underwater camera 500. The
pumping device 570 of the underwater camera 500 is comprised of a
hollow pump chamber 571 placed in the center of the bottom of the
underwater camera 500, an intake 571a which is an opening to allow
the pump chamber 571 to communicate with outside (water), a
propeller 572 which is placed near the inlet 571a and takes in
fluid (water) into the pump chamber 571, tubular parts 573 which
are placed in positions symmetric across the pump chamber 571 and
are a pair of T-shaped fluid passages whose branch tubes
communicate with the pump chamber 571, four discharge outlets 573a
which are open ends of main tubes of the respective tubular parts
573, and valve elements 574 placed at the branching points of the
branch tubes inside the respective tubular parts 573. Three motors
560 are accommodated inside the main body of the underwater camera
500 and these motors 560 are connected to the propeller 572 and two
valve elements 574 respectively.
[0086] When the propeller 572 rotates and fluid is taken into the
pump chamber 571, the fluid passes through the respective tubular
parts 573 and is discharged from the discharge outlets 573a. The
valve elements 574 are control valves which adjust the flow rates
of fluid to be discharged from the discharge outputs 753a. As a
concrete structure of the valve elements 574, it is expedient to
use mixing valves, as found in, e.g., JP H08-121623, with their
flow directions inverted.
[0087] For the underwater camera 500, its image capturing direction
can be turned horizontally to any given direction by unbalancing
the flow rates of fluid to be discharged from the respective
discharge outlets 573a and further, by adjusting the fluid to be
discharged from the respective discharge outlets 573a to a flow
rate at which the fluid flows balance one another with respect to a
horizontal turning direction, the image capturing direction at that
time can be made stable. In addition, when the propeller 572 sucks
up fluid, the underwater camera 500 is pulled downward by its
reaction. In the present embodiment, the propeller 572 rotates all
the time and the fluid to be discharged from the respective
discharge outlets 573a flows at a flow rate at which the fluid
flows balance one another with respect to a horizontal turning
direction, except for when the image capturing direction of the
underwater camera 500 is changed. Thereby, the underwater image
capturing apparatus 94 according to the present embodiment is
contrived to stabilize the image capturing direction of the
underwater camera 500.
[0088] The control device 530 of the underwater camera 500 includes
a CPU 531 which is a central processing unit, a RAM/ROM 532 which
is a storage device, and a PWM controller 533 which controls the
rotating speed and rotational rate of each motor 560 in conjunction
with ESCs 550.
[0089] In the RAM/ROM 532 of the control device 530, an attitude
control program ACP2 is stored in which an attitude control
algorithm is programmed to control attitude of the underwater
camera 500 in water. When the multicopter 100 receives a yawing
command from the manipulator (the manipulator terminal 800), it
transfers that information to the underwater camera 500 as
well.
[0090] Upon receiving the yawing command information, the
underwater camera 500 causes the image capturing direction to be
oriented toward the same direction as the commanded yawing
direction and by the same angle.
[0091] More specifically, when the underwater camera 500 receives
the above information, the attitude control program ACP2 adjusts
the pivoting angle of each valve element 574 in the pumping device
570 so that the underwater camera 500 will turn horizontally in the
same direction as the commanded yawing direction. Then, the program
turns the underwater camera 500 horizontally by an angle commanded
by the multicopter 100 while monitoring the output of the angular
velocity sensor 540. After that, the program returns the pivoting
angle of each valve element 574 to the original angle and
stabilizes the attitude of the underwater camera 500. In addition,
the control device 530 transmits images captured by the camera
module 510 in real time to the manipulator (the manipulator
terminal 800) via the multicopter 100.
[0092] As will be appreciated from the foregoing, in the underwater
image capturing apparatus 94 of the present embodiment, the
multicopter 100 and the underwater camera 500 are interconnected by
the signal line 211 and the underwater camera 500 is separately
equipped with means for changing its image capturing direction;
thereby, the underwater camera 500 can make its image capturing
direction relatively coincide with a change in the azimuth of the
multicopter 100 accordingly. This enables the manipulator to orient
the underwater camera 500 toward a desired image capturing
direction only by manipulating the multicopter 100 in an ordinary
way.
Fifth Embodiment
[0093] Descriptions are provided below about a fifth embodiment of
the underwater image capturing apparatus pertaining to the present
invention. FIG. 9 is a schematic diagram depicting an appearance in
which an underwater image capturing apparatus 95 pertaining to the
fifth embodiment captures images in water. Now, the underwater
image capturing apparatus 95 has the same functional configuration
as that of the image capturing apparatus 91 of the first embodiment
(FIG. 2). Now, in the following description, a component having a
similar or the same function as in the foregoing embodiments is
assigned the same reference designator as in the foregoing
embodiments and its detailed description is omitted.
[0094] On the wire 210 in the present embodiment, a first float
member 600 capable of floating on a water surface is placed between
the multicopter 100 (the winch 200) and the underwater camera 300
in its longitudinal direction.
[0095] Since the first float member 600 is placed between the
multicopter 100 and the underwater camera 300, the underwater
camera 300 immersed under a water surface will be supported,
suspended from the first float member 600 floating on the water
surface. This enables it to keep distance of the underwater camera
300 from a water surface constant. Moreover, by making the wire 210
slack moderately as in the present embodiment, even in a case where
it is hard to stabilize the multicopter 100 in a still position in
the air, it is possible to reduce its influence on the position and
the image capturing direction of the underwater camera 300.
Sixth Embodiment
[0096] Descriptions are provided below about a sixth embodiment of
the underwater image capturing apparatus pertaining to the present
invention. FIG. 10 is a schematic diagram depicting an appearance
in which an underwater image capturing apparatus 96 pertaining to
the sixth embodiment captures images in water. Now, the underwater
image capturing apparatus 96 has the same functional configuration
as that of the image capturing apparatus 91 of the first embodiment
(FIG. 2). Now, in the following description, a component having a
similar or the same function as in the foregoing embodiments is
assigned the same reference designator as in the foregoing
embodiments and its detailed description is omitted.
[0097] The underwater camera 300 according to the present
embodiment is accommodated inside a second float member 700 capable
of floating on a water surface. A lower half body of the second
floating member 700 is formed of a transparent part 701 made of a
transparent material, so that the underwater camera 300 can capture
images in water through the transparent part 701 from inside the
second float member 700. Now, the second float member 700 does not
necessarily need to have the transparent part 701; a configuration
may be such that a lens part of the underwater camera is exposed
outside the second float member if the underwater camera itself has
a waterproof structure like the underwater camera 300.
[0098] The underwater image capturing apparatus 96 of the present
embodiment is thus configured so that the underwater camera 300 can
capture images in water while floating on a water surface WS inside
the second float member 700. This enables the manipulator to easily
capture an image of a scene in water viewed from vicinity of a
water surface without making the multicopter 100 itself land on the
water surface. Moreover, by making the wire 210 slack moderately as
in the present embodiment, even in a case where it is hard to
stabilize the multicopter 100 in a still position in the air, it is
possible to reduce its influence on the position and the image
capturing direction of the underwater camera 300.
[0099] Additionally, the underwater camera 300 may be supported by
an attitude stabilizer which serves to stabilize the image
capturing direction of the underwater camera 300 inside the second
float member 700. As a concrete example of the attitude stabilizer,
inter alia, a configuration is conceivable in which the underwater
camera 300 is, for example, simply suspended by strings from the
ceiling of the second float member 700 or a configuration in which
the underwater camera 300 is supported by an electric gimbal 710.
In a case where the underwater camera 300 is supported by the
electric gimbal 710, since it is possible to change the image
capturing direction of the underwater camera 300 inside the second
float member 700, the image capturing direction of the underwater
camera 300 can be controlled more flexibly.
[0100] FIG. 11 is a block diagram depicting a functional
configuration of the apparatus wherein the underwater camera 300 is
supposed by an electric gimbal 710. The electric gimbal 710 is a
triaxial gimbal using a DC brushless motor and is comprised mainly
of three shafts 720 which support the underwater camera 300, a
plurality of motors 780 which pivot the respective shafts 720, a
control device 730 which integrally manages operation of the
respective motors 780 and controls the image capturing direction of
the underwater camera 300, a transceiver 750 for communication with
the multicopter 100 (and the manipulator terminal 800) through the
signal line 211, and a battery 760 to supply power to these
components.
[0101] The control device 730 of the electric gimbal 710 includes a
CPU 731 which is a central processing unit, a RAM/ROM 732 which is
a storage device, and a PWM controller 733 which controls the
rotating speed and rotational rate of each motor 780 in conjunction
with ESCs 770.
[0102] In the RAM/ROM 732 of the control device 730, an attitude
control program ACP3 is stored in which an attitude control
algorithm is programmed to control attitude of the underwater
camera 300. Based on information acquired from acceleration and
angular velocity sensors 740, the attitude control program ACP3
automatically corrects a disturbed attitude of the underwater
camera 300 to continue to maintain an image capturing direction
specified by the manipulator. Also, the attitude control program
ACP3 drives each motor 780 and changes the image capturing
direction of the underwater camera 300, according to a manipulator
command (from the manipulator terminal 800) received via the
multicopter 100.
[0103] Since the second float member 700 floats on a water surface,
it is susceptible to weltering of waves on the water surface. The
underwater camera 300 is supported by an attitude stabilizer such
as an electric gimbal 710 mentioned above inside the second float
member 700; thereby, it is possible to reduce the influence of the
second float member 700 weltering on the water surface on image
capturing. Also, the attitude stabilizer is able to change the
image capturing direction of the underwater camera 300 inside the
second float member 700; thereby, the image capturing direction of
the underwater camera 300 can be controlled more flexibly.
Seventh Embodiment
[0104] Descriptions are provided below about a seventh embodiment
of the underwater image capturing apparatus pertaining to the
present invention. FIG. 12 is a schematic diagram depicting an
appearance in which an underwater image capturing apparatus 97
pertaining to the seventh embodiment captures images in water. Now,
the underwater image capturing apparatus 97 has the same functional
configuration as that of the image capturing apparatus 91 of the
first embodiment (FIG. 2) or the image capturing apparatus 96 of
the sixth embodiment (FIG. 11) Now, in the following description, a
component having a similar or the same function as in the foregoing
embodiments is assigned the same reference designator as in the
foregoing embodiments and its detailed description is omitted.
[0105] The underwater image capturing apparatus 97 according to the
present embodiment is equipped with both a first float member 600
and a second float member 700. The first float member 600 with
which the underwater image capturing apparatus 97 is equipped is
provided with a fin 610 (a fin part) which is immersed under a
water surface under its bottom. When the first float member 600 is
towed by the multicopter on the water surface, supposing that an
end of the fin 610, facing forward in a direction of movement, is a
forward end and an opposite end of the fin is a rear end, an upper
surface 610a of the fin 610 slants downward from its rear end to
forward end.
[0106] When the first float member 600 moves on the water surface,
towed by the multicopter 100, the first float member 600 is not
pulled sideways, but will be pulled obliquely upward toward the
multicopter 100 flying in the air. Hence, the first float member
600 has a characteristic that it is liable to bounce up above water
when it experiences water resistance.
[0107] The first float member 600 has the fin 610 which is immersed
under a water surface and the fin 610 is formed such that its upper
surface 610a slants downward toward a direction of movement;
thereby, the fin 610 produces force that pulls the first float
member 600 downward when the first float member 600 moves on the
water surface. This helps to prevent the first float member 600
from bouncing up above water when the first float member 600 moves
on the water surface, towed by the multicopter 100.
[0108] In addition, the second float member 700 accommodates the
underwater camera 300 inside it and the underwater camera 300
captures images in water, facing downward from inside the second
float member 700. Hence, it is hard to provide the second float
member 700 with the fin 610 under its bottom, like the first float
member 600. Since the underwater image capturing apparatus 97 of
the present embodiment is equipped with both the first float member
600 having the fin 610 and the second float member 700, the second
float member 700 moves, following the first float member 600. That
is, the second float member 700 is towed sideways by the first
float member 600. Thereby, not only the first float member 600 but
also the second float member 700 is prevented from bouncing up
above water.
[0109] As will be appreciated from the foregoing, the underwater
image capturing apparatus 97 of the present embodiment is equipped
both the first float member 600 having the fin 610 and the second
float member 700; this makes it possible to perform more stable
image capturing even when the underwater camera 300 captures images
in water while moving on a water surface, towed by the multicopter
100.
[0110] While embodiments of the present invention have been
described hereinbefore, the present invention is not limited to the
foregoing embodiments and can be modified in various ways without
departing from the gist of the present invention.
* * * * *